Method for sidelink positioning in a wireless communication system - Patents.com

Abstract

A method and apparatus for performing positioning based on a sidelink positioning reference signal in a wireless communication system are provided. [Solution] A method for performing sidelink positioning in a wireless communication system according to one embodiment of the present disclosure may include a step of a first terminal receiving allocation information for one or more terminals including the first terminal from a base station, where the one or more terminals receive their respective allocation information from the base station, and a step of the first terminal transmitting the allocation information of the first terminal and the allocation information for the one or more terminals to a second terminal; a step of the first terminal transmitting an SL PRS to the second terminal based on the allocation information of the first terminal, where the second terminal receives the SL PRS from the one or more terminals based on the allocation information for the one or more terminals received from the first terminal, and a step of the first terminal receiving measurement information from the second terminal; and a step of the first terminal reporting the measurement information to the base station.

Description

[Technical field]

[0001] The present disclosure relates to a method and apparatus for performing positioning based on a sidelink positioning reference signal (PRS) in a wireless communication system. [Background technology]

[0002] Device-to-Device (D2D) communication refers to a direct communication between a terminal and another terminal. Direct communication means that a terminal communicates with another terminal through the control of a network or at the discretion of the terminal itself, without going through other network devices.

[0003] Such communication between terminals can be applied to vehicle communication, which is commonly called V2X (vehicle-to-everything). V2X communication refers to a communication method in which information such as traffic conditions is exchanged or shared by communicating with road infrastructure and other vehicles while driving. V2X-based services can include, for example, autonomous driving services, vehicle remote control services, interactive services such as games, and large-capacity short-range audio / video services such as AR and VR. Based on the performance requirements for supporting various V2X-based services through the 5G system, specific technologies required for the Long Term Evolution (LTE) and New Radio (NR) systems, which are the radio access technologies (RATs) within the 5G system, are currently under discussion. Summary of the Invention [Problem to be solved by the invention]

[0004] The technical problem of the present disclosure relates to a method and apparatus for performing sidelink positioning in a wireless communication system.

[0005] Another technical problem of the present disclosure relates to a method and apparatus for providing allocation information based on whether a sidelink can be formed between terminals.

[0006] Another technical problem of the present disclosure relates to a method and apparatus for configuring allocation information for a sidelink positioning reference signal (SL PRS).

[0007] Furthermore, another technical problem of the present disclosure relates to a method and apparatus for configuring sequence information of allocation information for SL PRS.

[0008] Furthermore, another technical problem of the present disclosure relates to a method and apparatus for configuring resource information of allocation information for SL PRS.

[0009] The technical problems to be achieved by the present disclosure are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from the following description. [Means for solving the problem]

[0010] A method for performing sidelink positioning in a wireless communication system according to one embodiment of the present disclosure may include a step of a first terminal receiving respective allocation information for at least one or more terminals including the first terminal from a base station, where each of the at least one or more terminals receives its respective allocation information from the base station, a step of the first terminal transmitting the allocation information of the first terminal and the respective allocation information for the at least one or more terminals to a second terminal; a step of the first terminal transmitting an SL PRS to the second terminal based on the allocation information of the first terminal, where the second terminal receives an SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal, a step of the first terminal receiving measurement information from the second terminal; and a step of the first terminal reporting the measurement information to the base station.

[0011] Furthermore, a method for performing sidelink positioning in a wireless communication system according to one embodiment of the present disclosure may include a step of a first terminal receiving, from a base station, respective allocation information for at least one or more terminals including the first terminal; a step of the first terminal transmitting, to at least one or more terminals, the respective allocation information for the at least one or more terminals; a step of the first terminal transmitting, to a second terminal, the allocation information of the first terminal and the respective allocation information for the at least one or more terminals; a step of the first terminal transmitting, to the second terminal, an SL PRS based on the allocation information of the first terminal, wherein the second terminal receives an SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal, and a step of the first terminal receiving measurement information from the second terminal; and a step of the first terminal reporting the measurement information to the base station.

[0012] A method for performing sidelink positioning in a wireless communication system according to one embodiment of the present disclosure may include a step of a first terminal transmitting respective allocation information for at least one or more terminals to at least one or more terminals; a step of the first terminal transmitting the allocation information of the first terminal and respective allocation information for the at least one or more terminals to a second terminal; and a step of the first terminal transmitting an SL PRS to the second terminal based on the allocation information of the first terminal, wherein the second terminal receives the SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal, and the first terminal receiving measurement information from the second terminal. Effect of the Invention

[0013] According to the present disclosure, there is provided a method and apparatus for performing sidelink positioning in a wireless communication system.

[0014] According to the present disclosure, it is possible to provide a method and apparatus for providing allocation information based on whether a sidelink can be formed between terminals.

[0015] According to the present disclosure, a method and apparatus for configuring allocation information for a SL PRS may be provided.

[0016] According to the present disclosure, a method and apparatus for configuring sequence information of allocation information for SL PRS can be provided.

[0017] According to the present disclosure, a method and apparatus for configuring resource information of allocation information for SL PRS can be provided.

[0018] The effects obtained by the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those having ordinary skill in the art to which the present disclosure pertains from the following description. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 illustrates an example of a V2X scenario to which the present disclosure may be applied. [Diagram 2] FIG. 1 illustrates an example of a V2X scenario to which the present disclosure may be applied. [Diagram 3] FIG. 1 illustrates an example of a V2X scenario to which the present disclosure may be applied. [Figure 4] A diagram showing an example of a service provided based on a side link to which the present disclosure can be applied. [Diagram 5] A diagram for explaining an NR frame structure to which the present disclosure can be applied. [Figure 6] FIG. 1 illustrates an NR resource structure to which the present disclosure may be applied. [Figure 7] 1 illustrates an example of a V2X resource pool configuration to which the present disclosure may be applied. [Figure 8] 1 illustrates an example of a V2X resource pool configuration to which the present disclosure may be applied. [Figure 9] FIG. 1 illustrates a method for performing position measurement based on Observed Time Difference Of Arrival (OTDOA) to which the present disclosure can be applied. [Figure 10] FIG. 1 is a diagram showing the configuration of a control plane and a user plane for NRPP (NR positioning protocol) related to the present invention to which the present disclosure can be applied. [Figure 11] FIG. 1 illustrates a kelp pattern applicable to the present disclosure. [Figure 12] FIG. 13 illustrates a method for performing cyclic prepending based on DL PRS allocation patterns applicable to the present disclosure. [Figure 13] FIG. 13 illustrates a method for performing cyclic prepending based on DL PRS allocation patterns applicable to the present disclosure. [Figure 14] FIG. 1 illustrates a DL PRS resource allocation method applicable to the present disclosure. [Figure 15] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Figure 16] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Figure 17] A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Figure 18] A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Figure 19] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Figure 20] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Figure 21]A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Figure 22] A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Diagram 23] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Figure 24] FIG. 13 illustrates a method for performing sidelink-based positioning based on base station coverage and whether sidelink communication can be established, which is applicable to the present disclosure. [Diagram 25] A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Figure 26] A diagram illustrating a method for performing sidelink-based positioning based on base station coverage, whether sidelink communication can be established, and request information applicable to the present disclosure. [Figure 27] 13 is a flowchart illustrating a method for performing sidelink-based positioning based on base station coverage and sidelink communication availability, applicable to the present disclosure. [Figure 28] 13 is a flowchart illustrating a method for performing sidelink-based positioning based on base station coverage and sidelink communication availability, applicable to the present disclosure. [Figure 29] 13 is a flowchart illustrating a method for performing sidelink-based positioning based on base station coverage and sidelink communication availability, applicable to the present disclosure. [Diagram 30] 1 is a diagram illustrating a base station device and a terminal device to which the present disclosure can be applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present disclosure will be described in detail below with reference to the accompanying drawings so that those skilled in the art can easily carry out the present disclosure. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein.

[0021] In describing the embodiments of the present disclosure, if it is determined that a detailed description of a known configuration or function would obscure the gist of the present disclosure, the detailed description will be omitted. In addition, in the drawings, parts that are not related to the description of the present disclosure are omitted, and similar parts are designated by similar reference numerals.

[0022] In this disclosure, when a certain component is said to be "connected," "coupled," or "connected" to another component, this includes not only a direct connection, but also an indirect connection where there is another component between them. Furthermore, when a certain component is said to "include" or "have" another component, this does not exclude the other component, but means that the other component may be further included, unless otherwise specified.

[0023] In this disclosure, the terms "first", "second", etc. are used only for the purpose of distinguishing a certain component from other components, and do not limit the order or importance between the components, unless otherwise specified. Therefore, within the scope of this disclosure, a first component in one embodiment may be called a second component in another embodiment, and similarly, a second component in one embodiment may be called a first component in another embodiment.

[0024] In this disclosure, components that are distinguished from one another are used to clearly describe the characteristics of each component, and do not necessarily mean that the components are separate. That is, multiple components may be integrated into one hardware or software unit, or one component may be distributed into multiple hardware or software units. Therefore, even if not specifically mentioned, such integrated or distributed embodiments are also included in the scope of this disclosure.

[0025] In the present disclosure, the components described in the various embodiments are not necessarily essential components, and some may be optional components. Therefore, an embodiment consisting of a subset of the components described in one embodiment is also included in the scope of the present disclosure. Note that an embodiment including other components in addition to the components described in the various embodiments is also included in the scope of the present disclosure.

[0026] The present disclosure describes a wireless communication network, and operations performed in the wireless communication network may be performed in a process of controlling the network and transmitting or receiving signals in a system (e.g., a base station) that manages the wireless communication network, or in a process of transmitting or receiving signals in a terminal coupled to the wireless network.

[0027] It is clear that various operations performed for communication with a terminal in a network consisting of multiple network nodes including a base station may be performed by the base station or other network nodes other than the base station. A "base station (BS)" may be replaced with terms such as a fixed station, Node B, eNodeB (eNB), ng-eNB, gNodeB (gNB), and an access point (AP). Also, a "terminal" may be replaced with terms such as a user equipment (UE), a mobile station (MS), a mobile subscriber station (MSS), a subscriber station (SS), and a non-AP station (non-AP STA).

[0028] In this disclosure, transmitting or receiving a channel includes transmitting or receiving information or signals through that channel. For example, transmitting a control channel means transmitting control information or signals through the control channel. Similarly, transmitting a data channel means transmitting data information or signals through the data channel.

[0029] Definitions of abbreviations used in this disclosure may be as follows:

[0030] D2D: Device to Device (communication)

[0031] DCI: Downlink Control Information

[0032] V2X: Vehicle to X (everything)

[0033] V2V: Vehicle to Vehicle

[0034] V2P: Vehicle to Pedestrian

[0035] V2I / N: Vehicle to Infrastructure / Network

[0036] SL: Sidelink

[0037] SCI: Sidelink Control Information

[0038] SFCI: Sidelink Feedback Control Information

[0039] PSSCH: Physical Sidelink Shared Channel

[0040] PSBCH: Physical Sidelink Broadcast Channel

[0041] PSCCH: Physical Sidelink Control Channel

[0042] PSDCH: Physical Sidelink Discovery Channel

[0043] PSFICH: Physical Sidelink Feedback Indication Channel

[0044] ProSe: (Device to Device) Proximity Services

[0045] SLSS: Sidelink Synchronization Signal

[0046] PSSID: Physical Sidelink Synchronization Identity

[0047] n SA ID : Sidelink group destination identity

[0048] N SL ID : Physical sidelink synchronization identity

[0049] SA: Scheduling assignment

[0050] TB: Transport Block

[0051] TTI: Transmission Time Interval

[0052] RB: Resource Block

[0053] In the following description, the term NR system will be used to distinguish the system to which various examples of the present disclosure are applied from existing systems, but the scope of the present disclosure is not limited by these terms.

[0054] For example, the NR system supports various subcarrier spacings (SCS) in consideration of various scenarios, service requirements, potential system compatibility, etc. In addition, the NR system can support transmission of physical signals / channels through multiple beams to overcome poor channel environments such as high path-loss, phase-noise, and frequency offset that occur at high carrier frequencies. As a result, the NR system can support applications such as enhanced Mobile Broadband (eMBB), massive Machine Type Communications (mMTC) / ultra Machine Type Communications (uMTC), and Ultra Reliable and Low Latency Communications (URLLC). However, in this disclosure, the term NR system is used as an example of a wireless communication system, but the term NR system itself is not limited to these characteristics.

[0055] For example, 5G mobile communication technology can be defined. Here, 5G mobile communication technology can be defined to include not only the NR system but also the existing LTE-A (Long Term Evolution-Advanced) system. In other words, 5G communication can be a technology that operates not only in the newly defined NR system but also in consideration of backward compatibility with previous systems.

[0056] For example, the 5G sidelink field can include both sidelink in the LTE system and sidelink technology in the NR system. Here, the sidelink field can be essential for performance improvement through ultra-high reliability and ultra-low latency, and for incorporation into new and diverse services.

[0057] For convenience of explanation, the operation and related information for V2X will be described below based on the NR system. However, the features of the embodiments of the present disclosure are not limited to a specific system, but can be similarly applied to other systems similarly realized, and are not limited to the exemplary system to which the embodiments of the present disclosure are applied.

[0058] Next, V2X can be vehicle-based communication. Here, the concept of a vehicle is changing from a simple means of transportation to a new platform. For example, IT technology is being incorporated into vehicles, and various V2X services are being provided based on this. For example, services such as traffic accident prevention, traffic environment improvement, autonomous driving, and remote driving are being provided. For this reason, there is an increasing need for the development and application of sidelink-related technologies for V2X.

[0059] More specifically, in relation to existing communication technologies, communication from a base station to a terminal may be a downlink, and communication from a terminal to a base station may be an uplink. Communication between terminals may be necessary as well as communication between a base station and a terminal, and communication from terminal to terminal may be a sidelink. For example, in relation to V2X, communication between vehicles or communication between a vehicle and another object (an object other than a base station, such as a pedestrian terminal (P-UE) or a terminal-type roadside unit (UE-type RSU (roadside unit))) may be a sidelink. That is, in the case of performing vehicle-based communication, it is possible to develop and apply a sidelink technology by going beyond the limitations of communication between a terminal and a base station.

[0060] 1 to 3 are diagrams illustrating examples of V2X scenarios to which the present disclosure may be applied.

[0061] Figure 1 may be a scenario where communication is based on sidelink. Figure 2 may be a scenario where V2X operation is performed using communication with a terminal (or vehicle) and a base station. Figure 3 may be a scenario where V2X operation is performed using both sidelink and base station communication.

[0062] For example, in the description of V2X, the terminal may be a vehicle. In the description of V2X, the terminal and the vehicle are collectively referred to as a terminal. For example, the terminal may refer to a device capable of communicating with a sidelink and a base station, and may include a vehicle for V2X.

[0063] In addition, in relation to V2X, D2D (Device to Device) may mean communication between terminals. ProSe may mean a proximity service for a terminal performing D2D communication. SL (sidelink) may be a sidelink, and SCI (Sidelink Control Information) may mean control information related to the sidelink. PSSCH (Physical Sidelink Shared Channel) may be a channel through which data is transmitted via the sidelink, and PSCCH (Physical Sidelink Control Channel) may be a channel through which control information is transmitted via the sidelink. PSBCH (Physical Sidelink Broadcast Channel) is a channel for transmitting signals via the sidelink in a broadcast manner and may transmit system information. PSFICH (Physical Sidelink Feedback Indication Channel) is a sidelink feedback channel and may be a channel used for indicating feedback information. SLSS (Sidelink Synchronization Signal) may be a synchronization signal for the sidelink, and PSSID (Physical Sidelink Synchronization Identity) may be ID information for sidelink synchronization. n SA ID (Sidelink group destination identity) is ID information for distinguishing sidelink groups, and N SL ID(Physical sidelink synchronization identity) may be ID information for sidelink synchronization. V2V may mean communication between vehicles, V2P may mean communication between vehicles and pedestrians, and V2I / N may mean communication between vehicles and infrastructure / networks.

[0064] SA, TB, TTI, and RB are terms used in the same way as in existing LTE. For example, in V2X communication, control information transmitted from one terminal to another terminal may be SA. When used in sidelink communication, these control information may be SCI. Here, the SCI may be transmitted through the PSCCH. Also, a part of the SCI may be transmitted through the PSCCH, and the other part may be transmitted through the PSSCH.

[0065] In V2X communication, data transmitted from one terminal to another terminal can be set in units of TB, where sidelink data can be transmitted via PSSCH.

[0066] Next, in this disclosure, operation modes may be defined by resource allocation schemes for control information and data transmission for V2X communication or direct link (e.g., D2D, ProSe, or SL) communication.

[0067] For example, the base station resource scheduling mode may be a resource allocation mode in which a base station (e.g., gNodeB, eNodeB) or a relay node schedules resources used by a terminal to transmit V2X (or direct link) control information and / or data. On the designated resources, the terminal can transmit V2X (or direct link) control information and / or data.

[0068] As a specific example, a base station or a relay node may provide a sidelink (or direct link) transmission terminal with sidelink (or direct link) control information and / or scheduling information for resources used for data transmission through downlink control information (DCI). Thus, the sidelink (or direct link) transmission terminal transmits sidelink (or direct link) control information and data to the sidelink (or direct link) receiving terminal, and the sidelink (or direct link) receiving terminal receives sidelink (or direct link) data based on the sidelink (or direct link) control information.

[0069] In addition, the UE autonomous resource selection mode may be a resource allocation mode in which the UE selects resources to be used by the UE to transmit control information and data. The UE's resource selection may be determined by sensing of the UE in a resource pool (i.e., a set of resource candidates). The UE may transmit V2X (or direct link) control information and / or data on the selected resources.

[0070] As a specific example, a sidelink (or direct link) transmitting terminal transmits sidelink (or direct link) control information and data to a sidelink (or direct link) receiving terminal using resources selected by itself, and the sidelink (or direct link) receiving terminal receives sidelink (or direct link) data based on the sidelink (or direct link) control information.

[0071] The above-mentioned base station resource scheduling mode may be referred to as Mode 1 in sidelink (or direct link) communication for D2D, etc. The base station resource scheduling mode may be referred to as Mode 3 in sidelink communication for V2X, etc. Furthermore, the above-mentioned terminal autonomous resource selection mode may be referred to as Mode 2 in sidelink (or direct link) communication for D2D, etc. Furthermore, the terminal autonomous resource selection mode may be referred to as Mode 4 in sidelink communication for V2X, etc. However, this is merely one embodiment, and the scope of the present disclosure is not limited to the names of resource allocation modes. That is, in resource allocation modes to which the present disclosure is applicable, the same target and the same operation may be considered as the same resource allocation mode even if their names are different.

[0072] For example, in NR V2X, the base station resource scheduling mode can be referred to as mode 1 (Mode 1), and the terminal autonomous resource selection mode can be referred to as mode 2 (Mode 2).

[0073] For convenience of explanation, the embodiments of the present disclosure will be described based on V2X communication, but the present disclosure is not limited thereto. For example, the present invention can be similarly applied to communication based on a direct link such as D2D and ProSe.

[0074] Furthermore, V2X may be a term that collectively refers to V2V, V2P, and V2I / N. Here, V2V, V2P, and V2I / N may be defined as shown in Table 1, but are not limited thereto. That is, Table 1 below is merely an example and is not limited thereto.

[0075] [Table 1]

[0076] Additionally, V2X communications can include PC5-based communications, which is an interface for sidelink communications.

[0077] Table 2 and Figure 1 may be scenarios that support V2X operation based only on the PC5 interface (or SL). Here, Figure 1 (a) may be V2V operation, (b) may be V2I operation, and (c) may be V2P operation. That is, Figure 1 may be a method of communication based on sidelink, and communication can be performed without a base station.

[0078] [Table 2]

[0079] Table 3 and Figure 2 may be scenarios that support V2X operation based only on the Uu interface (i.e., the interface between the UE and the base station). For example, Figure 2 (a) may show V2V operation, (b) may show V2I ​​operation, and (c) may show V2P operation. That is, V2X operation can be supported using communication between the terminal and the base station.

[0080] [Table 3]

[0081] Table 4 and Figure 3 may be scenarios supporting V2X operation using both the Uu interface and the PC5 interface (or SL), where Figure 3(a) may show scenario 3A of Table 4 and Figure 3(b) may show scenario 3B of Table 4.

[0082] Referring to FIG. 3(a), a terminal can transmit a V2X message to other terminals through a sidelink. Any of the terminals that receive the V2X message can transmit the V2X message to a base station through an uplink. The base station can receive the V2X message and transmit a message based on the message to other terminals in the vicinity through a downlink. For example, the downlink can be performed through a broadcast method.

[0083] Referring to FIG 3(b), a terminal transmits a V2X message to a base station through an uplink, and the base station can transmit the message to at least one terminal, RSU, etc. Then, the terminal or RSU that receives the message can transmit the message to multiple surrounding terminals through a sidelink.

[0084] Both Figures 3(a) and 3(b) can support V2X operation using all communication and sidelinks between the base station and the terminal.

[0085] [Table 4]

[0086] As mentioned above, V2X communication may be performed via a base station or through direct communication between terminals. When performed via a base station, LTE-based V2X communication can transmit and receive through a Uu link, which is a communication interface between an LTE base station and a terminal. When a side link is used as direct communication between terminals, LTE-based V2X communication can transmit and receive through a PC5 link, which is a communication interface between LTE terminals.

[0087] For example, even in the NR system, V2X communication can be performed using communication between a terminal and a base station and a sidelink between the terminals. Here, there may be differences between the communication (uplink / downlink) between a base station and a terminal in the NR system and the communication (uplink / downlink) between a base station and a terminal in the existing system. For example, some features may be similar, and there may be parts that are changed based on the NR system, which is a new system. Furthermore, there may also be differences between the sidelink in the existing system and the sidelink in the NR system. That is, in consideration of the above-mentioned difference in communication between the base station and the terminal, there may also be parts that are changed in the NR system, which is a new system.

[0088] FIG. 4 is a diagram illustrating an example of a service provided based on a sidelink to which the present disclosure can be applied.

[0089] Referring to FIG 4, a V2X-related service or an Internet of Things (IoT) service may be provided based on a 5G sidelink. Here, the 5G sidelink may be a concept including both a sidelink based on an existing LTE system and a sidelink taking into account an NR system. That is, the 5G sidelink service may include a service provided in consideration of one or more of the sidelinks applied to each of the LTE and NR systems.

[0090] For example, referring to FIG. 4, in relation to the V2X service, platooning, automatic driving, advanced sensor, and remote driving services can be provided. Here, platooning may be a technology in which a plurality of vehicles dynamically form a group and operate in a similar manner. Furthermore, autonomous driving may be a technology in which vehicles drive based on full automation or semi-automation. Furthermore, advanced sensor may be a technology in which data acquired from sensors or video images are collected and exchanged. Furthermore, remote driving may be a technology related to technology and applications for remote control of vehicles. That is, the above-mentioned services can be provided as services based on V2X. However, these services are merely examples, and services to which the present disclosure is applicable are not limited to the specific services described above. Here, in order to provide various V2X services, requirements such as ultra-low latency, ultra-connectivity, low power, high reliability, etc. may be required. Therefore, V2X services and operation methods for satisfying the requirements therefor may be required in the 5G sidelink, and examples of the present disclosure will be described below in consideration of these requirements.

[0091] The physical resource structure of the NR system is described below.

[0092] FIG. 5 is a diagram for explaining an NR frame structure to which the present disclosure can be applied.

[0093] The basic unit of time domain in NR is T c =1 / (Δf max N f ), and Δf max =480 10 3 and N f = 4096, whereas the time domain base unit in LTE is Ts = 1 / (Δf ref N f,ref ), and Δf ref =15 10 3 and N f,ref= 2048. The constant for the multiple relationship between the base unit of NR time and the base unit of LTE time is κ = T s / T c =64.

[0094] Referring to FIG. 5, the time structure of a frame for downlink / uplink (DL / UL) transmission is T f =(Δf max N f / 100)·T s = 10 ms, where one frame is T sf =(Δf max N f / 1000)·T s The number of consecutive OFDM symbols in each subframe is N subframe,u symb =N slot symb N subframe,u slot Also, each frame may be divided into two half frames of the same size, with half frame 1 consisting of subframes 0 to 4 and half frame 2 consisting of subframes 5 to 9.

[0095] Referring to FIG. 5, N TA denotes the timing advance (TA) between the downlink (DL) and the uplink (UL). Here, the transmission timing of the uplink transmission frame i is determined based on the downlink reception timing at the terminal according to the following [Equation 1].

[0096]

number

[0097] In [Number 1], N TA,offset is a TA offset value that occurs due to differences in duplex modes. Basically, in FDD (Frequency Division Duplex),TA、offset has a value of 0, but in TDD (Time Division Duplex), N is set to 0 taking into account the margin for DL-UL switching time. TA,offset can be defined as a fixed value of

[0098] FIG. 6 is a diagram illustrating an NR resource structure to which the present disclosure can be applied.

[0099] The resource elements (REs) in the resource grid can be indexed by each subcarrier spacing, where one resource grid can be generated for each antenna port and each subcarrier spacing, and uplink and downlink transmission and reception can be based on the resource grid.

[0100] In the frequency domain, one resource block (RB) consists of 12 REs, and an index (n PRB ) can be configured. The index for the RB can be utilized within a specific frequency band or system bandwidth. The index for the RB can be defined as follows: RB sc denotes the number of subcarriers per 1 RB, and k denotes the subcarrier index.

[0101]

number

[0102] The NR system can be configured in various ways to meet the various services and requirements of the NR system. For example, unlike the existing LTE / LTE-A systems which only support one subcarrier spacing (SCS), the NR system can support multiple SCSs.

[0103] New neurology for NR systems, including support for multiple SCSs, can operate in frequency ranges or carriers such as below 3 GHz, 3 GHz to 6 GHz, and 6 GHz to 52.6 GHz to solve the problem of not being able to use wide bandwidth in existing frequency ranges or carriers such as 700 MHz and 2 GHz, although the scope of this disclosure is not limited thereto.

[0104] Table 5 below shows examples of pneumoradio supported by the NR system.

[0105] [Table 5]

[0106] Referring to Table 5, the neural network can be defined based on the subcarrier spacing (SCS), cyclic prefix (CP) length, and number of OFDM symbols per slot used in an OFDM (Orthogonal Frequency Division Multiplexing) system. The above values ​​can be provided to the UE through upper layer parameters DL-BWP-mu and DL-BWP-cp for the downlink and through upper layer parameters UL-BWP-mu and UL-BWP-cp for the uplink.

[0107] For example, in Table 5, when the subcarrier spacing setting index (u) is 2, the subcarrier spacing (Δf) is 60 kHz, and normal CP and extended CP can be applied. In other cases, only normal CP can be applied.

[0108] A normal slot may be defined as a basic time unit used to transmit one piece of data and control information in an NR system. The length of a normal slot may be set to 14 OFDM symbols. Furthermore, unlike a slot, a subframe has an absolute time length corresponding to 1 ms in an NR system and may be used as a reference time for the length of other time intervals. Here, for coexistence or backward compatibility between LTE and the NR system, a time interval such as a subframe of LTE may be necessary in the NR standard.

[0109] For example, in LTE, data may be transmitted based on a transmission time interval (TTI), which is a unit time, and the TTI may be set in units of one or more subframes. Here, in LTE, one subframe may be set to 1 ms and may include 14 OFDM symbols (or 12 OFDM symbols).

[0110] Furthermore, a non-slot can be defined in NR. A non-slot can mean a slot having a number of symbols smaller than that of a normal slot by at least one symbol. For example, when providing a low delay time such as a URLLC service, the delay time can be shortened through a non-slot having a number of symbols smaller than that of a normal slot. Here, the number of OFDM symbols included in a non-slot can be determined in consideration of a frequency range. For example, in a frequency range of 6 GHz or more, a non-slot having a length of 1 OFDM symbol can be considered. As a further example, the number of OFDM symbols defining a non-slot can include at least two OFDM symbols. Here, the range of the number of OFDM symbols included in a non-slot can be set as the length of a mini-slot up to a predetermined length (for example, normal slot length - 1). However, the number of OFDM symbols may be limited to 2, 4, or 7 symbols as a standard of a non-slot, but is not limited thereto.

[0111] Also, for example, in an unlicensed band below 6 GHz, subcarrier spacing where u is 1 and 2 can be used, and in an unlicensed band above 6 GHz, subcarrier spacing where u is 3 and 4 can be used. For example, when u is 4, it can be used for SSB (Synchronization Signal Block).

[0112] [Table 6]

[0113] Table 6 shows the number of OFDM symbols per slot (N slot symb ), number of slots per frame (N frame,u slot ), the number of slots per subframe (N subframe,u slot ) Table 6 shows the above values ​​based on a normal slot having 14 OFDM symbols.

[0114] [Table 7]

[0115] Table 7 shows the number of slots per frame and the number of slots per subframe when extended CP is applied (i.e., when u is 2 and the subcarrier spacing is 60 kHz) based on a normal slot with 12 OFDM symbols per slot.

[0116] Furthermore, as described above, one subframe may correspond to 1 ms on the time axis. Furthermore, one slot may correspond to 14 symbols on the time axis. For example, one slot may correspond to 7 symbols on the time axis. Thus, the number of slots and symbols that can be considered within 10 ms that corresponds to one radio frame may be set differently. Table 8 may show the number of slots and the number of symbols according to each SCS. In Table 8, the SCS of 480 kHz may not be considered, but is not limited to these examples.

[0117] [Table 8]

[0118] 7 and 8 show examples of V2X resource pool configuration to which the present disclosure can be applied.

[0119] With reference to FIG. 7 and FIG. 8, a method of configuring a resource pool for a control channel (PSCCH) on which a scheduling assignment (SA) is transmitted in V2X and a data channel (PSSCH) on which data related thereto is transmitted will be described. Here, a resource pool may be a set of resource candidates available for transmission of SA and / or data. Each resource pool may be called a slot pool in the time domain and a resource block pool in the frequency domain. Here, the resource pool as illustrated in FIG. 7 and FIG. 8 may be a resource pool for a V (Vehicle)-UE in V2X. Also, the resource pool configuration method as illustrated in FIG. 7 and FIG. 8 is merely an example, and a resource pool may be configured in other manners.

[0120] The resource pools as illustrated in FIGS. 7 and 8 can be defined in a terminal autonomous resource selection mode (or mode 2).

[0121] Meanwhile, in the base station resource scheduling mode (or mode 1), resources corresponding to all sidelink slots in the time domain (e.g., corresponding to all uplink slots in NR) and all resource blocks RB in a V2X carrier or band in the frequency domain may be a set of resource candidates usable for transmission of SA and / or data. Furthermore, in the base station resource scheduling mode (or mode 1), a resource pool may be defined separately as in the terminal autonomous resource selection mode (or mode 2), and a set of resource candidates usable for transmission of the SA and / or data may be set.

[0122] That is, the resource pool according to the present disclosure described with reference to FIGS. 7 and 8 may be defined in a terminal autonomous resource selection mode (or mode 2) and / or a base station resource scheduling mode (or mode 1).

[0123] In the following, a slot pool, which corresponds to a resource pool in the time domain, will be specifically described.

[0124] Regarding the resource pool, slots in which the resource pool is set in the time domain are shown in Fig. 7. As shown in Fig. 7, the slots for the resource pool for V2X may be indicated and defined as a bitmap repeated for all slots except for a specific slot. The slots for the resource pool for V2X may be slots in which transmission and / or reception of SA and / or data is permitted for the resource pool in V2X.

[0125] Here, the slots excluded from the bitmap repetition application may include slots used for transmitting sidelink signal blocks (SSBs) including a primary sidelink synchronization signal (PSSS), a secondary sidelink synchronization signal (SSSS), and a physical sidelink broadcast channel (PSBCH). Furthermore, the excluded slots may further include downlink (DL) slots and flexible slots that are not uplink (UL) slots and can be used as sidelink (SL) slots in TDD. Here, the excluded slots are not limited to the above examples.

[0126] For example, the excluded slots in a System Frame Number (SFN) or D2D Frame Number (DFN) period may include d non-uplink slots and a slot for SSB. Furthermore, the excluded slots may be of length L bitmap Since the bitmap is repeatedly applied in integer multiples, it may further include d' slots to be excluded, where the excluded slots are not limited to the above examples.

[0127] In addition, the repeatedly applied bitmap can be indicated by higher layer signaling such as RRC (the "slot indication of resource pool" signaling field shown in FIG. 7). When the bitmap value is 1, it indicates a slot for a resource pool, and when it is 0, it indicates a slot not belonging to the resource pool. Here, the u value in FIG. 7 is a value according to SCS (Subcarrier Spacing) and can follow the values ​​defined in Tables 5 to 7.

[0128] Next, a resource block pool corresponding to a resource pool in the frequency domain will be specifically described.

[0129] Regarding the resource pool, slots in which the resource pool is set in the frequency domain are shown in Figure 8. As shown in Figure 8, in the resource pool, the PSCCH for transmitting SA and the PSSCH for transmitting data can be simultaneously transmitted in one sub-channel, and the PSSCH can be transmitted over the entire sub-channel. In contrast, the PSCCH can be transmitted over a portion of the sub-channel.

[0130] As shown in FIG. 8, in a slot where a resource pool is set in the time domain for V2X, all RBs (RB#0 to RB#N UL RB -1)) can be defined in units of one RB (where N UL RB is the total number of RBs corresponding to the system bandwidth for the uplink (UL), and since V2X for the sidelink is defined in the UL band, UL is replaced with SL (i.e., N UL RB Instead of N SL RB The "Starting RB of sub-channels" signaling field can be indicated by higher layer signaling such as RRC. Contiguous RBs corresponding to a total of K sub-channels from the RB indicated by "Starting RB of sub-channels" belong to the resource pool. Here, the number of RBs constituting one sub-channel can be indicated by a "Sub-channel size" signaling field, and the number of the K sub-channels can be indicated by a "Number of sub-channels" signaling field through higher layer signaling such as RRC.

[0131] For example, "Sub-channel size" N subchannel The number of RBs may be, but is not limited to, 10, 15, 20, 25, 50, 75, or 100, and 4, 5, or 6 RBs may also be used. Note that, as shown in FIG. 8, the PSCCH for SA allocated to a portion of a subchannel may be allocated to X RBs in the subchannel, where X≦N. subchannel It is.

[0132] The positioning technology applied below is based on LTE (Long Term Evolution) and is being further improved by using NR (New Radio) wireless technology. For commercial use, it includes technology to meet a maximum error of 3 m indoors and 10 m outdoors for 80% of users within coverage. For this purpose, various technologies such as time-of-arrival and departure / arrival angle-based technologies for downlink and / or uplink are being considered.

[0133] In the downlink-based method, a time-based technique is the DL-TDOA (Time Difference of Arrival) method, and an angle-based technique is the DL-AoD (Angle of Departure) method. As an example, when estimating the position of a terminal based on DL-TDOA, the arrival time difference of signals transmitted at different transmission points is calculated, and the terminal position can be estimated based on the arrival time difference value and the position information of each transmission point. As another example, when estimating the position of a terminal based on DL-AoD, the terminal position can be estimated by checking the angle of departure of a signal transmitted to the terminal and checking the direction in which the signal is transmitted based on the position of the transmission point.

[0134] In addition, in the uplink-based method, a time-based technique is the UL-TDOA (Time Difference of Arrival) method, and an angle-based technique is the DL-AoA (Angle of Arrival) method. For example, when estimating the position of a terminal based on UL-TDOA, the time difference between when a signal transmitted from the terminal arrives at each transmission point is calculated, and the terminal's position can be estimated based on the arrival time difference value and the position information of each transmission point. For example, when estimating the position of a terminal based on DL-AoA, the terminal's position can be estimated by checking the angle of arrival of a signal transmitted from the terminal and checking the direction in which the signal is transmitted based on the position of the transmission point.

[0135] Further, downlink and uplink based methods include a multi-cell Round-Trip Time (RTT) method, an RTT method between one or more adjacent gNodeBs and / or Transmission Reception Points (TRPs) for NR downlink and uplink positioning, and an Enhanced Cell ID (E-CID) method. As an example, when estimating the location of a terminal using multi-cell RTT, it may be possible to estimate the location of the terminal through location information of multiple cells by measuring the time (i.e., RTT) at which a response is received after a signal is transmitted in multiple cells. In addition, it may be possible to estimate the location of the terminal by checking the RTT signal from the gNodeB and / or TRP. In addition, when estimating the location of a terminal based on E-CID, it may be possible to estimate the location of the terminal through cell location information after measuring the angle of arrival and reception strength and checking each cell ID.

[0136] To realize the above technology, the LTE downlink-based PRS (Positioning Reference Signal) is being newly discussed as "DL PRS" modified according to the NR downlink structure. Additionally, for the uplink, the SRS (Sounding Reference Signal), an NR-based uplink reference signal that takes MIMO into account, is being developed into "SRS for positioning", an improved reference signal that takes positioning into account.

[0137] Furthermore, in order to provide an improved solution in relation to positioning operations, the requirements for high accuracy for horizontal and vertical position measurements, low latency, network efficiency (e.g., scalability, RS overhead, etc.) and terminal efficiency (e.g., power consumption, complexity, etc.) are additionally taken into consideration.

[0138] As an example, positioning operations may require high accuracy in consideration of IIoT scenarios, including downlink / uplink (DL / UL) position reference signals, signaling / procedures for improved accuracy, reduced latency, and methods for improving network and terminal efficiency.

[0139] As a result, work is being applied to improve the performance of NR-based positioning technologies for higher accuracy, lower latency, and network / device efficiency in commercial use cases such as IoT devices for smart homes and wearables, and in Industrial IoT (Inter of Things) use cases such as IoT devices in smart factories.

[0140] In relation to this, the aim is to improve accuracy to within a maximum error of 1m for commercial use cases and within a maximum error of 0.2m for IIoT use cases, and to further shorten the delay time from the current 100ms to within 10ms.

[0141] Here, an IIoT scenario considering indoor smart factory devices may be as shown in Table 9 below. As an example, Table 10 below may show settings for a simulation considering an IIoT scenario. Specifically, in Table 10, hall size, BS locations, and room height may be set considering an IIoT scenario such as a smart factory, and the transmission and reception operations of the base station may be confirmed based on the settings. However, this is merely an example and is not limited to the above settings.

[0142] Specifically, the IIoT scenario can consider cases where clutter is dense and cases where clutter is sparse in the internal environment. That is, it can be distinguished based on how many clusters exist in the internal environment. Also, in the IIoT scenario, it can be considered cases where the antenna height is higher or lower than the average height of the cluster. That is, the IIoT scenario can be as shown in Table 9 below, taking into account the above cases.

[0143] That is, InF-SL is a scenario that considers the case where clusters are not densely packed in an indoor factory environment such as a smart factory, and both the transmitting and receiving antennas of the base station are lower than the average antenna height of the cluster.InF-DL is a scenario that considers the case where clusters are densely packed in an indoor factory environment such as a smart factory, and both the transmitting and receiving antennas of the base station are lower than the average antenna height of the cluster.

[0144] Meanwhile, InF-SH is a scenario that takes into account the case where clusters are not densely packed in an indoor factory environment such as a smart factory, and the transmission or reception antenna of the base station is higher than the average antenna height of the cluster.In addition, InF-DH is a scenario that takes into account the case where clusters are densely packed in an indoor factory environment such as a smart factory, and the transmission and reception antenna of the base station is higher than the average antenna height of the cluster.

[0145] Additionally, InF-HH is a scenario that takes into account the case where both the transmitting and receiving antennas of the base station are higher than the average antenna height of the cluster, regardless of whether the clusters are densely packed in an indoor factory environment such as a smart factory.

[0146] Here, the term "cluster" refers to a form in which base stations are arranged in a concentrated manner at regular intervals in a certain space. As an example, a cluster can be realized with 18 base stations as shown in Table 10 in an internal environment, but this is only an example and is not limited to this.

[0147] As mentioned above, the reason why factors such as cluster density and antenna height between base stations and clusters were taken into consideration in the scenario is that these factors may change radio wave characteristics and interference, which may lead to slight changes in positioning technology to meet various performance requirements for positioning (accuracy, latency, network / terminal efficiency, etc.).

[0148] However, in actual applications, a common positioning technology that can cover all the requirements in the five scenarios can be applied, and the positioning technology mentioned in the present invention below can also be applied to all the five scenarios. That is, it is possible to apply the positioning technology described later in this disclosure to all IIoT devices that operate based on NR in an indoor factory environment such as a smart factory to perform positioning.

[0149] [Table 9]

[0150] [Table 10]

[0151] In the following, a method for generating a PRS taking into account the positioning requirements in light of the aforementioned IIoT scenarios and new applications will be described.

[0152] FIG. 9 is a diagram illustrating a method for performing position measurement based on Observed Time Difference Of Arrival (OTDOA) to which the present disclosure can be applied.

[0153] OTDOA may be a method of measuring a location by tracking signals transmitted to a ground station through a communication satellite in an LTE and / or NR system. That is, OTDOA is based on measuring the arrival time difference of radio signals transmitted at various locations. As an example, a plurality of cells may transmit a reference signal (RS) and a terminal may receive it. Since the distance between each of the plurality of cells and the terminal's location is different, the arrival time at which the terminal receives the reference signal transmitted from each of the plurality of cells may be different. Here, the terminal may calculate the time difference for the signal received from each cell and transmit the calculated information to the network. The network may combine the time difference with antenna position information of each cell to calculate the terminal's location. Here, at least three cells may be used for terminal location measurement.

[0154] As an example, the difference in time when a terminal receives a reference signal from each of a pair of base stations (gNodeBs / eNodeBs) is defined as a Reference Signal Time Difference (RSTD). Here, location measurement using RSTD can be performed based on a downlink signal. A terminal can estimate its location based on a Time Difference Of Arrival (TDOA) measurement of a special reference signal received from another base station (gNodeBs / eNodeBs).

[0155] FIG. 10 is a diagram showing the configuration of the control plane and the user plane for the NR positioning protocol (NRPP) related to the present invention to which the present disclosure may be applied. As an example, the positioning technology may be defined as at least one of E-CID (Enhanced Cell ID), OTDOA (Observed Time Difference of Arrival), and A-GNSS (Global Navigation Satellite System). At this time, the above-mentioned positioning technology may simultaneously support the control plane and the user plane positioning solutions. The LTE and / or NR network-based positioning function may be mainly controlled by the Location Management Function (LMF). Here, the control plane positioning and the user plane positioning may be performed through the LMF. The LMF is controlled at the network end and may be linked to the base station through a mobility entity (e.g., AMF (Access and Mobility Management Function)). As an example, the LMF may correspond to a location server (location server) described later in this disclosure.

[0156] As another example, the LTE and / or NR network-based positioning function may be mainly controlled by an E-SMLC (Evolved-Serving Mobile Location Centre) / SLP (Secure User Plane Location) SUPL (Location Platform) based on the LTE positioning protocol (LPP). Here, positioning can be performed in the control plane through the E-SMLC and in the user plane through the SLP, each of which can be controlled at the network end and linked through a base station and a mobility entity (e.g., a Mobility Management Entity (MME)).

[0157] As an example, in an LTE system, positioning is performed through positioning estimation based on a downlink based on a time difference, or through positioning estimation based on a cell ID. In an NR system, positioning can be performed by considering positioning estimation based on a downlink (e.g., PRS) and positioning estimation based on an uplink (e.g., SRS for positioning). In addition, the positioning can be performed based on a signal exchange time for multiple cells in round trip time (RTT) or based on a cell ID. In addition, the positioning can be performed based on a signal reception time difference. In addition, since communication is performed based on beams in the new communication system, positioning can be performed based on an angle difference between each beam. The operations of downlink / uplink reference signals and terminals / base stations based on the above may be as shown in Tables 11 and 12 below.

[0158] [Table 11]

[0159] [Table 12]

[0160] Here, the terms in Tables 11 and 12 may be as follows:

[0161] RSTD (Reference Signal Time Difference)

[0162] RSRP (Reference Signal Received Power)

[0163] RTOA (Relative Time Of Arrival)

[0164] RSRQ (Reference Signal Received Quality)

[0165] RSRPB (Reference Signal Received Power per Branch)

[0166] RRM (Radio Resource Management)

[0167] CSI-RS (Channel State Information Reference Signal)

[0168] Here, RSTD may be the transmission time difference of the reference signal, and RTOA may be the relative time value at which the signal arrives. Positioning can be performed based on the location information of the transmission point by calculating a relative time difference value based on the location of the transmission point that transmitted the reference signal and the transmission time difference. Also, RSRP is the strength of the received reference signal, and RSRPB is the strength of the reference signal measured at each branch. RSRQ is the quality of the received reference signal. It is possible to check whether the positioning operation is possible by checking the strength and quality of the received reference signal through RSRP and RSRQ. Also, the RRM can perform resource management and check resources for positioning.

[0169] Therefore, positioning in the new communication system can be performed based on at least one of downlink / uplink, time difference / angle difference, RTT, and cell ID. Here, looking at the downlink PRS (DL PRS) for positioning, a DL PRS resource set can be set for one base station (or transmission reception point, TRP). At this time, the DL PRS resource set can be a collection of DL PRS resources. Each DL PRS resource in the DL PRS resource set can have a respective DL PRS resource ID. As an example, in the new communication system (e.g., NR), each base station (or TRP) can communicate using multiple beams. At this time, each DL PRS resource ID can correspond to each beam transmitted by one base station (or TRP). That is, each DL PRS resource in the DL PRS resource set can correspond to each beam.

[0170] Here, the DL PRS configuration may include a DL PRS transmission schedule. This allows the base station (or TRP) to instruct the DL PRS configuration to the terminal. Thus, the terminal can confirm the DL PRS based on the instructed DL PRS configuration without performing blind detection. The numerologies for the DL PRS may be the same as those for data transmission. As an example, the CP length and subcarrier spacing (SCS) for the DL PRS may be the same as the CP length and SCS for data transmission.

[0171] Furthermore, the DL PRS resource set may be transmitted through a positioning frequency layer in one or more base stations (or TRPs). In this case, since the DL PRS resource set is transmitted through the same positioning frequency layer, the SCS, CP type, center frequency, point A, bandwidth, starting PRB (Physical Resource Block) and comb size may be set to be the same. Here, the point A may be a value indicating the position of resource block 0 (RB 0). And, the DL PRS resource set may be transmitted through the same frequency layer. Here, the DL PRS sequence may be a Gold sequence and a binary sequence. This may be the same as the DL PRS of the existing system. The DL PRS sequence ID may be 4096, which may be more than the sequence 1024 for the cell ID in NR. Also, the DL PRS may be modulated based on Quadrature Phase Shift Keying (QPSK) and transmitted based on Cyclic-Prefix Orthogonal Frequency Division Multiplexing (CP-OFDM). Furthermore, the time axis resource of the DL PRS can be set to 12 symbols within one slot, and the KOMB size can be supported up to KOMB-12.

[0172] More specific details may be as shown in Table 13 below. That is, the interval for allocating PRS on the frequency axis may be different depending on the comb size. In the LTE system, the DL PRS can be transmitted using all symbols in one slot. However, in the NR system, which is a new communication system, the DL PRS may be transmitted based on different symbol numbers as shown in Table 13 below.

[0173] [Table 13]

[0174] The DL PRS transmission period can be set for each DL PRS resource set. As an example, each base station (or TRP) can configure multiple DL PRS resource sets. There can be multiple DL PRS resource sets with different periods in the same base station (or TRP), and the periods can be configured in various ways.

[0175] A resource allocated for transmission of a DL PRS (hereinafter, DL PRS resource) may be repeated 1, 2, 4, 6, 8, 16, or 32 times. The interval between each repeated DL PRS resource may be set to any of 1, 2, 4, 8, 16, and 32 slots, but is not limited to the above embodiment.

[0176] In relation to frequency allocation for the DL PRS resource, the granularity of the DL PRS bandwidth may be 4 PRB. The starting PRB may be indicated to the terminal as a parameter, and the terminal may determine the starting PRB based on the indicated parameter. As an example, the minimum bandwidth for the DL PRS may be 24 PRBs and the maximum bandwidth may be 272 PRBs.

[0177] A resource element (RE) offset may be set on the frequency axis in relation to the DL PRS. In this case, the RE offset may be set to have a certain offset on the frequency axis based on a comb pattern with reference to the first symbol of the DL PRS resource. The first symbol may be set to the terminal. Then, the remaining symbols may be determined based on the RE offset with reference to the first symbol.

[0178] FIG. 11 is a diagram showing a kelp pattern applicable to the present disclosure.

[0179] Referring to FIG. 11, a DL PRS RE pattern when the comb size and the number of symbols are equal is shown, which will be described as an example.

[0180] More specifically, when the Comb size is 2 (Comb-2), the case of allocation to two symbols (0,1) can be considered. In this case, the RE offset can be {0,1}. That is, the DL PRS can be allocated to the first and second symbols by the RE offset {0,1}, and the frequency axis can be allocated based on the Comb size 2. When the Comb size is 4 (Comb-4), the case of allocation to four symbols (0,1,2,3) can be considered. In this case, the RE offset can be {0,2,1,3}. That is, the DL PRS can be allocated from the first symbol to the fourth symbol by the RE offset {0,2,1,3}, and the frequency axis can be allocated based on the Comb size 4. When the Comb size is 6 (Comb-6), the case of allocation to six symbols (0,1,2,3,4,5) can be considered. In this case, the RE offset can be {0,3,1,4,2,5}. That is, DL PRSs are allocated from the first symbol to the sixth symbol by RE offsets {0, 3, 1, 4, 2, 5}, and the frequency axis can be allocated based on the comb size of 6.

[0181] The present invention can support DL PRS muting. When a terminal receives an instruction to mute a DL PRS, the terminal can mute the DL PRS. Here, a DL PRS muting bitmap for a DL PRS resource set can be set, and the DL PRS to be muted can be instructed to the terminal based on the DL PRS muting bitmap. At this time, each bit of the DL PRS muting bitmap (hereinafter, option 1 bitmap) can correspond to each occasion or consecutive instances in the DL PRS resource set. At this time, when a specific bit instructs muting, all DL PRSs in the occasion or consecutive instances corresponding to the specific bit can be muted.

[0182] Furthermore, the bitmap for indicating muting (hereinafter, option 2 bitmap) can indicate muting for each DL PRS resource in an occasion or instance for one period. Each bit of the bitmap can correspond to a repetition index of each DL PRS resource in an occasion or instance for one period. That is, each bit can correspond to one repetition of the DL PRS in each DL PRS period, and each bit can indicate muting. As an example, the bitmap can be set to any of 2, 4, 8, 16, or 32 bits.

[0183] In relation to the muting option, at least one of an option 1 bitmap and an option 2 bitmap can be set. As an example, only the option 1 bitmap can be set. As another example, only the option 2 bitmap can be set. As a further example, both the option 1 bitmap and the option 2 bitmap can be set. In this case, when both the option 1 bitmap and the option 2 bitmap are set, all DL PRS resources in an occasion for which muting is instructed based on option 1 are muted, and among occasions for which muting is not instructed by the option 1 bitmap, DL PRS resources for which muting is instructed by the option 2 bitmap can be muted.

[0184] In a new communication system (e.g., NR), a DL PRS is generated to perform positioning. At this time, referring to Table 13 above, there can be 12 fully orthogonal resources in one slot. At this time, when the comb size is 2 (comb-2), if the DL PRS is assigned to two symbols, the orthogonal resources are two, which can be further divided into six based on the symbol offset. Also, when the comb size is 4 (comb-4), if the DL PRS is assigned to two symbols, the orthogonal resources are four, which can be further divided into three based on the symbol offset. Also, when the comb size is 6 (comb-6), if the DL PRS is assigned to six symbols, the orthogonal resources are six, which can be further divided into two based on the symbol offset. Also, when the comb size is 12 (comb-12) and DL PRS is allocated to 12 symbols, there are 12 orthogonal resources, and only one can be partitioned based on the symbol offset.

[0185] With respect to the DL PRS, the new communication system can support up to 64 TRPs in one frequency layer, and can allocate 64 resources to each TRP. In consideration of this, the DL PRS ID can be 4096 (64*64).

[0186] As an example, when a terminal operates based on an IIoT scenario in a 120 kHz band, considering the scenarios in Tables 9 and 10 described above, 18 TRPs can be supported. In this case, considering that 64 beams are supported per TRP, each of the 64 resources can be supported for DL ​​PRS. Therefore, the total resources required may be 1152 (18*64). Here, a fully orthogonal resource in one slot is 12 symbol inverts. Therefore, considering 1152 resources, 96 (1152 / 12=96) slots may be required. In this case, 96 slots may correspond to 12 ms at 120 kHz.

[0187] Meanwhile, considering the IIoT scenario, the positioning-related delay requirement can be set to 10 ms or less as mentioned above. Therefore, if a slot (96 slots) corresponding to 12 ms is used, the delay requirement (10 ms) may not be met. In other words, a method for efficiently allocating DL PRS resources may be required.

[0188] 12 and 13 are diagrams illustrating a method of performing cyclic prefixing based on a DL PRS allocation pattern applicable to the present disclosure. When performing both frequency axis cyclic prefixing and time axis cyclic prefixing in a DL PRS allocation pattern, orthogonality may be lost due to collision. Therefore, when performing cyclic prefixing based on a DL PRS allocation pattern, only frequency axis cyclic prefixing may be possible.

[0189] 12, when the comb size is 6 and the pattern for allocating DL PRS to 6 symbols is {0.3, 1, 4, 2, 5}, 6 patterns may be possible with frequency axis cyclic prefix. FIG 12 may show resource allocation methods when f=0 and f=2.

[0190] 13, when the comb size is 12 and the pattern for allocating DL PRS to 12 symbols is {0, 6, 3, 9, 1, 7, 4, 10, 2, 8, 5, 11}, 12 patterns may be possible with frequency axis cyclic pre-allocation. FIG 7 may show a resource allocation method when f=0 and when f=2.

[0191] FIG. 14 illustrates a DL PRS resource allocation method applicable to the present disclosure.

[0192] The communication system according to the present invention can support DL PRS muting. When a terminal receives an instruction to mute a DL PRS, the terminal can mute the DL PRS. Here, a DL PRS muting bitmap for a DL PRS resource set can be configured, and the DL PRS to be muted can be instructed to the terminal based on the DL PRS muting bitmap. At this time, each bit of the DL PRS muting bitmap (hereinafter, option 1 bitmap) can correspond to each occasion or consecutive instances in the DL PRS resource set. Here, each DL PRS occasion can correspond to the entire DL PRS resource (including repeated transmission) in each DL PRS period. That is, one DL PRS occasion can correspond to one DL PRS period.

[0193] In this case, if a specific bit indicates muting, all DL PRSs in the occasion or consecutive instances corresponding to the specific bit can be muted. As an example, DL PRSs in the existing system (LTE) can also be muted on an occasion-by-occasion basis as described above. As another example, a bitmap indicating muting (hereinafter, option 2 bitmap) can indicate muting for each DL PRS resource in an occasion or instance for one period. Here, each bit of the bitmap can correspond to a repetition index of each DL PRS resource in an occasion or instance for one period (i.e., each bit corresponds to one repetition of the DL PRS in each DL PRS period), and muting can be indicated by each bit. In this case, the bitmap can be set to any of 2, 4, 8, 16, or 32 bits.

[0194] As an example, in relation to the muting option, at least one of the option 1 bitmap and the option 2 bitmap can be set. As an example, only the option 1 bitmap can be set. Furthermore, only the option 2 bitmap can be set. As an example, both the option 1 bitmap and the option 2 bitmap can be set. In this case, when both the option 1 bitmap and the option 2 bitmap are set, all DL PRS resources in an occasion for which muting is instructed based on option 1 can be muted, and DL PRS resources for which muting is instructed by the option 2 bitmap in an occasion for which muting is not instructed can be muted.

[0195] Referring to FIG. 14(a), the terminal can check the DL PRS period and offset indicated based on the DL PRS configuration. In FIG. 14(a), the period is set to 10 slots, and the offset is set to 2 slots, but this is merely an example and is not limited to the above-mentioned embodiment. In addition, the terminal can check the repetition pattern of the DL PRS resource within the period through 'DL-PRS-ResourceRepetitionFactor' indicated based on the DL PRS configuration. Note that 'DL-PRS-ResourceRepetitionFactor' is set to indicate two repetitions, but this is merely an example and is not limited to the above-mentioned embodiment. The terminal can check the time interval between DL PRS resources within one period through 'DL-PRS-ResourceTimeGap' indicated based on the DL PRS configuration. As an example, in FIG. 14(a), 'DL-PRS-ResourceTimeGap' is set to one slot, but this is merely an example and is not limited to the above-mentioned embodiment.

[0196] Referring to FIG. 14(b), the terminal can perform muting based on the option 1 bitmap. As an example, the option 1 bitmap can be a muting bitmap for two periods with two bits, where each bit corresponds to one occasion corresponding to one period. In this case, muting can be performed for the corresponding occasion based on each bit. Further, as an example, the option 2 bitmap can correspond to each bit of the repetition of each DL PRS within one period.

[0197] When the terminal is instructed to perform muting based on the option 1 bitmap, the terminal recognizes that all DL PRSs of the occasion are muted, and can perform positioning. On the other hand, in the case of the option 2 bitmap, among the occasions for which the terminal is not instructed to perform muting based on the option 1 bitmap, the DL PRSs for which muting is instructed through the option 2 bitmap can be muted. That is, among the DL PRSs, the terminal can perform positioning only for the DL PRS resources for which both the option 1 bitmap and the option 2 bitmap are instructed not to be muted. As a specific embodiment, each DL PRS occasion 1410-1, 1410-2, 1410-3, and 1410-4 in FIG. 14(b) can correspond to each PRS period. Here, the first DL PRS occasion 1410-1 can correspond to "period #0", the second DL PRS occasion 1410-2 can correspond to "period #1", the third DL PRS occasion 1410-3 can correspond to "period #2", and the fourth DL PRS occasion 1410-4 can correspond to "period #3".

[0198] Since each bit of the option 1 bitmap corresponds to a DL PRS occasion, the option 1 bitmap may be two bits. Here, when the bit corresponding to the first DL PRS occasion 1410-1 of the two-bit option 1 bitmap corresponding to the first DL PRS occasion 1410-1 and the second DL PRS occasion 1410-2 indicates muting, all of the DL PRS resources 1420-1 and 1420-2 in the first DL PRS occasion 1410-1 are muted. Also, when the bit corresponding to the second DL PRS occasion 1410-2 of the two-bit option 1 bitmap indicates muting, all of the DL PRS resources 1420-3 and 1420-4 in the second DL PRS occasion 1410-2 are muted.

[0199] On the other hand, when the bit corresponding to the third DL PRS occasion 1410-3 in the 2-bit option 1 bitmap corresponding to the third DL PRS occasion 1410-3 and the fourth DL PRS occasion 1410-4 indicates muting, all of the DL PRS resources 1420-5 and 1420-6 in the third DL PRS occasion 1410-3 are muted. Also, when the bit corresponding to the fourth DL PRS occasion 1410-4 in the 2-bit option 1 bitmap indicates muting, all of the DL PRS resources 1420-7 and 1420-8 in the fourth DL PRS occasion 1410-4 are muted.

[0200] Additionally, repetitions of DL PRS resources may be included within each DL PRS occasion 1410-1, 1410-2, 1410-3, 1410-4. For example, the first DL PRS occasion 1410-1 includes two repetitions of DL PRS resources 1420-1, 1420-2. The second DL PRS occasion 1410-2 also includes two repetitions of DL PRS resources 1420-3, 1420-4. The third DL PRS occasion 1410-3 also includes two repetitions of DL PRS resources 1420-5, 1420-6, and the fourth DL PRS occasion 1410-4 also includes two repetitions of DL PRS resources 1420-7, 1420-8.

[0201] In this case, each bit of the option 2 bitmap corresponds to each repetition of the DL PRS resource, and therefore, in the first DL PRS occasion 1410-1, the option 2 bitmap is set to two bits according to the two repetitions 1420-1, 1420-2 of the DL PRS resource.

[0202] Here, if the option 1 bitmap indicates that the first DL PRS occasion 1410-1 is muted, the two DL PRS resource repetitions 1420-1, 1420-2 are muted regardless of the option 2 bitmap. On the other hand, if the option 1 bitmap indicates that the first DL PRS occasion 1410-1 is not muted, the two DL PRS resource repetitions 1420-1, 1420-2 are muted by the option 2 bitmap. Here, if the bit corresponding to the first DL PRS resource repetition 1420-1 in the two-bit option 2 bitmap indicates muting, the DL PRS resource 1420-1 is muted. Furthermore, if the bit corresponding to the second DL PRS resource repetition 1420-2 in the two-bit option 2 bitmap indicates muting, the DL PRS resource 1420-2 is muted. The option 2 bitmap can be applied when the option 1 bitmap indicates no muting.

[0203] As an example, a method and apparatus for performing positioning using a sidelink in a new communication system (e.g., NR) may be provided. As an example, a terminal performing sidelink communication may perform sidelink communication based on at least one of in-coverage, out-of-coverage, and partial coverage. Further, as an example, the sidelink communication may support vehicle to everything (V2X), public safety, commercial services, and Industrial Internet of Things (IIoT), as described above.

[0204] Further, as an example, positioning based on sidelink may be performed. In this case, the positioning may be performed based on at least one of TDOA (time difference of arrival), RTT (round trip time), AOA (angle of arrival), AOD (angle of departure), and RSTD (reference signal time difference), but is not limited thereto. As another example, measurements for sidelink positioning may be used in combination with measurements for other RAT-based positioning (e.g., Uu based measurements), and are not limited to a specific embodiment.

[0205] Further, by way of example, when performing sidelink positioning based on a new system, it is necessary to determine signal design, resource allocation, measurements, related procedures and other matters from a physical layer perspective for reference signals for sidelink positioning, as will be described later. Further, by way of example, a method is possible to recycle existing reference signals and reference signal related procedures for sidelink positioning, as will be described later. Based on the above, a method for performing sidelink based positioning is described below.

[0206] FIG. 15 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0207] Referring to Fig. 15, sidelink-based positioning may be performed. As a specific example, in Fig. 15, terminal A 1520, terminal B 1530, and terminal C 1540 may be present within the coverage of base station 1510. As an example, each of terminal A 1520, terminal B 1530, and terminal C 1540 may be in an RRC-connected state with base station 1510, but is not limited thereto. At this time, the location of terminal D 1550 may be measured based on sidelink-based positioning.

[0208] Here, as an example, sidelink communication may be possible between terminal A 1520 and terminal D 1550, sidelink communication may be possible between terminal B 1530 and terminal D 1550, and sidelink communication may be possible between terminal C 1540 and terminal D 1550. As another example, terminal A 1520, terminal B 1530, terminal C 1540, and terminal D 1550 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 1520 may be a master terminal in the group communication, but is not limited to the above-mentioned embodiment.

[0209] For convenience of explanation, the following description will be based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 15, a base station 1510 may transmit allocation information A to a terminal A 1520, transmit allocation information B to a terminal B 1530, and transmit allocation information C to a terminal C 1540. At this time, the allocation information A may be information required for the terminal A 1520 to transmit a sidelink positioning reference signal (SL PRS) A. As an example, the allocation information A may include at least one of resource and sequence information required for the terminal A 1520 to transmit the SL PRS A, and may further include other information. Also, the allocation information B may be information required for the terminal B 1530 to transmit the SL PRS B. The allocation information B may include at least one of resource and sequence information required for the terminal B 1530 to transmit the SL PRS B, and may further include other information. Also, the allocation information C may be information required for the terminal C 1540 to transmit the SL PRS C. The allocation information C may include at least one of resource and sequence information required for terminal C 1540 to transmit the SL PRS C, but may also include other information.

[0210] In this case, as an example, each of the allocation information A, allocation information B, and allocation information C may be transmitted from the base station 1510 to each of the terminals A 1520, B 1530, and C 1540 by higher layer signaling (e.g., RRC). Here, as an example, each of the allocation information A, B, and C may be assigned by a location server, and the assigned information may be transmitted to each terminal via the base station 1510, and is not limited to a specific embodiment.

[0211] Thereafter, terminal A 1520 may transmit the allocation information A' to terminal D 1550. Here, the allocation information A' may be information necessary for terminal A 1520 to transmit SL PRS A to terminal D 1550. As an example, the allocation information A' may be the same information as the allocation information A. That is, terminal A 1520 may forward the allocation information received from base station 1510 to terminal D 1550. As another example, the allocation information A' may be information generated based on the allocation information A received by terminal A 1520. In this case, as an example, terminal A 1520 may transmit the allocation information A' to terminal D 1550 via at least one of a physical sidelink control channel (PSCCH) and a physical sidelink shared channel (PSSCH).

[0212] Furthermore, terminal B 1530 may transmit allocation information B' to terminal D 1550. Here, allocation information B' may be information necessary for terminal B 1530 to transmit SL PRS B to terminal D 1550. As an example, allocation information B' may be the same information as allocation information B. That is, terminal B 1530 may forward the allocation information received from base station 1510 to terminal D 1550. As another example, allocation information B' may be information generated based on allocation information B received by terminal B 1530. In this case, as an example, terminal B 1530 may transmit allocation information B' to terminal D 1550 via at least one of a PSCCH and a PSSCH.

[0213] Also, terminal C 1540 may transmit allocation information C' to terminal D 1550. Here, the allocation information C' may be information required for terminal C 1540 to transmit SL PRS C to terminal D 1550. As an example, the allocation information C' may be the same information as the allocation information C. That is, terminal C 1540 may forward the allocation information received from the base station 1510 to terminal D 1550. As another example, the allocation information C' may be information generated based on the allocation information C received by terminal C 1540. That is, each terminal may transmit its own allocation information to terminal D 1550. In this case, as an example, terminal B 1530 may transmit allocation information B' to terminal D 1550 via at least one of the PSCCH and the PSSCH.

[0214] Thereafter, terminal A 1520 can transmit SL PRS A to terminal D 1550. Terminal B 1530 can also transmit SL PRS B to terminal D 1550. Terminal C 1540 can also transmit SL PRS C to terminal D 1550. That is, each terminal can transmit its own SL PRS to terminal D 1550 based on the allocated resource information.

[0215] Thereafter, terminal D 1550 can perform measurements based on each of SL PRS A, SL PRS B, and SL PRS C received from terminal A 1520, terminal B 1530, and terminal C 1540, respectively. Terminal D 1550 can transmit measurement information to terminal A 1520. At this time, the measurement information may be a measurement value measured based on at least one of OTDOA (observed time difference of arrival) and RSTD (reference signal time difference) corresponding to each of SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for terminal A 1520, terminal B 1530, and terminal C 1540, respectively. Here, if terminal D 1550 knows the positions of terminal A 1520, terminal B 1530, and terminal C 1540 in advance, terminal D 1550 can derive a position value of terminal D 1550 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if the terminal D 1550 does not know the locations of the terminals A 1520, B 1530, and C 1540 in advance, the above-mentioned measurements A, B, and C can be included in the measurement information and the information can be transmitted to the terminal A 1520. Then, the terminal A 1520 can transmit the measurement information acquired from the terminal D 1550 to the base station 1510. At this time, the transmitted measurement information may be one of i) transmitting the transmitted measurements A, B, and C as they are when the terminal D 1550 transmits the measurements A, B, and C, ii) transmitting the location value of the terminal D 1550 derived from the transmitted measurements A, B, and C when the terminal D 1550 transmits the measurements A, B, and C, or iii) transmitting the location value of the terminal D 1550 as it is when the terminal D 1550 transmits the location value. Furthermore, as an example, the base station 1510 can further transmit the measurement information to a location server, but is not limited thereto. Positioning can be performed as described above.

[0216] FIG. 16 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0217] Referring to Fig. 16, sidelink-based positioning may be performed. As a specific example, in Fig. 16, terminal A 1620, terminal B 1630, and terminal C 1640 may be present within the coverage of base station 1610. As an example, but not limited to, each of terminal A 1620, terminal B 1630, and terminal C 1640 may be in an RRC-connected state with base station 1610. At this time, the location of terminal D 1650 may be measured based on sidelink-based positioning.

[0218] Here, as an example, sidelink communication may be possible between terminal A 1620 and terminal D 1650. As another example, terminal A 1620 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 1620 may be a master terminal in group communication, but is not limited to the above embodiment.

[0219] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 16, the base station 1610 can transmit allocation information A to the terminal A 1620. At this time, the terminal A 1620 can perform sidelink communication with the terminal D 1650, and needs to transmit allocation information for the terminal B 1630 and the terminal C 1640 to the terminal D 1650. Therefore, the base station 1610 can transmit allocation information B and allocation information C, which are allocation information for the terminal B 1630 and the terminal C 1640, to the terminal A 1620 together with the allocation information A. That is, the terminal A 1620 can obtain the allocation information A, the allocation information B, and the allocation information C from the base station 1610.

[0220] Thereafter, the base station 1610 may transmit allocation information B to the terminal B 1630 and may transmit allocation information C to the terminal C 1640. At this time, the allocation information A may be information necessary for the terminal A 1620 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information necessary for the terminal A 1620 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information necessary for the terminal B 1630 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information necessary for the terminal B 1630 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information necessary for the terminal C 1640 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information necessary for the terminal C 1640 to transmit the SL PRS C, but may further include other information.

[0221] At this time, as an example, each of the allocation information A, allocation information B, and allocation information C is transmitted from the base station 1610 to each of the terminal A 1620, terminal B 1630, and terminal C 1640 by higher layer signaling (e.g., RRC). Also, the terminal A 1620 can obtain the allocation information B and allocation information C along with the allocation information A through higher layer signaling (e.g., RRC), as described above. Also, as an example, the allocation information B and allocation information C transmitted along with the allocation information A may be transmitted based on the allocation information A+B+C. Here, the allocation information A+B+C may be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0222] Further, as an example, each of the assignment information A, assignment information B, and assignment information C may be assigned by a location server, and the assigned information may be transmitted to each terminal via base station 1610, and is not limited to a specific embodiment.

[0223] Thereafter, terminal A 1620 may transmit allocation information A' to terminal D 1650. Terminal A 1620 may also transmit allocation information B' and C' to terminal D 1650 along with allocation information A'. That is, terminal A 1620 may transmit allocation information A'+B'+C' to terminal D 1650. Here, allocation information A'+B'+C' may be information generated based on allocation information A', allocation information B', and allocation information C', which will be described later. At this time, terminal A 1620 may transmit allocation information A'+B'+C' to terminal D 1650 via at least one of the PSCCH and the PSSCH.

[0224] Here, the allocation information A' may be information necessary for the terminal A 1620 to transmit the SL PRS A to the terminal D 1650. As an example, the allocation information A' may be the same information as the allocation information A. As another example, the allocation information A' may be information generated based on the allocation information A received by the terminal A 1620.

[0225] Also, allocation information B' may be information necessary for terminal B 1630 to transmit SL PRS B to terminal D 1650. As an example, allocation information B', which is allocation information of terminal B 1630, may be transmitted to terminal D 1650 by terminal A 1620. That is, terminal B 1630 only transmits SL PRS B based on the allocation information received from base station 1610, and the allocation information of terminal B 1630 may be transferred to terminal D 1650 by terminal A 1620.

[0226] In addition, allocation information C', which is allocation information of terminal C 1640, may be transmitted to terminal D 1650 by terminal A 1620. That is, terminal C 1640 only performs SL PRS C transmission based on the allocation information received from base station 1610, and the allocation information of terminal C 1640 may be transmitted to terminal D 1650 by terminal A 1620.

[0227] Thereafter, terminal A 1620 may transmit SL PRS A to terminal D 1650. Terminal B 1630 may also transmit SL PRS B to terminal D 1650. Terminal C 1640 may also transmit SL PRS C to terminal D 1650. That is, each terminal may transmit its own SL PRS to terminal D 1650 based on the allocated resource information.

[0228] Thereafter, terminal D 1650 may perform measurements based on each of SL PRS A, SL PRS B, and SL PRS C received from terminal A 1620, terminal B 1630, and terminal C 1640, respectively. At this time, terminal D 1650 may transmit measurement information to terminal A 1620. At this time, the measurement information may be a measurement value measured based on at least one of OTDOA and RSTD by each of SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for terminal A 1620, terminal B 1630, and terminal C 1640, respectively. Here, if terminal D 1650 knows the positions of terminal A 1620, terminal B 1630, and terminal C 1640 in advance, terminal D 1650 may derive a position value of terminal D 1650 through the above-mentioned measurements A, B, and C, and may include the derived position value in the measurement information. On the other hand, if the terminal D 1650 does not know the locations of the terminals A 1620, B 1630, and C 1640 in advance, the above-mentioned measurements A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A 1620 may transmit the measurement information acquired from the terminal D 1650 to the base station 1610. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurements A, B, and C as they are when the terminal D 1650 transmits the measurements A, B, and C, ii) transmitting the location value of the terminal D 1650 derived from the transmitted measurements A, B, and C when the terminal D 1650 transmits the measurements A, B, and C, or iii) transmitting the location value of the terminal D 1650 as it is when the terminal D 1650 transmits the location value. Furthermore, as an example, the base station 1610 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0229] FIG. 17 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0230] Referring to Fig. 17, sidelink-based positioning may be performed. As a specific example, in Fig. 17, terminal A 1720, terminal B 1730, and terminal C 1740 may be present within the coverage of base station 1710. As an example, terminal A 1720, terminal B 1730, and terminal C 1740 may each be in an RRC-connected state with base station 1710, but is not limited thereto. In this case, the location of terminal D 1750 may be measured based on sidelink-based positioning.

[0231] Here, as an example, sidelink communication may be possible between terminal A 1720 and terminal D 1750, sidelink communication may be possible between terminal B 1730 and terminal D 1750, and sidelink communication may be possible between terminal C 1740 and terminal D 1750. As another example, terminal A 1720, terminal B 1730, terminal C 1740, and terminal D 1750 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 1720 may be a master terminal in the group communication, but is not limited to the above-mentioned embodiment.

[0232] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 17, the terminal D 1750 may transmit request information to the terminal A 1720. At this time, the request information may be information requesting location measurement of the terminal D 1750. Then, the terminal A 1720 may transmit request information to the base station 1710 based on the request information acquired from the terminal D 1750. Here, as an example, the base station 1710 may transmit the received request information to a location server, but is not limited to the above-mentioned embodiment.

[0233] Then, the base station 1710 may transmit allocation information to each terminal based on the request information. As another example, the base station 1710 may receive allocation information for each terminal from a location server based on the request information and transmit the allocation information based on the received information, and is not limited to the above embodiment.

[0234] The base station 1710 may transmit allocation information A to the terminal A 1720, transmit allocation information B to the terminal B 1730, and transmit allocation information C to the terminal C 1740, respectively. At this time, the allocation information A may be information necessary for the terminal A 1720 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information necessary for the terminal A 1720 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information necessary for the terminal B 1730 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information necessary for the terminal B 1730 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information necessary for the terminal C 1740 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information necessary for the terminal C 1740 to transmit the SL PRS C, but may further include other information.

[0235] At this time, for example, each of the allocation information A, allocation information B, and allocation information C may be transmitted from the base station 1710 to each of the terminals A 1720, B 1730, and C 1740 by higher layer signaling (e.g., RRC). Here, for example, each of the allocation information A, B, and C may be assigned by a location server, and the assigned information may be transmitted to each terminal via the base station 1710, and is not limited to a specific embodiment.

[0236] Thereafter, terminal A 1720 may transmit allocation information A' to terminal D 1750. Here, allocation information A' may be information necessary for terminal A 1720 to transmit SL PRS A to terminal D 1750. As an example, allocation information A' may be the same information as allocation information A. That is, terminal A 1720 may forward the allocation information received from base station 1710 to terminal D 1750. As another example, allocation information A' may be information generated based on allocation information A received by terminal A 1720. Terminal A 1720 may transmit allocation information A' to terminal D 1750 via at least one of a PSCCH and a PSSCH.

[0237] Terminal B 1730 may also transmit allocation information B' to terminal D 1750. Here, allocation information B' may be information necessary for terminal B 1730 to transmit SL PRS B to terminal D 1750. As an example, allocation information B' may be the same information as allocation information B. That is, terminal B 1730 may forward the allocation information received from base station 1710 to terminal D 1750. As another example, allocation information B' may be information generated based on allocation information B received by terminal B 1730. Terminal B 1730 may transmit allocation information B' to terminal D 1750 via at least one of a PSCCH and a PSSCH.

[0238] In addition, terminal C 1740 may transmit allocation information C' to terminal D 1750. Here, the allocation information C' may be information required for terminal C 1740 to transmit SL PRS C to terminal D 1750. As an example, the allocation information C' may be the same information as the allocation information C. That is, terminal C 1740 may forward the allocation information received from the base station 1710 to terminal D 1750. As another example, the allocation information C' may be information generated based on the allocation information C received by terminal C 1740. That is, each terminal may transmit its own allocation information to terminal D 1750. Terminal C 1740 may transmit the allocation information C' to terminal D 1750 via at least one of the PSCCH and the PSSCH.

[0239] Thereafter, terminal A 1720 can transmit SL PRS A to terminal D 1750. Terminal B 1730 can also transmit SL PRS B to terminal D 1750. Terminal C 1740 can also transmit SL PRS C to terminal D 1750. That is, each terminal can transmit its own SL PRS to terminal D 1750 based on the allocated resource information.

[0240] Thereafter, terminal D 1750 can perform measurements based on each of SL PRS A, SL PRS B, and SL PRS C received from terminal A 1720, terminal B 1730, and terminal C 1740, respectively. At this time, terminal D 1750 can transmit measurement information to terminal A 1720. At this time, the measurement information may be a measurement value measured based on at least one of OTDOA and RSTD by each of SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for terminal A 1720, terminal B 1730, and terminal C 1740, respectively. Here, if terminal D 1750 knows the positions of terminal A 1720, terminal B 1730, and terminal C 1740 in advance, terminal D 1750 can derive a position value of terminal D 1750 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if the terminal D 1750 does not know the positions of the terminals A 1720, B 1730, and C 1740 in advance, the above-mentioned measurements A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A 1720 may transmit the measurement information acquired from the terminal D 1750 to the base station 1710. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurements A, B, and C as they are when the terminal D 1650 transmits the measurements A, B, and C, ii) transmitting the position value of the terminal D 1650 derived from the transmitted measurements A, B, and C when the terminal D 1650 transmits the measurements A, B, and C, or iii) transmitting the position value of the terminal D 1650 as it is when the terminal D 1650 transmits the position value. Furthermore, as an example, the base station 1710 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0241] FIG. 18 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0242] Referring to Fig. 18, sidelink-based positioning may be performed. As a specific example, in Fig. 18, terminal A 1820, terminal B 1830, and terminal C 1840 may be present within the coverage of base station 1810. As an example, but not limited to, each of terminal A 1820, terminal B 1830, and terminal C 1840 may be in an RRC-connected state with base station 1810. At this time, the location of terminal D 1850 may be measured based on sidelink-based positioning.

[0243] Here, as an example, sidelink communication may be possible between terminal A 1820 and terminal D 1650. As another example, terminal A 1820 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 1820 may be a master terminal in group communication, but is not limited to the above embodiment.

[0244] For convenience of explanation, the following description will be based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 18, the terminal D 1850 may transmit request information to the terminal A 1820. At this time, the request information may be information requesting location measurement of the terminal D 1850. Then, the terminal A 1820 may transmit request information to the base station 1810 based on the request information acquired from the terminal D 1850. Here, as an example, the base station 1810 may transmit the received request information to a location server, but is not limited to the above-mentioned embodiment.

[0245] Then, the base station 1810 may transmit allocation information to each terminal based on the request information. As another example, the base station 1810 may receive allocation information for each terminal from a location server based on the request information and transmit the allocation information based on the received information, and is not limited to the above embodiment.

[0246] The base station 1810 may transmit allocation information A to terminal A 1820. At this time, terminal A 1820 may perform sidelink communication with terminal D 1850 and may need to transmit allocation information for terminal B 1830 and terminal C 1840 to terminal D 1850. Thus, the base station 1810 may transmit allocation information B and allocation information C, which are allocation information for terminal B 1830 and terminal C 1840, to terminal A 1820 together with allocation information A. That is, terminal A 1820 may obtain allocation information A, allocation information B, and allocation information C from the base station 1810.

[0247] Thereafter, the base station 1810 may transmit allocation information B to the terminal B 1830 and may transmit allocation information C to the terminal C 1840. At this time, the allocation information A may be information necessary for the terminal A 1820 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information necessary for the terminal A 1820 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information necessary for the terminal B 1830 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information necessary for the terminal B 1830 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information necessary for the terminal C 1840 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information necessary for the terminal C 1840 to transmit the SL PRS C, but may further include other information.

[0248] In this case, for example, each of the allocation information A, allocation information B, and allocation information C may be transmitted from the base station 1810 to each of the terminals A 1820, B 1830, and C 1840 by higher layer signaling (e.g., RRC). Also, the terminal A 1820 may obtain the allocation information B and C together with the allocation information A through higher layer signaling (e.g., RRC), as described above. Also, for example, the allocation information A together with the allocation information B and C may be allocation information A+B+C. Here, the allocation information A+B+C may be information generated based on the allocation information A, B, and C, which will be described later.

[0249] Further, as an example, each of the assignment information A, assignment information B, and assignment information C may be assigned by a location server, and the assigned information may be transmitted to each terminal via base station 1810, and is not limited to a specific embodiment.

[0250] Thereafter, terminal A 1820 may transmit allocation information A' to terminal D 1850. Terminal A 1820 may also transmit allocation information B' and C' to terminal D 1850 along with allocation information A'. That is, terminal A 1820 may transmit allocation information A'+B'+C' to terminal D 1850. Here, allocation information A'+B'+C' may be information generated based on allocation information A', allocation information B', and allocation information C', which will be described later. At this time, terminal A 1820 may transmit allocation information A'+B'+C' to terminal D 1850 via at least one of the PSCCH and the PSSCH.

[0251] Here, the allocation information A' may be information necessary for the terminal A 1820 to transmit the SL PRS A to the terminal D 1850. As an example, the allocation information A' may be the same information as the allocation information A. As another example, the allocation information A' may be information generated based on the allocation information A received by the terminal A 1820.

[0252] Also, allocation information B' may be information necessary for terminal B 1830 to transmit SL PRS B to terminal D 1850. As an example, allocation information B', which is allocation information of terminal B 1830, may be transmitted to terminal D 1850 by terminal A 1820. That is, terminal B 1830 only transmits SL PRS B based on the allocation information received from base station 1810, and the allocation information of terminal B 1830 may be transferred to terminal D 1850 by terminal A 1820.

[0253] In addition, allocation information C', which is allocation information of terminal C 1840, may be transmitted to terminal D 1850 by terminal A 1820. That is, terminal C 1840 only performs SL PRS C transmission based on the allocation information received from base station 1810, and the allocation information of terminal C 1840 may be transmitted to terminal D 1850 by terminal A 1820.

[0254] Thereafter, terminal A 1820 can transmit SL PRS A to terminal D 1850. Terminal B 1830 can also transmit SL PRS B to terminal D 1850. Terminal C 1840 can also transmit SL PRS C to terminal D 1850. That is, each terminal can transmit its own SL PRS to terminal D 1850 based on the allocated resource information.

[0255] Thereafter, terminal D 1850 may perform measurements based on each of SL PRS A, SL PRS B, and SL PRS C received from terminal A 1820, terminal B 1830, and terminal C 1840, respectively. At this time, terminal D 1850 may transmit measurement information to terminal A 1820. At this time, the measurement information may be a measurement value measured based on at least one of OTDOA and RSTD by each of SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for terminal A 1820, terminal B 1830, and terminal C 1840, respectively. Here, if terminal D 1850 knows the positions of terminal A 1820, terminal B 1830, and terminal C 1840 in advance, terminal D 1850 may derive a position value of terminal D 1850 through the above-mentioned measurements A, B, and C, and may include the derived position value in the measurement information. On the other hand, if the terminal D 1850 does not know the locations of the terminals A 1820, B 1830, and C 1840 in advance, the above-mentioned measurements A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A 1820 may transmit the measurement information acquired from the terminal D 1850 to the base station 1810. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurements A, B, and C as they are when the terminal D 1650 transmits the measurements A, B, and C, ii) transmitting the location value of the terminal D 1650 derived from the transmitted measurements A, B, and C when the terminal D 1650 transmits the measurements A, B, and C, or iii) transmitting the location value of the terminal D 1650 as it is when the terminal D 1650 transmits the location value. Furthermore, as an example, the base station 1810 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0256] FIG. 19 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0257] Referring to FIG. 19, sidelink-based positioning may be performed. As a specific example, a terminal A 1920 may be present within the coverage of a base station 1910 in FIG. 19. As an example, the terminal A 1920 may be in an RRC-connected state with the base station 1910, but is not limited thereto. At this time, the location of the terminal D 1950 may be measured based on the sidelink-based positioning. Here, as an example, sidelink communication may be possible between the terminal A 1920 and the terminal B 1930, sidelink communication may be possible between the terminal A 1920 and the terminal C 1940, sidelink communication may be possible between the terminal A 1920 and the terminal D 1950, sidelink communication may be possible between the terminal B 1930 and the terminal D 1950, and sidelink communication may be possible between the terminal C 1940 and the terminal D 1950. As another example, the terminal A 1920 may perform group communication-based sidelink communication based on groupcast. As an example, the terminal A 1920 may be a master terminal in a group communication, but is not limited to the above embodiment.

[0258] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 19, a base station 1910 can transmit allocation information A, allocation information B, and allocation information C to a terminal A 1920. That is, the base station 1910 can transmit the above-mentioned information to the terminal A 1920 as allocation information A+B+C. As an example, the allocation information A+B+C can be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0259] At this time, the allocation information A may be information required for the terminal A 1920 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 1920 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 1930 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 1930 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 1940 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 1940 to transmit the SL PRS C, but may further include other information.

[0260] At this time, as an example, the allocation information A, the allocation information B, and the allocation information C may be transmitted from the base station 1910 to the terminal A 1920 by higher layer signaling (e.g., RRC). That is, the above-mentioned allocation information A+B+C may be transmitted from the base station 1910 to the terminal A 1920 by higher layer signaling (e.g., RRC). Here, as an example, each of the allocation information A, the allocation information B, and the allocation information C may be assigned by a location server, and the assigned information may be transmitted to each terminal through the base station 1910, and is not limited to a specific embodiment.

[0261] Thereafter, the terminal A 1920 can generate allocation information B' and allocation information C' based on the allocation information A+B+C. At this time, the allocation information B' may be the same as the allocation information B. As another example, the allocation information B' may be generated by the terminal A 1920 based on the allocation information B, and is not limited to the above-mentioned embodiment. Also, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal A 1920 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0262] Terminal A 1920 may transmit allocation information B' to terminal B 1930 and transmit allocation information C' to terminal C 1940. Then, terminal A 1920 may transmit allocation information A' to terminal D 1950. Here, allocation information A' may be information required for terminal A 1920 to transmit SL PRS A to terminal D 1950. As an example, allocation information A' may be the same information as allocation information A. That is, terminal A 1920 may forward the allocation information received from base station 1910 to terminal D 1950. As another example, allocation information A' may be information generated based on allocation information A received by terminal A 1920. Terminal A 1920 may transmit allocation information A' to terminal D 1950 via at least one of a PSCCH and a PSSCH.

[0263] Terminal B 1930 can also transmit allocation information B' to terminal D 1950. Here, allocation information B' is information necessary for terminal B 1930 to transmit SL PRS B to terminal D 1950, and can be acquired from terminal A 1920. Terminal B 1930 can transmit allocation information B' to terminal D 1950 via at least one of the PSCCH and the PSSCH.

[0264] Furthermore, terminal C 1940 can transmit allocation information C' to terminal D 1950. Here, the allocation information C' is information necessary for terminal C 1940 to transmit the SL PRS C to terminal D 1950, and can be acquired from terminal A 1920. That is, each terminal can transmit its own allocation information to terminal D 1950. Terminal C 1940 can transmit allocation information C' to terminal D 1950 via at least one of the PSCCH and the PSSCH.

[0265] Thereafter, terminal A 1920 can transmit SL PRS A to terminal D 1950. Terminal B 1930 can also transmit SL PRS B to terminal D 1950. Terminal C 1940 can also transmit SL PRS C to terminal D 1950. That is, each terminal can transmit its own SL PRS to terminal D 1950 based on the allocated resource information.

[0266] Thereafter, terminal D 1950 can perform measurements based on each of SL PRS A, SL PRS B, and SL PRS C received from terminal A 1920, terminal B 1930, and terminal C 1940, respectively. At this time, terminal D 1950 can transmit measurement information to terminal A 1920. At this time, the measurement information may be a measurement value measured based on at least one of OTDOA and RSTD by each of SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for terminal A 1920, terminal B 1930, and terminal C 1940, respectively. Here, if terminal D 1950 knows the positions of terminal A 1920, terminal B 1930, and terminal C 1940 in advance, terminal D 1950 can derive a position value of terminal D 1950 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if the terminal D 1950 does not know the positions of the terminal A 1920, the terminal B 1930, and the terminal C 1940 in advance, the above-mentioned measurement values ​​A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A 1920 may transmit the measurement information acquired from the terminal D 1950 to the base station 1910. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurement values ​​A, B, and C as they are when the terminal D 1650 transmits the measurement values ​​A, B, and C as they are, ii) transmitting the position value of the terminal D 1650 derived from the transmitted measurement values ​​A, B, and C when the terminal D 1650 transmits the measurement values ​​A, B, and C, or iii) transmitting the position value of the terminal D 1650 as it is when the terminal D 1650 transmits the position value. Furthermore, as an example, the base station 1910 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0267] FIG. 20 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0268] Referring to FIG. 20, sidelink-based positioning may be performed. As a specific example, a terminal A 2020 may be present within the coverage of a base station 2010 in FIG. 20. As an example, the terminal A 2020 may be in an RRC-connected state with the base station 2010, but is not limited thereto. At this time, the location of the terminal D 2050 may be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between the terminal A 2020 and the terminal B 2030, sidelink communication may be possible between the terminal A 2020 and the terminal C 2040, and sidelink communication may be possible between the terminal A 2020 and the terminal D 2050. As another example, the terminal A 2020 may perform group communication-based sidelink communication based on groupcast. As an example, the terminal A 2020 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0269] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to Fig. 20, a base station 2010 can transmit allocation information A, allocation information B, and allocation information C to a terminal A 2020. That is, the base station 2010 can transmit the above-mentioned information to the terminal A 2020 as allocation information A+B+C. As an example, the allocation information A+B+C can be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0270] At this time, the allocation information A may be information required for the terminal A 2020 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2020 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2030 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2030 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2040 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2040 to transmit the SL PRS C, but may further include other information.

[0271] At this time, as an example, the allocation information A, the allocation information B, and the allocation information C may be transmitted from the base station 2010 to the terminal A 2020 by higher layer signaling (e.g., RRC). That is, the above-mentioned allocation information A+B+C may be transmitted from the base station 2010 to the terminal A 2020 by higher layer signaling (e.g., RRC). Here, as an example, each of the allocation information A, the allocation information B, and the allocation information C may be assigned by a location server, and the assigned information may be transmitted to each terminal through the base station 2010, and is not limited to a specific embodiment.

[0272] Thereafter, the terminal A2020 can generate allocation information B' and allocation information C' based on the allocation information A+B+C. At this time, the allocation information B' may be the same as the allocation information B. As another example, the allocation information B' may be generated by the terminal A2020 based on the allocation information B, and is not limited to the above-mentioned embodiment. Also, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal A2020 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0273] The terminal A 2020 may transmit allocation information B' to the terminal B 2030 and transmit allocation information C' to the terminal C 2040. In addition, the allocation information A' may be the same as the allocation information A. As another example, the allocation information A' may be generated in the terminal A 2020 based on the allocation information A, and is not limited to the above-mentioned embodiment. In addition, the allocation information A+B+C may be the same as the allocation information A'+B'+C'. As another example, the allocation information A'+B'+C' may be generated in the terminal A 2020 based on the allocation information A+B+C, and is not limited to the above-mentioned embodiment.

[0274] At this time, terminal A 2020 can transmit allocation information A'+B'+C' to terminal D 2050 via at least one of the PSCCH and the PSSCH. That is, unlike Fig. 19, sidelink communication exists only between terminal A 2020 and terminal D 2050, and sidelink communication does not exist between terminal B 2030 and terminal D 2050 and between terminal C 2040 and terminal D 2050, so terminal A 2020 can transmit allocation information A'+B'+C' to terminal D 2050.

[0275] Thereafter, terminal A 2020 can transmit SL PRS A to terminal D 2050. Terminal B 2030 can also transmit SL PRS B to terminal D 2050. Terminal C 2040 can also transmit SL PRS C to terminal D 2050. That is, each terminal can transmit its own SL PRS to terminal D 2050 based on the allocated resource information.

[0276] Thereafter, the terminal D2050 may perform measurements based on the SL PRS A, SL PRS B, and SL PRS C received from the terminal A2020, the terminal B2030, and the terminal C2040, respectively. At this time, the terminal D2050 may transmit measurement information to the terminal A2020. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and the RSTD by each of the SL PRS A, the SL PRS B, and the SL PRS C. As an example, the measurement value may be A, B, and C values ​​for each of the terminal A2020, the terminal B2030, and the terminal C2040. Here, if the terminal D2050 knows the positions of the terminal A2020, the terminal B2030, and the terminal C2040 in advance, the terminal D2050 may derive the position value of the terminal D2050 through the above-mentioned measurements A, B, and C, and may include the derived position value in the measurement information. On the other hand, when the terminal D2050 does not know the positions of the terminal A2020, the terminal B2030, and the terminal C2040 in advance, the above-mentioned measurement values ​​A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A2020 may transmit the measurement information acquired from the terminal D2050 to the base station 2010. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurement values ​​A, B, and C as they are when the terminal D1650 transmits the measurement values ​​A, B, and C, ii) transmitting the position value of the terminal D1650 derived from the transmitted measurement values ​​A, B, and C when the terminal D1650 transmits the measurement values ​​A, B, and C, or iii) transmitting the position value of the terminal D1650 as it is when the terminal D1650 transmits the position value. Furthermore, as an example, the base station 2010 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0277] FIG. 21 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0278] Referring to FIG. 21, sidelink-based positioning may be performed. As a specific example, a terminal A 2120 may be present within the coverage of a base station 2110 in FIG. 21. As an example, the terminal A 2120 may be in an RRC-connected state with the base station 2110, but is not limited thereto. At this time, the location of the terminal D 2150 may be measured based on the sidelink-based positioning. Here, as an example, sidelink communication may be possible between the terminal A 2120 and the terminal B 2130, sidelink communication may be possible between the terminal A 2120 and the terminal C 2140, sidelink communication may be possible between the terminal A 2120 and the terminal D 2150, sidelink communication may be possible between the terminal B 2130 and the terminal D 2150, and sidelink communication may be possible between the terminal C 2140 and the terminal D 2150. As another example, the terminal A 2120 may perform group communication-based sidelink communication based on groupcast. As an example, the terminal A 2120 may be a master terminal in a group communication, but is not limited to the above embodiment.

[0279] For convenience of explanation, the following description will be based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 21, the terminal D 2150 may transmit request information to the terminal A 2120. At this time, the request information may be information requesting location measurement of the terminal D 2150. Then, the terminal A 2120 may transmit request information to the base station 2110 based on the request information acquired from the terminal D 2150. Here, as an example, the base station 2110 may transmit the received request information to a location server, but is not limited to the above-mentioned embodiment.

[0280] Then, the base station 2110 may transmit allocation information for each terminal based on the request information. As another example, the base station 2110 may receive allocation information for each terminal from the location server based on the request information and transmit the allocation information based on the request information, and is not limited to the above embodiment.

[0281] The base station 2110 may transmit allocation information A, allocation information B, and allocation information C to the terminal A 2120. As an example, the base station 2110 may transmit the above-mentioned information to the terminal A 2120 as allocation information A+B+C. That is, the allocation information A+B+C may be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0282] At this time, the allocation information A may be information required for the terminal A 2120 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2120 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2130 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2130 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2140 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2140 to transmit the SL PRS C, but may further include other information.

[0283] At this time, for example, the allocation information A, the allocation information B, and the allocation information C may be transmitted from the base station 2110 to the terminal A 2120 by higher layer signaling (e.g., RRC). That is, the above-mentioned allocation information A+B+C may be transmitted from the base station 2110 to the terminal A 2120 by higher layer signaling (e.g., RRC). Here, for example, each of the allocation information A, the allocation information B, and the allocation information C may be assigned by a location server, and the assigned information may be transmitted to each terminal through the base station 2110, and is not limited to a specific embodiment.

[0284] Thereafter, the terminal A2120 can generate allocation information B' and allocation information C' based on the allocation information A+B+C. At this time, the allocation information B' may be the same as the allocation information B. As another example, the allocation information B' may be generated by the terminal A2120 based on the allocation information B, and is not limited to the above-mentioned embodiment. At this time, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal A2120 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0285] The terminal A 2120 may transmit allocation information B' to the terminal B 2130 and transmit allocation information C' to the terminal C 2140. Then, the terminal A 2120 may transmit allocation information A' to the terminal D 2150. Here, the allocation information A' may be information required for the terminal A 2120 to transmit the SL PRS A to the terminal D 2150. As an example, the allocation information A' may be the same information as the allocation information A. That is, the terminal A 2120 may forward the allocation information received from the base station 2110 to the terminal D 2150. As another example, the allocation information A' may be information generated based on the allocation information A received by the terminal A 2120. In this case, the terminal A 2120 may transmit the allocation information A' to the terminal D 2150 via at least one of the PSCCH and the PSSCH.

[0286] Furthermore, terminal B 2130 can transmit allocation information B' to terminal D 2150. Here, the allocation information B' is information necessary for terminal B 2130 to transmit SL PRS B to terminal D 2150, and can be acquired from terminal A 2120. At this time, terminal B 2130 can transmit the allocation information B' to terminal D 2150 via at least one of the PSCCH and the PSSCH.

[0287] Furthermore, the terminal C 2140 can transmit allocation information C' to the terminal D 2150. Here, the allocation information C' is information necessary for the terminal C 2140 to transmit the SL PRS C to the terminal D 2150, and can be acquired from the terminal A 2120. At this time, the terminal C 2140 can transmit the allocation information C' to the terminal D 2150 via at least one of the PSCCH and the PSSCH. That is, each terminal can transmit its own allocation information to the terminal D 2150.

[0288] Thereafter, terminal A 2120 can transmit SL PRS A to terminal D 2150. Terminal B 2130 can also transmit SL PRS B to terminal D 2150. Terminal C 2140 can also transmit SL PRS C to terminal D 2150. That is, each terminal can transmit its own SL PRS to terminal D 2150 based on the allocated resource information.

[0289] Thereafter, the terminal D2150 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A2120, terminal B2130, and terminal C2140. At this time, the terminal D2150 can transmit measurement information to the terminal A2120. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for each of the terminal A2120, terminal B2130, and terminal C2140. Here, if the terminal D2150 knows the positions of the terminal A2120, terminal B2130, and terminal C2140 in advance, the terminal D2150 can derive a position value of the terminal D2150 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if the terminal D2150 does not know the locations of the terminal A2120, the terminal B2130, and the terminal C2140 in advance, the above-mentioned measurement values ​​A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A2120 may transmit the measurement information acquired from the terminal D2150 to the base station 2110. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurement values ​​A, B, and C as they are when the terminal D1650 transmits the measurement values ​​A, B, and C, ii) transmitting the location value of the terminal D1650 derived from the transmitted measurement values ​​A, B, and C when the terminal D1650 transmits the measurement values ​​A, B, and C, or iii) transmitting the location value of the terminal D1650 as it is when the terminal D1650 transmits the location value. Furthermore, as an example, the base station 2110 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0290] FIG. 22 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0291] Referring to FIG. 22, sidelink-based positioning may be performed. As a specific example, a terminal A 2220 may be present within the coverage of a base station 2210 in FIG. 22. As an example, the terminal A 2220 may be in an RRC-connected state with the base station 2210, but is not limited thereto. At this time, the location of the terminal D 2250 may be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between the terminal A 2220 and the terminal B 2230, sidelink communication may be possible between the terminal A 2220 and the terminal C 2240, and sidelink communication may be possible between the terminal A 2220 and the terminal D 2250. As another example, the terminal A 2220 may perform group communication-based sidelink communication based on groupcast. As an example, the terminal A 2220 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0292] For convenience of explanation, the following description will be based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 22, the terminal D 2250 may transmit request information to the terminal A 2220. At this time, the request information may be information requesting location measurement of the terminal D 2250. Then, the terminal A 2220 may transmit request information to the base station 2210 based on the request information acquired from the terminal D 2250. Here, as an example, the base station 2210 may transmit the received request information to a location server, but is not limited to the above-mentioned embodiment.

[0293] Then, the base station 2210 may transmit allocation information for each terminal based on the request information. As another example, the base station 2210 may receive allocation information for each terminal based on the request information from the location server and transmit the allocation information based on the request information, and is not limited to the above embodiment.

[0294] 22, a base station 2210 may transmit allocation information A, allocation information B, and allocation information C to a terminal A 2220. As an example, the base station 2210 may transmit the above-mentioned information to the terminal A 2220 as allocation information A+B+C. That is, the allocation information A+B+C may be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0295] In this case, the allocation information A may be information required for the terminal A 2220 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2220 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2230 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2230 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2240 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2240 to transmit the SL PRS C, but may further include other information.

[0296] At this time, as an example, the allocation information A, the allocation information B, and the allocation information C may be transmitted from the base station 2210 to the terminal A 2220 by higher layer signaling (e.g., RRC). That is, the above-mentioned allocation information A+B+C may be transmitted from the base station 2210 to the terminal A 2220 by higher layer signaling (e.g., RRC). Here, as an example, each of the allocation information A, the allocation information B, and the allocation information C may be assigned by a location server, and the assigned information may be transmitted to each terminal through the base station 2210, and is not limited to a specific embodiment.

[0297] Thereafter, the terminal A2220 can generate allocation information B' and allocation information C' based on the allocation information A+B+C. At this time, the allocation information B' may be the same as the allocation information B. As another example, the allocation information B' may be generated by the terminal A2220 based on the allocation information B, and is not limited to the above-mentioned embodiment. At this time, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal A2220 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0298] The terminal A 2220 may transmit allocation information B' to the terminal B 2230 and transmit allocation information C' to the terminal C 2240. In addition, the allocation information A' may be the same as the allocation information A. As another example, the allocation information A' may be generated in the terminal A 2220 based on the allocation information A, and is not limited to the above-mentioned embodiment. In addition, the allocation information A+B+C may be the same as the allocation information A'+B'+C'. As another example, the allocation information A'+B'+C' may be generated in the terminal A 2220 based on the allocation information A+B+C, and is not limited to the above-mentioned embodiment.

[0299] At this time, the terminal A 2220 can transmit the allocation information A'+B'+C' to the terminal D 2250 via at least one of the PSCCH and the PSSCH. That is, unlike in FIG. 21, there is sidelink communication only between the terminal A 2220 and the terminal D 2250, and there is no sidelink communication between the terminal B 2230 and the terminal D 2250 and between the terminal C 2240 and the terminal D 2250, so that the terminal A 2220 can transmit the allocation information A'+B'+C' to the terminal D 2250.

[0300] Thereafter, terminal A 2220 can transmit SL PRS A to terminal D 2250. Terminal B 2230 can also transmit SL PRS B to terminal D 2250. Terminal C 2240 can also perform sidelink transmission to terminal D 2250. That is, terminal C 2240 can transmit SL PRS C to terminal D 2250. That is, each terminal can transmit its own SL PRS to terminal D 2250 based on the allocated resource information.

[0301] Thereafter, the terminal D2250 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A2220, terminal B2230, and terminal C2240. At this time, the terminal D2250 can transmit measurement information to the terminal A2220. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement values ​​may be A, B, and C for each of the terminal A2220, terminal B2230, and terminal C2240. Here, if the terminal D2250 knows the positions of the terminal A2220, terminal B2230, and terminal C2240 in advance, the terminal D2250 can derive a position value of the terminal D2250 through the above-mentioned measurement values ​​A, B, and C, and can include the derived position value in the measurement information. On the other hand, if the terminal D2250 does not know the locations of the terminals A2220, B2230, and C2240 in advance, the above-mentioned measurements A, B, and C may be included in the measurement information, and the measurement information is not limited to a specific form. Then, the terminal A2220 may transmit the measurement information acquired from the terminal D2250 to the base station 2210. At this time, the measurement information to be transmitted may be one of i) transmitting the transmitted measurements A, B, and C as they are when the terminal D1650 transmits the measurements A, B, and C, ii) transmitting the location value of the terminal D1650 derived from the transmitted measurements A, B, and C when the terminal D1650 transmits the measurements A, B, and C, or iii) transmitting the location value of the terminal D1650 as it is when the terminal D1650 transmits the location value. Furthermore, as an example, the base station 2210 may further transmit the measurement information to a location server, and the measurement information is not limited to this. Positioning can be performed as described above.

[0302] FIG. 23 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0303] Referring to FIG. 23, sidelink-based positioning can be performed. As a specific example, in FIG. 23, positioning can be performed based on sidelink communication between terminals without the control of a base station. As an example, the location of terminal D 2340 can be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between terminal A 2310 and terminal B 2320, sidelink communication may be possible between terminal A 2310 and terminal C 2330, sidelink communication may be possible between terminal A 2310 and terminal D 2340, sidelink communication may be possible between terminal B 2320 and terminal D 2340, and sidelink communication may be possible between terminal C 2330 and terminal D 2340. As another example, terminal A 2310 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 2310 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0304] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to Fig. 23, the terminal A 2310 can generate allocation information A, allocation information B, and allocation information C. As an example, the terminal A 2310 can transmit the generated allocation information B to the terminal B 2320 and transmit the allocation information C to the terminal C 2330. In addition, the terminal A 2310 can transmit the allocation information A, which is the allocation information for the terminal A 2310, to the terminal D 2340.

[0305] In this case, the allocation information A may be information required for the terminal A 2310 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2310 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2320 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2320 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2330 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2330 to transmit the SL PRS C, but may further include other information.

[0306] Thereafter, the terminal B 2320 may generate allocation information B' based on the allocation information B acquired from the terminal A 2310 and transmit the allocation information B' to the terminal D 2340 via at least one of the PSCCH and the PSSCH. In this case, the allocation information B' may be the same as the allocation information B. As another example, the allocation information B' may be generated by the terminal B 2320 based on the allocation information B, and is not limited to the above embodiment.

[0307] Furthermore, the terminal C 2330 may generate allocation information C' based on the allocation information C acquired from the terminal A 2310 and transmit the allocation information C' to the terminal D 2340 via at least one of the PSCCH and the PSSCH. In this case, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal C 2330 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0308] Thereafter, terminal A 2310 can transmit SL PRS A to terminal D 2340. Terminal B 2320 can also transmit SL PRS B to terminal D 2340. Terminal C 2330 can also transmit SL PRS C to terminal D 2340. That is, each terminal can transmit its own SL PRS to terminal D 2340 based on the allocated resource information.

[0309] Thereafter, the terminal D2340 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A2310, terminal B2320, and terminal C2330. At this time, the terminal D2340 can transmit measurement information to the terminal A2310. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for each of the terminal A2310, terminal B2320, and terminal C2330. Here, if the terminal D2340 knows the positions of the terminal A2310, terminal B2320, and terminal C2330 in advance, the terminal D2340 can derive a position value of the terminal D2340 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if terminal D 2340 does not know the locations of terminal A 2310, terminal B 2320, and terminal C 2330 in advance, the above-mentioned measurement values ​​A, B, and C can be included in the measurement information, respectively, and are not limited to a specific form. Here, when measurement values ​​A, B, and C are transmitted from terminal D 2340 to terminal A 2310, terminal A 2310 can derive the location value of terminal D 2340 based on these measurement values.

[0310] FIG. 24 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0311] Referring to FIG. 24, sidelink-based positioning may be performed. As a specific example, in FIG. 24, positioning may be performed based on sidelink communication between terminals without the control of a base station. As an example, the location of terminal D 2440 may be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between terminal A 2410 and terminal B 2420, sidelink communication may be possible between terminal A 2410 and terminal C 2430, and sidelink communication may be possible between terminal A 2410 and terminal D 2440. As another example, terminal A 2410 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 2410 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0312] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 24, the terminal A 2410 may generate allocation information A, allocation information B, and allocation information C. As an example, the terminal A 2410 may transmit the generated allocation information B to the terminal B 2420 and transmit the allocation information C to the terminal C 2430. The terminal A 2410 may also transmit the allocation information A, which is the allocation information for the terminal A 2410, together with the allocation information B and allocation information C to the terminal D 2440. That is, the terminal A 2410 may transmit the allocation information A+B+C to the terminal D 2440. Here, the allocation information A+B+C may be information generated based on the allocation information A, allocation information B, and allocation information C, which will be described later.

[0313] In this case, the allocation information A may be information required for the terminal A 2410 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2410 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2420 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2420 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2430 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2430 to transmit the SL PRS C, but may further include other information.

[0314] Thereafter, terminal A 2410 can transmit SL PRS A to terminal D 2440. Terminal B 2420 can also transmit SL PRS B to terminal D 2440. Terminal C 2430 can also transmit SL PRS C to terminal D 2440. That is, each terminal can transmit its own SL PRS to terminal D 2440 based on the allocated resource information.

[0315] Thereafter, the terminal D 2440 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A 2410, terminal B 2420, and terminal C 2430. At this time, the terminal D 2440 can transmit measurement information to the terminal A 2410. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for each of the terminal A 2410, terminal B 2420, and terminal C 2430. Here, if the terminal D 2440 knows the positions of the terminal A 2410, terminal B 2420, and terminal C 2430 in advance, the terminal D 2440 can derive a position value of the terminal D 2440 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if terminal D 2440 does not know the locations of terminal A 2410, terminal B 2420, and terminal C 2430 in advance, the above-mentioned measurement values ​​A, B, and C can be included in the measurement information, and are not limited to a specific form. Here, when measurement values ​​A, B, and C are transmitted from terminal D 2440 to terminal A 2410, terminal A 2410 can derive the location value of terminal D 2440 based on these measurement values.

[0316] FIG. 25 illustrates a method for performing sidelink based localization applicable to the present disclosure.

[0317] Referring to FIG. 25, sidelink-based positioning may be performed. As a specific example, in FIG. 25, positioning may be performed based on sidelink communication between terminals without the control of a base station. As an example, the location of terminal D 2540 may be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between terminal A 2510 and terminal B 2520, sidelink communication may be possible between terminal A 2510 and terminal C 2530, sidelink communication may be possible between terminal A 2510 and terminal D 2540, sidelink communication may be possible between terminal B 2520 and terminal D 2540, and sidelink communication may be possible between terminal C 2530 and terminal D 2540. As another example, terminal A 2510 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 2510 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0318] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 25, the terminal D 2540 may transmit request information to the terminal A 2510. At this time, the request information may be information requesting location measurement of the terminal D 2540. Then, the terminal A 2510 may generate each allocation information for the terminal based on the request information. As an example, the terminal A 2510 may generate allocation information A, allocation information B, and allocation information C. As an example, the terminal A 2510 may transmit the generated allocation information B to the terminal B 2520 and transmit the generated allocation information C to the terminal C 2530. Also, the terminal A 2510 may transmit allocation information A, which is allocation information for the terminal A 2510, to the terminal D 2540.

[0319] In this case, the allocation information A may be information required for the terminal A 2510 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2510 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2520 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2520 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2530 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2530 to transmit the SL PRS C, but may further include other information.

[0320] In this case, as an example, the terminal B 2520 may then generate allocation information B' based on the allocation information B acquired from the terminal A 2510 and transmit the allocation information B' to the terminal D 2540 via at least one of the PSCCH and the PSSCH. In this case, the allocation information B' may be the same as the allocation information B. In another example, the allocation information B' may be generated by the terminal B 2520 based on the allocation information B, and is not limited to the above-mentioned embodiment.

[0321] Furthermore, the terminal C 2530 may generate allocation information C' based on the allocation information C acquired from the terminal A 2510 and transmit the allocation information C' to the terminal D 2540 via at least one of the PSCCH and the PSSCH. In this case, the allocation information C' may be the same as the allocation information C. As another example, the allocation information C' may be generated by the terminal C 2530 based on the allocation information C, and is not limited to the above-mentioned embodiment.

[0322] Thereafter, terminal A 2510 can transmit SL PRS A to terminal D 2540. Terminal B 2520 can also transmit SL PRS B to terminal D 2540. Terminal C 2530 can also transmit SL PRS C to terminal D 2540. That is, each terminal can transmit its own SL PRS to terminal D 2540 based on the allocated resource information.

[0323] Thereafter, the terminal D 2540 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A 2510, terminal B 2520, and terminal C 2530. At this time, the terminal D 2540 can transmit measurement information to the terminal A 2510. At this time, the measurement information may be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement value may be A, B, and C values ​​for each of the terminal A 2510, terminal B 2520, and terminal C 2530. Here, if the terminal D 2540 knows the positions of the terminal A 2510, terminal B 2520, and terminal C 2530 in advance, the terminal D 2540 can derive a position value of the terminal D 2540 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if terminal D 2540 does not know the locations of terminal A 2510, terminal B 2520, and terminal C 2530 in advance, the above-mentioned measurement values ​​A, B, and C can be included in the measurement information, and are not limited to a specific form. Here, when measurement values ​​A, B, and C are transmitted from terminal D 2540 to terminal A 2510, terminal A 2510 can derive the location value of terminal D 2540 based on these measurement values.

[0324] FIG. 26 illustrates a method for performing sidelink based positioning applicable to the present disclosure.

[0325] Referring to FIG. 26, sidelink-based positioning may be performed. As a specific example, in FIG. 26, positioning may be performed based on sidelink communication between terminals without the control of a base station. As an example, the location of terminal D 2640 may be measured based on sidelink-based positioning. Here, as an example, sidelink communication may be possible between terminal A 2610 and terminal B 2620, sidelink communication may be possible between terminal A 2610 and terminal C 2630, and sidelink communication may be possible between terminal A 2610 and terminal D 2640. As another example, terminal A 2610 may perform group communication-based sidelink communication based on groupcast. As an example, terminal A 2610 may be a master terminal in group communication, but is not limited to the above-mentioned embodiment.

[0326] For convenience of explanation, the following description will be given based on the above-mentioned situation as an example, but is not limited thereto. Referring to FIG. 26, the terminal D 2640 may transmit request information to the terminal A 2610. At this time, the request information may be information requesting location measurement of the terminal D 2640. The terminal A 2610 may then generate allocation information for each terminal based on the request information. As an example, the terminal A 2610 may generate allocation information A, allocation information B, and allocation information C. As an example, the terminal A 2610 may transmit the generated allocation information B to the terminal B 2620 and transmit the generated allocation information C to the terminal C 2630. In addition, the terminal A 2610 may transmit the allocation information A, which is the allocation information for the terminal A 2610, together with the allocation information B and allocation information C to the terminal D 2640. That is, the terminal A 2610 may transmit the allocation information A+B+C to the terminal D 2640. Here, the allocation information A+B+C may be information generated based on the allocation information A, the allocation information B, and the allocation information C, which will be described later.

[0327] In this case, the allocation information A may be information required for the terminal A 2610 to transmit the SL PRS A. As an example, the allocation information A may include at least one of resources and sequence information required for the terminal A 2610 to transmit the SL PRS A, but may further include other information. Also, the allocation information B may be information required for the terminal B 2620 to transmit the SL PRS B. The allocation information B may include at least one of resources and sequence information required for the terminal B 2620 to transmit the SL PRS B, but may further include other information. Also, the allocation information C may be information required for the terminal C 2630 to transmit the SL PRS C. The allocation information C may include at least one of resources and sequence information required for the terminal C 2630 to transmit the SL PRS C, but may further include other information.

[0328] Thereafter, terminal A 2610 may transmit SL PRS A to terminal D 2640. Terminal B 2620 may also transmit SL PRS B to terminal D 2640. Furthermore, terminal C 2630 may also transmit SL PRS C to terminal D 2640 via at least one of the PSCCH and the PSSCH. That is, each terminal may transmit its own SL PRS to terminal D 2640 based on the allocated resource information.

[0329] Thereafter, the terminal D 2640 can perform measurements based on each of the SL PRS A, SL PRS B, and SL PRS C received from each of the terminal A 2610, terminal B 2620, and terminal C 2630. At this time, the terminal D 2640 can transmit measurement information to the terminal A 2610. At this time, the measurement information can be a measurement value measured based on at least one of the OTDOA and RSTD by each of the SL PRS A, SL PRS B, and SL PRS C. As an example, the measurement values ​​can be A, B, and C for each of the terminal A 2610, terminal B 2620, and terminal C 2630. Here, if the terminal D 2640 knows the positions of the terminal A 2610, terminal B 2620, and terminal C 2630 in advance, the terminal D 2640 can derive a position value of the terminal D 2640 through the above-mentioned measurements A, B, and C, and can include the derived position value in the measurement information. On the other hand, if terminal D 2640 does not know the locations of terminal A 2610, terminal B 2620, and terminal C 2630 in advance, the above-mentioned measurement values ​​A, B, and C can be included in the measurement information, and are not limited to a specific form. Here, when measurement values ​​A, B, and C are transmitted from terminal D 2640 to terminal A 2610, terminal A 2610 can derive the location value of terminal D 2640 based on these measurement values.

[0330] Positioning may be performed based on the SL PRS based on Figures 15 to 26 described above. In this case, as an example, allocation information for SL PRS positioning may include at least one of resource and sequence information for SL PRS transmission. In addition, as an example, the allocation information may include other information, as described above. In this case, as an example, the resources and sequences of each SL PRS may be different, and a method for distinguishing them may be required.

[0331] TIFF2025501163000017.tif61170

[0332]

number

[0333]

number

[0334] TIFF2025501163000020.tif130170

[0335] As an example, since allocation information A+B+C is also generated based on allocation information A, allocation information B, and allocation information C, allocation information A+B+C may include each sequence ID information as sequence information among the information for each of allocation information A, allocation information B, and allocation information C.

[0336] TIFF2025501163000021.tif54170

[0337] As another example, the sequence ID information may be provided to the terminal from the base station through higher layer signaling (e.g., RRC). Therefore, the terminal may obtain sequence ID information in the above-mentioned Figures 15 to 22, but the terminal performing sidelink communication without the control of the base station may not be able to obtain PRS ID information as in Figures 23 to 26. Therefore, in the above-mentioned Figures 23 to 26, the terminal needs to determine the PRS ID by itself.

[0338] As a specific example, a case where group communication-based sidelink communication is performed can be considered. In this case, a PRS ID for a PRS sequence can be determined based on a combination of a group ID and a terminal ID in the group. As an example, in group communication-based sidelink communication, if terminal A is a master terminal in a group, terminal A can obtain group ID information in advance as identification information for the group. That is, the group ID that terminal A already has can be the group ID.

[0339] As another example, the group ID may be the ID of terminal A. That is, the ID of terminal A itself may be the group ID. In this case, the ID of terminal A may be included in a sidelink assignment (SA) and may be indicated as "n SA ID The identifier may be, but is not limited to, "sidelink group destination identity."

[0340] As another example, the ID of terminal A is a unique identifier derived by terminal A. X ID In this case, for example, N X ID is the decimal number of the CRC of the PSCCH related to the PSSCH, as shown in the following [Equation 5], but is not limited to this. i may be each parity bit, and L may be the number of parity bits.

[0341]

number

[0342] As a specific example, the SL PRS ID may be based on 12 bits like the existing DL PRS ID. In this case, for example, the group ID that the terminal already has may be 9 bits, and the ID included in the SA as the ID of terminal A may be "n SA ID In other words, the group ID can be 9 bits. On the other hand, the ID of terminal A can be 9 bits derived by terminal A. X ID If so, N X ID is a modular function, modular 2 9 Based on 9-bit or modular 2 10As an example, as mentioned above, the group ID can be composed of 9 bits or 10 bits. In this case, since the SL PRS ID is composed of 12 bits as before, if the group ID is 9 bits, the intra-group terminal ID can be 3 bits. On the other hand, if the group ID is 10 bits, the intra-group terminal ID can be 2 bits. In other words, the SL PRS ID is composed of 12 bits as before, and the number of bits of the intra-group terminal ID can be adjusted based on the number of group ID bits.

[0343] As a specific example, when the group ID is 10 bits, the intra-group terminal ID value for terminal A may be 00, the intra-group terminal ID value for terminal B may be 01, and the intra-group terminal ID value for terminal C may be 10, which may be configured as 2 bits, but is not limited to this. Also, as an example, when the group ID is 9 bits, the intra-group terminal ID value for terminal A may be 000, the intra-group terminal ID value for terminal B may be 001, and the intra-group terminal ID value for terminal C may be 010, which may be configured as 3 bits, but is not limited to this.

[0344] As another example, the SL PRS ID can be configured based on 9+N bits. In this case, 9 bits can be a group ID and N bits can be a terminal ID within the group. As an example, since the SL PRS ID can be divided into 1024 based on modular 1024 in [Equation 4] described above in relation to the SL PRS ID, it can be configured with 9+N bits. As an example, the existing group ID of terminal A can be used as the group ID as described above, or the ID included in the SA as the ID of terminal A can be specified as "n SA ID ", the group ID may be a 9-bit ID. Also, N X ID In the case of modular function, modular 2 9Based on this, the group ID can be configured with 9 bits. In this case, N bits as the intra-group terminal ID can be an integer of 2 or more. That is, the intra-group terminal ID value for terminal A can be configured with 00, the intra-group terminal ID value for terminal B can be configured with 01, and the intra-group terminal ID value for terminal C can be configured with 2 bits, but is not limited thereto. Also, as an example, the intra-group terminal ID value for terminal A can be configured with 000, the intra-group terminal ID value for terminal B can be configured with 001, and the intra-group terminal ID value for terminal C can be configured with 3 bits, but is not limited thereto.

[0345] As another example, the SL PRS ID can be configured based on 16+N bits. In this case, 16 bits can be a group ID and N bits can be a terminal ID within the group. In this case, as an example, in [Mathematical formula 4] described above in relation to the SL PRS ID, since it is divided into 1024 based on modular 1024, it may be configured with 16+N bits.

[0346] For example, the group ID is X ID In the case of modular function, modular 2 16 Based on this, the group ID can be configured with 16 bits. In this case, the N bits of the intra-group terminal ID can be an integer of 2 or more. That is, the intra-group terminal ID value for terminal A can be configured with 00, the intra-group terminal ID value for terminal B can be configured with 01, and the intra-group terminal ID value for terminal C can be configured with 2 bits, but is not limited thereto. Also, as an example, the intra-group terminal ID value for terminal A can be configured with 000, the intra-group terminal ID value for terminal B can be configured with 001, and the intra-group terminal ID value for terminal C can be configured with 3 bits, but is not limited thereto.

[0347] As another example, SL PRS ID is N X ID +N bits. In this case, the group ID is N XID can be used as is, and N bits can be the ID of a terminal in the group. In this case, as an example, since it is divided into 1024 based on modular 1024 in [Equation 4] described above in relation to the SL PRS ID, N X ID It may be configured with +N bits.

[0348] For example, the group ID is X ID can be used as is. In this case, the N bits of the intra-group terminal ID can be an integer of 2 or more. That is, the intra-group terminal ID value for terminal A can be 00, the intra-group terminal ID value for terminal B can be 01, and the intra-group terminal ID value for terminal C can be 10, which can be configured as 2 bits, but is not limited thereto. Also, as an example, the intra-group terminal ID value for terminal A can be 000, the intra-group terminal ID value for terminal B can be 001, and the intra-group terminal ID value for terminal C can be 010, which can be configured as 3 bits, but is not limited thereto.

[0349] As another example, when configuring the SL PRS ID, the group ID can be used as the ID of terminal A, as described above. Here, as an example, N for each terminal in relation to the SL PRS ID can be used. X ID As an example, in the above-mentioned FIG. 15 to FIG. 23, each N for terminal A, terminal B, and terminal C can be configured and used. X ID That is, the SL PRS sequence for each terminal can be configured individually. X ID Based on this, it can be derived through the above-mentioned [Equation 4]. At this time, N X ID is a modular function, modular 2 16 This can be applied to the above-mentioned [Equation 4]. X IDcan be applied to the above-mentioned [Mathematical Expression 4] without applying a modular function, and is not limited to the above-mentioned embodiment.

[0350] Also, as an example, the positioning frequency layer in the existing system may not support multiple DL PRS configurations. That is, only one positioning frequency layer can be used in the same Orthogonal Frequency Division Multiplexing (OFDM) symbol. Here, in order to reduce delay and improve device efficiency, the new system may support up to four positioning frequency layers for DL ​​PRS. However, this is only an example, and the number of positioning frequency layers may be further increased, and is not limited to the above-mentioned embodiment.

[0351] Furthermore, one or more DL PRS resource sets in the positioning frequency layer can be configured. As an example, one or two DL PRS resource sets can be configured in one TRP (Transmission Reception Point). As a more specific example, when there are 18 TRPs and one DL PRS resource set is configured per TRP, the total number of DL PRS resource sets may be 18, but this is only an example and is not limited to the above-mentioned embodiment. Also, one or more DL PRS resources can be configured in each DL PRS resource set. As an example, one or more beams can be considered in one TRP, and the DL PRS resource can correspond to each beam. As a more specific example, when the number of beams considered in a specific TRP in FR (Frequency Range) 2 is 64, the DL PRS resource set includes 64 DL PRS resources corresponding to each beam, but this is only an example and is not limited to the above-mentioned embodiment.

[0352] Here, parameters for the DL PRS resource set are as shown in Table 14 below, and parameters for the DL PRS resource are as shown in Table 15 below, but are not limited thereto.

[0353] [Table 14]

[0354] [Table 15]

[0355] At this time, as an example, the allocation information for the SL PRS may include resource information for SL PRS transmission, as described above. As an example, a case may be considered in which allocation information A for SL PRS A, allocation information B for SL PRS B, and allocation information C for SL PRS C are configured. At this time, as an example, each of the allocation information A, allocation information B, and allocation information C may be generated based on the parameters in the above-mentioned "DL PRS resource set" and the "DL PRS resource". That is, as the allocation information for the SL PRS, the resource information may be generated based on the DL PRS resource information. At this time, as an example, the parameters for the "SL PRS resource set" may be configured based on the parameters in the "DL PRS resource set". Here, as an example, the "SL PRS resource set" of each of the allocation information A, allocation information B, and allocation information C may be the same. Therefore, the parameters in the "SL PRS resource set" for each of the allocation information A, allocation information B, and allocation information C may have the same value. That is, in the SL PRS-related operations based on the above-mentioned Figures 15 to 23, the resource sets included in each of the allocation information may be the same. Further, as an example, parameters of the "SL PRS resource" may be set based on parameters in the "DL PRS resource". Here, some of the parameters in the "SL PRS resource" for each of the allocation information A, allocation information B, and allocation information C may have non-identical values. As an example, some of the parameters in the "SL PRS resource" for each of the allocation information A, allocation information B, and allocation information C are set to the same value, so they have the same value, but some of the values ​​may be set to different values ​​taking into account each SL PRS.However, the "SL PRS resource set" and "SL PRS resource" for each of the allocation information A, allocation information B, and allocation information C can be configured for each of the allocation information A, allocation information B, and allocation information C, regardless of whether the parameter values ​​are identical or not.

[0356] As another example, the allocation information A+B+C may be considered among the above-mentioned allocation information. Here, the allocation information A+B+C may be configured based on the allocation information A, the allocation information B, and the allocation information C, as described above. At this time, as a specific example, the allocation information A+B+C may be configured based on the allocation information A. At this time, the allocation information A+B+C may be pre-defined or indicated only for the configuration different from the allocation information A for each of the allocation information B and the allocation information C based on the allocation information A. As a specific example, the parameters included in the above-mentioned "SL PRS resource set" in relation to the allocation information A+B+C may all be the same in the allocation information A, the allocation information B, and the allocation information C. Therefore, the allocation information A+B+C may also be configured based on the same "SL PRS resource set". On the other hand, in the case of the "SL PRS resource", some values ​​may be configured to be the same for each of the allocation information A, the allocation information B, and the allocation information C, and some values ​​may be configured to be different. At this time, the allocation information A+B+C may be further indicated only for the different parameters based on the allocation information A. As an example, if a particular parameter in the "SL PRS resource" has different values ​​for each of the allocation information A, B, and C, the allocation information A+B+C may include three different parameter values. Conversely, if a particular parameter in the "SL PRS resource" has the same value for each of the allocation information A, B, and C, the allocation information A+B+C may include one same parameter value.

[0357] As another example, if a particular parameter in the "SL PRS resource" has different values ​​for allocation information A, allocation information B, and allocation information C, allocation information A+B+C may include one parameter value based on allocation information A, and only the difference compared to allocation information B and / or allocation information C may be pre-defined.

[0358] As a specific example, the above-mentioned SL PRS sequence ID ("SL-PRS-SequenceId") can be considered as a specific parameter in the "SL PRS resource". In this case, as an example, the group ID may be the same in the allocation information A, the allocation information B, and the allocation information C, and only the terminal IDs in the group may be different. In this case, the allocation information A+B+C may include one group ID information and three terminal ID information in the group, thereby enabling efficient configuration of the allocation information.

[0359] As another example, each offset value can be considered as "SL-PRS-ReOffset", "SL-PRS-ResourceSlotOffset", and "SL-PRS-ResourceSymbolOffset". In this case, a case where some of the offset values ​​are the same and some are different can be considered. That is, a case where only one or more of the resource element offset, slot offset, and symbol offset are different for the allocation information A, allocation information B, and allocation information C, and the rest are the same can be considered. In this case, the allocation information A+B+C can include only one parameter for the same offset, and can include parameters for each terminal for different offsets.

[0360] As another example, the above-mentioned SL PRS sequence ID ("SL-PRS-SequenceId") can be considered as a specific parameter in the "SL PRS resource". At this time, as an example, a case can be considered in which the group ID may be the same in the allocation information A, the allocation information B, and the allocation information C, and only the terminal IDs in the group are different. At this time, the allocation information A+B+C can be configured based on the allocation information A. As an example, the group ID is the same based on the terminal A, and only one parameter can be transmitted. On the other hand, the terminal IDs in the group may be different in the allocation information A, the allocation information B, and the allocation information C, and can be indicated based on 0, 1, 2, ... in a pre-defined manner. In other words, the allocation information A+B+C can be indicated based on a pre-defined manner only for differences based on the allocation information A, and is not limited to the above-mentioned manner.

[0361] As another example, each offset value may be considered as "SL-PRS-ReOffset", "SL-PRS-ResourceSlotOffset", and "SL-PRS-ResourceSymbolOffset". At this time, a case where some of the offset values ​​are the same and some are different may be considered. That is, a case where only one or more of the resource element offset, the slot offset, and the symbol offset are different and the rest are the same may be considered for the allocation information A, the allocation information B, and the allocation information C. At this time, the allocation information A+B+C may include only one parameter for the same offset based on the allocation information A. On the other hand, in the case of different offsets, the allocation information A+B+C may assign and indicate only a difference value such as 0, offset1, offset2... based on a pre-defined method based on the allocation information A. That is, the allocation information A+B+C may indicate only the difference based on a pre-defined method based on the allocation information A, and is not limited to the above method.

[0362] FIG. 27 is a flow chart illustrating a method for performing sidelink positioning applicable to the present disclosure.

[0363] Referring to FIG. 27, the first terminal and at least one or more terminals may be present within the coverage of the base station. At this time, each of the first terminal and at least one or more terminals may be in an RRC-connected state with the base station, but is not limited thereto. At this time, as an example, the location of the second terminal may be measured based on sidelink-based positioning. At this time, as an example, the first terminal may receive allocation information for each of the first terminal and at least one or more terminals from the base station (S2710). At this time, the allocation information may be the same as that of FIG. 16 described above. Further, as an example, each of the at least one or more terminals may obtain each allocation information from the base station, as described above. Then, the first terminal may transmit the allocation information of the first terminal and each allocation information for the at least one or more terminals to the second terminal (S2720). Then, the first terminal transmits the SL PRS to the second terminal based on the allocation information (S2730). At this time, each of the at least one or more terminals may also transmit the SL PRS to the second terminal based on their respective allocation information. The second terminal can then perform measurements based on the received SL PRS and report to the first terminal. That is, the first terminal can receive measurement information from the second terminal (S2740). The first terminal can then report the measurement information to the base station (S2750), as described above.

[0364] FIG. 28 is a flow chart illustrating a method for performing sidelink positioning applicable to the present disclosure.

[0365] Referring to FIG. 28, the first terminal may be present within the coverage of the base station. As an example, the first terminal may be in an RRC-connected state with the base station, but is not limited thereto. At this time, the location of the second terminal may be measured based on sidelink-based positioning. As an example, the first terminal may receive allocation information for the first terminal and at least one or more terminals from the base station (S2810). At this time, the allocation information may be the same as that of FIG. 20 described above. Also, as an example, the first terminal may transmit the allocation information for at least one or more terminals to each terminal (S2820). Then, the first terminal transmits the allocation information for the first terminal and the allocation information for at least one or more terminals to the second terminal (S2830). Then, the first terminal transmits the SL PRS to the second terminal based on the allocation information (S2840). At this time, each of the at least one or more terminals may also transmit the SL PRS to the second terminal based on their respective allocation information. The second terminal can then perform measurements based on the received SL PRS and report to the first terminal. That is, the first terminal can receive measurement information from the second terminal (S2850). The first terminal can then report the measurement information to the base station (S2860), as described above.

[0366] FIG. 29 is a flowchart showing a method of performing sidelink positioning according to the present disclosure. Referring to FIG. 29, the terminal may generate allocation information without the control of the base station. At this time, the location of the second terminal may be measured based on the sidelink-based positioning. As an example, the first terminal may generate respective allocation information for the first terminal and at least one or more terminals. At this time, the allocation information may be the same as that of FIG. 24 described above. Here, the first terminal may transmit respective allocation information for the at least one or more terminals to each of the at least one or more terminals (S2910). Then, the first terminal transmits the allocation information of the first terminal and respective allocation information for the at least one or more terminals to the second terminal (S2920). Then, the first terminal transmits an SL PRS to the second terminal based on the allocation information (S2930). At this time, each of the at least one or more terminals may also transmit an SL PRS to the second terminal based on the respective allocation information. Then, the second terminal may perform measurement based on the received SL PRS and report to the first terminal. That is, the first terminal can receive measurement information from the second terminal (S2940).

[0367] FIG. 30 is a diagram showing a base station apparatus and a terminal apparatus to which the present disclosure can be applied.

[0368] The base station device 3000 may include a processor 3020, an antenna unit 3012, a transceiver 3014, and a memory 3016.

[0369] The processor 3020 performs baseband-related signal processing, and may include an upper layer processing unit 3030 and a physical layer processing unit 3040. The upper layer processing unit 3030 may process operations of a medium access control (MAC) layer, a radio resource control (RRC) layer, or higher layers. The physical layer processing unit 3040 may process operations of a physical (PHY) layer (e.g., uplink reception signal processing, downlink transmission signal processing). In addition to performing baseband-related signal processing, the processor 3020 may also control the overall operation of the base station device 3000.

[0370] The antenna unit 3012 may include one or more physical antennas, and when multiple antennas are included, it may support MIMO (Multiple Input Multiple Output) transmission and reception. The transceiver 3014 may include a radio frequency (RF) transmitter and an RF receiver. The memory 3016 may store information processed by the processor 3020, software related to the operation of the base station device 3000, an operating system, applications, etc., and may include components such as a buffer.

[0371] The processor 3020 of the base station 3000 may be configured to implement the operation of the base station in the embodiments described in this invention.

[0372] The terminal device 3050 may include a processor 3070, an antenna unit 3062, a transceiver 3064, and a memory 3066. As an example, in the present invention, the terminal device 3050 can communicate with the base station device 3000. As another example, in the present invention, the terminal device 3050 can perform sidelink communication with another terminal device. That is, the terminal device 3050 of the present invention refers to a device that can communicate with at least one of the base station device 3000 and another terminal device, and is not limited to communication with a specific device.

[0373] The processor 3070 performs baseband-related signal processing and may include an upper layer processor 3080 and a physical layer processor 3090. The upper layer processor 3080 may process operations of a MAC layer, an RRC layer, or higher layers. The physical layer processor 3090 may process operations of a PHY layer (e.g., downlink reception signal processing, uplink transmission signal processing). In addition to performing baseband-related signal processing, the processor 3070 may also control the overall operation of the terminal device 3050.

[0374] The antenna unit 3062 may include one or more physical antennas, and when multiple antennas are included, MIMO transmission and reception may be supported. The transceiver 3064 may include an RF transmitter and an RF receiver. The memory 3066 may store information processed by the processor 3070, software related to the operation of the terminal device 3050, an operating system, applications, etc., and may include components such as a buffer. As an example, the base station 3000 and the terminal device 3050 may perform the operations of FIGS. 1 to 29 described above, and the present invention is not limited to a specific embodiment.

[0375] The various embodiments of the present disclosure do not enumerate all possible combinations, but are intended to describe representative aspects of the present disclosure, and the matters described in the various embodiments may be applied independently or in combination of two or more.

[0376] Furthermore, various embodiments of the present disclosure may be implemented in hardware, firmware, software, or a combination thereof, etc. In the case of a hardware implementation, the implementation may be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, microcontrollers, microprocessors, etc.

[0377] The scope of the present disclosure includes software or machine-executable instructions (e.g., operating systems, applications, firmware, programs, etc.) that cause operations according to the methods of the various embodiments to be performed on a device or computer, as well as non-transitory computer-readable medium on which such software, instructions, etc. may be stored and executed on a device or computer. [Industrial Applicability]

[0378] The following may also be applicable to other systems.

Claims

1. 1. A method for performing sidelink positioning in a wireless communication system, comprising: a step of a first terminal receiving respective allocation information for at least one or more terminals including the first terminal from a base station, wherein each of the at least one or more terminals receives the respective allocation information from the base station; the first terminal transmitting allocation information of the first terminal and each of the allocation information for the at least one terminal to a second terminal; The first terminal transmits a sidelink positioning reference signal (SL PRS) to a second terminal based on allocation information of the first terminal, and the second terminal receives an SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal; the first terminal receiving measurement information from the second terminal; and The first terminal reporting measurement information to the base station.

2. 1. A method for performing sidelink positioning in a wireless communication system, comprising: A step of a first terminal receiving allocation information for each of at least one terminal including the first terminal from a base station; the first terminal transmitting respective allocation information for the at least one or more terminals to the at least one or more terminals; the first terminal transmitting allocation information of the first terminal and each of the allocation information for the at least one terminal to a second terminal; The first terminal transmits a sidelink positioning reference signal (SL PRS) to a second terminal based on allocation information of the first terminal, and the second terminal receives an SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal; the first terminal receiving measurement information from the second terminal; and The first terminal reporting measurement information to the base station.

3. 1. A method for performing sidelink positioning in a wireless communication system, comprising: The first terminal transmits respective allocation information for the at least one or more terminals to the at least one or more terminals; the first terminal transmitting allocation information of the first terminal and each of the allocation information for the at least one terminal to a second terminal; The first terminal transmits a sidelink positioning reference signal (SL PRS) to a second terminal based on allocation information of the first terminal, the second terminal receiving an SL PRS from each of the at least one or more terminals based on the allocation information for the at least one or more terminals received from the first terminal; and The method of performing positioning includes the step of: the first terminal receiving measurement information from the second terminal.

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