Positioning reference signal (PRS) transmission method, device, and terminal

Abstract

The present application discloses a method, an apparatus and a terminal for transmitting a positioning reference signal (PRS), which belong to the technical field of communication. The method includes a step of a first terminal mapping a sidelink positioning reference signal (SL-PRS) to a physical sidelink shared channel (PSSCH) resource based on first mapping information, and transmitting the sidelink positioning reference signal (SL-PRS) to the physical sidelink shared channel (PSSCH) resource, the first mapping information including at least one of a relationship between a bandwidth of the SL-PRS and a bandwidth of the PSSCH resource, symbol information of the PSSCH resource occupied by the SL-PRS, and a time division multiplexing (TDM) mode of the SL-PRS and the PSSCH.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to Chinese Patent Application No. 202210360210.6 filed in China on April 6, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of communications, and in particular to a method, device and terminal for transmitting a positioning reference signal (PRS). [Background technology]

[0003] The Long Term Evolution (LTE) system supports sidelink transmission, i.e., data transmission between terminals (User Equipment, UE) directly at the physical layer. LTE sidelink is based on broadcasting and can be used for basic safety communication for vehicle-to-everything (V2X) communication, but cannot be used for other more advanced V2X services. The 5G New Radio (NR) system can support more advanced sidelink transmission designs, such as unicast, multicast, and groupcast, and therefore can support more comprehensive service types.

[0004] Two resource allocation modes (modes) are defined for NR V2X: mode 1, in which resources are scheduled by the base station, and mode 2, in which the UE itself determines the resources to be used for transmission. In this case, the resource information can come from a broadcast message from the base station or from preset information. If the UE operates within the range of the base station and there is a Radio Resource Control (RRC) connection with the base station, it can operate in mode 1 and / or mode 2. If the UE operates within the range of the base station but there is no RRC connection with the base station, it can only operate in mode 2. If the UE is outside the range of the base station, it can only operate in mode 2, which performs V2X transmission based on preset information.

[0005] A specific operation method of mode2 is described below. 1) When resource selection is triggered, the transmitting UE first determines a resource selection window. The lower limit of the resource selection window is a time T1 after the resource selection trigger, and the upper limit of the resource selection is a time T2 after the trigger. T2 is a value selected by the implementation of the UE within a packet delay budget (PDB) transmitted in its transport block (TB), and T2 is after T1. 2) Before resource selection, the UE needs to determine a candidate resource set for resource selection. It may compare the Reference Signal Receiving Power (RSRP) measured for resources within the resource selection window with a corresponding RSRP threshold, and include resources with RSRP lower than the RSRP threshold in the candidate resource set. 3) After the resource set is determined, the UE randomly selects a transmission resource from the candidate resource set. The UE may also reserve transmission resources for later transmissions in the current transmission.

[0006] Currently, there are various demands for absolute positioning and relative positioning in V2X scenarios, but current technology does not provide a method for transmitting sidelink positioning reference signals in V2X scenarios. Summary of the Invention [Problem to be solved by the invention]

[0007] The embodiments of the present application provide a method, device, and terminal for transmitting a positioning reference signal (PRS) that can solve the problem that a method for transmitting a sidelink positioning reference signal in a V2X scenario is not defined in the prior art. [Means for solving the problem]

[0008] In a first aspect, the method includes a step of a first terminal mapping a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information and transmitting the mapping result, and the first mapping information is: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, SL-PRS and PSSCH time division multiplexing TDM mode, A method for transmitting a positioning reference signal (PRS) is provided.

[0009] In a second aspect, the method includes a step of measuring a sidelink SL-PRS based on first mapping information by a second terminal, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, and the first mapping information is: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, SL-PRS and PSSCH time division multiplexing TDM mode, A method for transmitting a positioning reference signal (PRS) is provided.

[0010] In a third aspect, a transmitting module is provided for mapping and transmitting a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, SL-PRS and PSSCH time division multiplexing TDM mode, A positioning reference signal (PRS) transmission device is provided.

[0011] In a fourth aspect, a measurement module is provided for measuring a sidelink SL-PRS based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, SL-PRS and PSSCH time division multiplexing TDM mode, A positioning reference signal (PRS) transmission device is provided.

[0012] In a fifth aspect, there is provided a terminal comprising a processor and a memory, wherein a program or command executable by the processor is stored in the memory, and when the program or command is executed by the processor, steps of the method according to the first aspect are realized, or steps of the method according to the second aspect are realized.

[0013] In a sixth aspect, a terminal including a processor and a communication interface, the processor for mapping and transmitting a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, A terminal is provided, which includes at least one of a SL-PRS and a time division multiplexing TDM mode of a PSSCH.

[0014] In a seventh aspect, there is provided a terminal comprising a processor and a communication interface, the processor being for measuring a sidelink SL-PRS based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, A terminal is provided, which includes at least one of a SL-PRS and a time division multiplexing TDM mode of a PSSCH.

[0015] In an eighth aspect, there is provided a readable storage medium having stored thereon a program or command which, when executed by a processor, causes the steps of the method according to the first aspect to be realized or causes the steps of the method according to the second aspect to be realized.

[0016] In a ninth aspect, there is provided a chip comprising a coupled processor and a communication interface, the processor being adapted to execute a program or command to implement the method according to the first aspect or the method according to the second aspect.

[0017] In a tenth aspect, there is provided a computer program / program product stored in a storage medium and, when executed by at least one processor, realizing the steps of the method according to the first aspect or the steps of the method according to the second aspect. Effect of the Invention

[0018] In an embodiment of the present application, the first terminal maps the SL-PRS to the PSSCH resource according to the determined first mapping information, and the corresponding second terminal measures the SL-PRS according to the first mapping information, thereby satisfying the demand for positioning on the resource and avoiding interference with the data signal caused by positioning. [Brief description of the drawings]

[0019] [Figure 1] 1 is a block diagram showing a wireless communication system to which an embodiment of the present application can be applied; [Diagram 2] FIG. 1 is a flowchart showing steps of a method for transmitting a positioning reference signal PRS provided by an embodiment of the present application; [Diagram 3] FIG. 1 is a first exemplary diagram illustrating a case where the bandwidth of an SL-PRS is the same as the bandwidth of a PSSCH resource in a method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application; [Figure 4] FIG. 2 is a second example showing a case where the bandwidth of the SL-PRS is the same as the bandwidth of the PSSCH resource in the method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application; [Diagram 5] FIG. 1 is a first exemplary diagram showing a case where the bandwidth of an SL-PRS is different from the bandwidth of a PSSCH resource in a method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application; [Figure 6] FIG. 2 is a second exemplary diagram showing a case where the bandwidth of the SL-PRS is different from the bandwidth of the PSSCH resource in the method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application; [Figure 7] FIG. 3 is a third example showing a case where the bandwidth of the SL-PRS is different from the bandwidth of the PSSCH resource in the method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application. [Figure 8] FIG. 4 is a fourth exemplary diagram showing a case where the bandwidth of the SL-PRS is different from the bandwidth of the PSSCH resource in the method for transmitting a positioning reference signal (PRS) provided by an embodiment of the present application. [Figure 9]A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 10] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 11] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 12] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 13] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 14] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 15] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 16] A figure showing an example of mapping SL-PRS and PSSCH resources in an embodiment of the present application. [Figure 17] FIG. 13 is an illustrative diagram showing a case where the comb value of SL-PRS is 1 in an embodiment of the present application. [Figure 18] FIG. 13 is an illustrative diagram showing mapping of SL-PRS when the comb value of SL-PRS is 2 in an embodiment of the present application. [Figure 19] FIG. 13 is an illustrative diagram showing mapping of SL-PRS when the comb value of SL-PRS is 4 in an embodiment of the present application. [Figure 20] 2 is a second flowchart illustrating steps of a method for transmitting a positioning reference signal PRS provided by an embodiment of the present application; [Figure 21] FIG. 1 is a schematic diagram showing the structure of a PRS transmission device provided by an embodiment of the present application. [Figure 22] FIG. 2 is a second schematic diagram showing the structure of a PRS transmission device provided by an embodiment of the present application. [Figure 23] FIG. 1 is a schematic diagram showing the structure of a terminal provided by an embodiment of the present application. [Figure 24] FIG. 2 is a second schematic diagram showing the structure of a terminal provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Of course, the described embodiments are only a part of the embodiments of the present application, and are not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative effort shall fall within the scope of protection of the present application.

[0021] In the specification and claims of the embodiments of the present application, technical terms such as "first", "second", etc. are not intended to describe a particular order of objects, but are intended to distinguish between different objects. It should be noted that the terms used in this manner may be interchangeable in some cases, so that the embodiments of the present application may be performed in an order other than that shown or described herein. The objects distinguished by "first" and "second" are generally similar, and the number of objects is not limited, for example, the first object may be one or more. In the specification and claims, "and / or" refers to at least one of the objects connected, and the symbol " / " generally refers to the related objects before and after being in an "or" relationship.

[0022] It should be noted that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, and may also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. In the embodiments of the present application, the terms "system" and "network" are often used interchangeably, and the techniques described herein may be used in the above systems and wireless communication technologies, or in other systems and wireless communication technologies. However, for illustrative purposes, the following description will describe a New Radio (NR) system, and NR terminology will be used in most of the following description, but these technologies may be applied to systems other than NR systems, such as 6th Generation (6G) communication systems.

[0023] 1 is a block diagram showing a wireless communication system to which an embodiment of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12. The terminal 11 may be a terminal side device such as a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (also called a notebook computer), a personal digital assistant (PDA), a personal digital assistant, a netbook, an ultra-mobile personal computer (UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR) / virtual reality (VR), a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a smart home device (a household device having a wireless communication function, such as a refrigerator, a television, a washing machine, furniture, etc.), a game machine, a personal computer (Personal Computer, PC), an automated teller machine, a self-device, etc. The wearable device includes a smart watch, a smart bracelet, a smart earphone, a smart eyeglasses, a smart accessory (such as a smart bangle, a smart hand chain, a smart finger ring, a smart necklace, a smart ankle ring, a smart anklet, etc.), a smart wristband, a smart clothing, etc. In the embodiment of the present application, the specific type of the terminal 11 is not limited. The network side equipment 12 may include an access network device or a core network. The access network equipment 12 is also called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function, or an access network unit.The access network device may be called a base station, a wireless local area network (WLAN), or a wireless fidelity (WiFi). The base station may be called a Node B, an evolved Node B, an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a B node, an evolved B node (eNB), a home B node, a home evolved B node, a WLAN access point, a WiFi node, a transmission and reception point (TRP), or other suitable terms in the field. As long as the same technical effect can be achieved, the base station is not limited to a specific technical term. Note that in the embodiment of this application, only a base station in an NR system is taken as an example, and the specific type of the base station is not limited.

[0024] Hereinafter, a method, apparatus and terminal for transmitting a Positioning Reference Signal (PRS) provided by the embodiments of the present application will be described in detail with reference to the drawings according to several embodiments and application scenarios.

[0025] In an embodiment of the present application, the positioning signal or SL-PRS is Optionally, the SL-PRS signal may be an SL signal for positioning. Optionally, the SL-PRS signal may be a multiplexing of an NR positioning signal, a SL signal or an augmentation in the prior art, such as a Channel State Information Reference Signal (CSI Reference Signal, CSI-RS), a sidelink synchronization signal block (S-SSB), a tracking reference signal (TRS), or a demodulation reference signal (DMRS). Optionally, the SL-PRS signal may be an extension to the sidelink of a NR positioning signal defined specifically for positioning, including but not limited to gold code serial, m serial, and ZC serial. Optionally, the SL-PRS signal may be a sidelink positioning signal defined specifically for positioning.

[0026] As shown in FIG. 2, the embodiment of the present application is as follows: The method includes the step 201 of the first terminal mapping the sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, and transmitting the sidelink SL-PRS, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, A method for transmitting a positioning reference signal PRS is further provided, which includes at least one of SL-PRS and a Time Division Multiplexing (TDM) mode of PSSCH.

[0027] Optionally, the PSSCH resource described in the embodiment of the present application is a scheduled PSSCH resource, specifically, the PSSCH resource is scheduled according to scheduling indication information for scheduling the PSSCH. For example, the scheduling indication information is: the bandwidth of the scheduled PSSCH resource; the starting frequency domain position of the scheduled PSSCH resource; A slot for scheduling the PSSCH.

[0028] In the embodiment of the present application, the means for scheduling the PSSCH resource is scheduling by scheduling indication information. For example, the scheduling indication information is Sidelink Control Information (SCI), and includes 1st SCI or 2nd SCI. Optionally, the scheduled PSSCH resource may occupy 6 to 13 symbols (6 to 13 symbols in one SL slot).

[0029] As an optional embodiment, the above PRS transmission method is specifically a PRS transmission method between a first terminal and a second terminal, and the first terminal maps an SL-PRS to a scheduled PSSCH resource and transmits it to the second terminal. Note that the first terminal may be a transmitting terminal, and in this case, the second terminal may be a receiving terminal. Alternatively, the first terminal may be a scheduling terminal, and in this case, the second terminal may be a transmitting terminal. Alternatively, the first terminal may be a scheduling terminal, and in this case, the second terminal may be a receiving terminal. Here, they will not be listed one by one.

[0030] Furthermore, in the embodiment of the present application, the first terminal and the second terminal need to have the same understanding of the mapping means of the SL-PRS to the scheduled PSSCH resource, that is, when the first terminal maps the SL-PRS to the scheduled PSSCH resource based on the first mapping information and transmits it, the second terminal can also determine the position of the SL-PRS in the scheduled PSSCH resource based on the first mapping information, in order to receive and analyze the PSSCH and the SL-PRS in the PSSCH resource.

[0031] As an alternative embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule.

[0032] As an optional embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule and preset information of the SL-PRS.

[0033] As an alternative embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule and the scheduling information of the PSSCH.

[0034] In at least one alternative embodiment of the present application, the method comprises: The method further includes the step of the first terminal determining whether to transmit the SL-PRS in a PSSCH resource according to a first mode, where the first mode includes at least one of the following:

[0035] An indication by scheduling indication information for scheduling a PSSCH. For example, the scheduling indication for scheduling a PSSCH is an SCI, a first SCI (1st SCI), or a second SCI (2nd SCI). Optionally, the indication may be 1 bit for indicating whether the SL-PRS is transmitted in a slot carrying a currently scheduled PSSCH resource or SCI. Optionally, when the scheduling indication information for scheduling a PSSCH includes multiple PSSCH resources, the specific PSSCH resource on which the SL-PRS is transmitted may be indicated by 2 bits or 3 bits.

[0036] Indication by resource pool setting information. The resource pool setting information is set by a network, or indicated by a network, or set by a terminal, or indicated by a terminal, or indicated by a higher layer. Optionally, the resource pool setting information may be 1 bit for indicating whether multiplexing by SL-PRS of the current resource pool is possible. Optionally, the resource pool setting information includes dedicated resource information available for multiplexing by SL-PRS. Optionally, the resource pool setting information includes SL-PRS priority indication information that allows multiplexing by SL-PRS. Optionally, the resource pool setting information includes symbol information, maximum resource occupancy, or maximum number of symbols that can be multiplexed by SL-PRS.

[0037] Optionally, the configuration granularity of the resource pool configuration information is: Each resource pool, Each service quality (Quality of Service, QoS), Each logical channel, Each logical channel group, Each channel busy ratio (Channel Busy Ratio, CBR), Each channel occupancy ratio (CR) includes at least one of the following:

[0038] In other words, the resource pool setting information may be parameters set for each resource pool, or parameters set for each QoS, or parameters set for each logical channel, or parameters set for each logical channel group, or parameters set for each CBR, or parameters set for each CR.

[0039] For example, the resource pool configuration information may include SL-PRS priority indication information for multiplexing using multiple SL-PRSs corresponding to different QoS or different logical channels.

[0040] In another alternative embodiment of the present application, the method further comprises: The method further includes the step of: the first terminal determining the first mapping information based on a first rule and / or first information, and the first information is: The number of symbols of the Physical Sidelink Control Channel (PSCCH), Number of PSSCH symbols, Starting symbol of PSSCH, Demodulation Reference Signal (DMRS) pattern, SL-PRS pattern, Starting symbol of SL-PRS, A combination pattern of SL-PRS and DMRS. Period of the Physical Sidelink Feedback Channel (PSFCH), and TDM setting information of the SL-PRS and the PSSCH. For example, the TDM setting information is for indicating that the SL-PRS and the PSSCH are TDM based on slots, or for indicating that the SL-PRS and the PSSCH are TDM based on symbols.

[0041] Optionally, the first information includes preset information of the SL-PRS, including at least one of a number of symbols of the SL-PRS, a comb value, an SL-PRS pattern, and a start symbol of the SL-PRS.

[0042] Optionally, the first information includes preset information of the SL-PRS including frequency domain information, for example, at least one of a bandwidth of the SL-PRS, and a relationship between the SL-PRS and a PSSCH.

[0043] In an alternative embodiment, the SL-PRS pattern may be included in multiple types in the preset information. The pattern specifically adopted for transmitting the SL-PRS may be determined based on a first rule or scheduling information (e.g., SCI).

[0044] The first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

[0045] Optionally, the first rule includes a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the number of symbols of the PSCCH, or a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the number of symbols of the PSSCH / symbol position, or a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the DMRS.

[0046] Alternatively, the period of the PSFCH may be specified by resource pool configuration information. For example, among P={0, 1, 2, 4} slots, there is a slot in which the PSFCH does not exist. When the period is set to 0, it indicates that the PSFCH resource does not exist in the resource pool.

[0047] In at least one embodiment of the present application, the first terminal may determine the first mapping information based only on the first rule, or may determine the first mapping information based on both the first rule and the first information. Here, there is no specific limitation.

[0048] As an alternative embodiment, the relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource is: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different.

[0049] For example, the resource pool configuration information or scheduling instruction signaling indicates that the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same or different, or for example, the protocol predefines or indicates that the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same or different.

[0050] The bandwidth of the SL-PRS and the bandwidth of the scheduled PSSCH resource being the same may be understood as the size and location of the bandwidth being the same. For example, as shown in Figures 3 and 4, the first symbol is for Automatic Gain Control (AGC), the last symbol is for measuring the gap, and the SCI is for scheduling the PSSCH resource. This may be understood as the SL-PRS being transmitted within the frequency domain range of the PSSCH resource and sharing the same frequency domain bandwidth.

[0051] In at least one embodiment of the present application, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, there are two cases: Case 1 is, for example, a case where the SL-PRS and the PSSCH that is actually transmitted are time-division multiplexed, as shown in FIG. 5 and FIG. Case 2 is, for example, as shown in FIG. 7 and FIG. 8, where the SL-PRS and the PSSCH that is actually transmitted are frequency division multiplexed.

[0052] As an optional embodiment, in case 1, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: The bandwidth of the SL-PRS; A change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource, for example, an increased bandwidth of the SL-PRS compared to the PSSCH; a starting frequency domain position of the SL-PRS; and offset information of the starting frequency domain position of the SL-PRS relative to the starting frequency domain position of a PSSCH resource.

[0053] For example, the bandwidth of the SL-PRS is indicated by the SCI, or the increased bandwidth of the SL-PRS compared to the PSSCH is indicated by the SCI.

[0054] Also, for example, the starting frequency domain position of the SL-PRS is indicated by the SCI, or the starting frequency domain position of the SL-PRS offset with respect to the PSSCH is indicated by the SCI.

[0055] Note that if the bandwidth of one selectable SL-PRS is protocol predefined or predefined, the bandwidth of the SL-PRS does not need to be indicated at the time of scheduling, or if the bandwidths of multiple (e.g., N) selectable SL-PRSs are protocol predefined or predefined, the specific one to be used among the N must be indicated at the time of scheduling.

[0056] Optionally, a first rule dictates the bandwidths of the N SL-PRSs.

[0057] Optionally, a first rule dictates a relationship between the SL-PRS bandwidth and the PSSCH bandwidth in the different cases (eg, in different PSSCH bandwidths).

[0058] Optionally, a first rule indicates how to determine the SL-PRS bandwidth based on a bandwidth of a PSSCH.

[0059] In addition, when the bandwidth of one selectable SL-PRS is protocol predefined or predefined, the scheduling indication information may selectably indicate the start frequency domain position or end frequency domain position of the SL-PRS.

[0060] In addition, when the starting frequency domain position of one selectable SL-PRS, or the relationship between the starting frequency domain position of the SL-PRS and the starting frequency domain position of the PSSCH / PSCCH is predefined or specified in advance by a protocol, the scheduling indication information may selectably indicate information regarding the bandwidth of the SL-PRS.

[0061] As another optional embodiment, in case 2, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further includes: Bandwidth allocation information of the PSSCH resource occupied by the SL-PRS; The bandwidth of the SL-PRS; a change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource.

[0062] Similarly, if the bandwidth of one selectable SL-PRS is protocol predefined or predefined, then it is not necessary to indicate the bandwidth of the SL-PRS at the time of scheduling, or if the bandwidths of multiple (e.g., N) selectable SL-PRS are protocol predefined or predefined, then it is necessary to indicate the one of the N that is specifically to be utilized at the time of scheduling.

[0063] Optionally, a first rule dictates an FDM mode for said SL-PRS and PSSCH, and optionally a ratio of SL-PRS in FDM.

[0064] Optionally, a first rule dictates the bandwidths of the N SL-PRSs.

[0065] Optionally, in case 2, the step of the first terminal mapping the SL-PRS to the PSSCH resource and transmitting the SL-PRS includes: The method includes a step of the first terminal performing rate matching or puncturing on a SL data channel or a SL signal in the PSSCH resource.

[0066] Optionally, in case 2, the method further comprises: The method further includes a step of the first terminal determining a gap between the SL-PRS and the SL channel based on a predefined or network-configured or terminal-configured setting.

[0067] The SL channel includes at least one of the SL PSSCH, the SL PSFCH, and the SL PSCCH. That is, the gap between the SL-PRS and the SL channel is determined by predefinition by a protocol, by setting by the network, or by setting by the terminal. During inband transmission, the gap can ensure low interference.

[0068] It is necessary to determine the time-frequency division allocation of the SL-PRS based on both the above-mentioned "relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource" and "symbol information of the PSSCH resource occupied by the SL-PRS".

[0069] In at least one embodiment of the present application, the symbol information of the PSSCH resource occupied by the SL-PRS is: At least one of the symbol position, the number of symbols, and the starting symbol of the PSSCH resource occupied by the SL-PRS; A pattern of the SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS in the PSSCH resource occupied by the SL-PRS; Includes at least one of the following:

[0070] In one embodiment, the first rule further defines selectable SL-PRS patterns.

[0071] In one embodiment, the first rule further defines a symbol position of the PSSCH resource occupied by the selectable SL-PRS, and instructs to select one symbol position from a plurality of symbol positions for one resource pool.

[0072] In one embodiment, the first rule further defines symbol positions of PSSCH resources occupied by the plurality of SL-PRSs. Optionally, the symbol positions of the PSSCH resources occupied by the plurality of SL-PRSs are determined based on first scheduling information (one of which is indicated by the SCI), or the relationship between the SL-PRS symbol positions and PSSCH information or DMRS is indicated by the first rule, and the symbol positions of the SL-PRSs can be estimated based on the determined PSSCH information or DMRS.

[0073] At least one of a symbol position, a symbol number, a starting symbol, and a comb value of the PSSCH resource occupied by the SL-PRS is associated with second information, and the second information is Symbol length of the physical sidelink control channel PSCCH, e.g. {2,3}, Starting symbol of PSSCH, e.g. {2,4,5}, PSSCH symbol length, e.g. {6,7,8,9,10,11,12,13}, The pattern of the demodulation reference signal DMRS, for example, the number of symbols occupied by the DMRS, the symbol position of the DMRS, whether the slot in which the SL-PRS is located includes a physical sidelink feedback channel (PSFCH) resource or not.

[0074] As an alternative embodiment, the pattern of the SL-PRS may be indicated together with the pattern of the DMRS.

[0075] As another alternative embodiment, the correspondence between the SL-PRS pattern and the DMRS pattern is specified or predefined by a protocol.

[0076] The starting symbol of the scheduled PSSCH resource occupied by the SL-PRS is one of the following:

[0077] 1) The starting symbol of the PSSCH. For example, the starting symbol of the SL-PRS may be located at the starting symbol of the PSSCH only when the starting symbol of the PSSCH and the starting symbol of the PSCCH are different, that is, the starting symbol of the PSSCH is not 2.

[0078] 2) The N1th symbol after the starting symbol of the PSSCH. If the starting symbol of the scheduled PSSCH resource occupied by the SL-PRS is the N1th symbol after the starting symbol of the PSSCH, the value of N1 is related to whether the starting symbol of the PSCCH is the same as the starting symbol of the PSSCH.

[0079] For example, if the start symbol of the PSCCH and the start symbol of the PSSCH are the same and the start symbol of the PSSCH is 2, the start symbol of the SL-PRS is located at the start symbol of the PSSCH+N1'. It may be understood that the start symbol of the SL-PRS is located at the last symbol position of the PSCCH+N1. Also, for example, if the start symbol of the PSCCH and the start symbol of the PSSCH are different and the start symbol of the PSSCH is 4 or 5, the start symbol of the SL-PRS is located at the start symbol of the PSSCH + N1". It may also be understood that the start symbol of the SL-PRS is located at the last symbol position of the PSCCH + N1. The value of N1' is different from the value of N1".

[0080] 3) N2th symbol of the PSSCH resource. Optionally, the value of N2 may be determined based on the symbol length of the PSSCH. For example, for PSSCH symbol lengths {6, 7, 8, 9, 10, 11, 12, 13}, the values ​​of N2 may not be exactly the same, may be exactly the same, or may be completely different.

[0081] 4) The N3th symbol after the last symbol of the PSCCH. Optionally, the specific value of N3 is determined according to whether the last symbol of the PSCCH is symbol 3 or symbol 4, and the value of N3 may be different.

[0082] 5) Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH.

[0083] 6) N4 symbols after the DMRS symbol position. Optionally, N4 is 1. Optionally, the DMRS symbol position may be the last symbol position or an intermediate symbol position. For example, in the case of two DMRS symbols, the DMRS symbol position is the corresponding last symbol position. Also, for example, in the case of more than two DMRS symbols, the DMRS symbol position is the corresponding second DMRS symbol position.

[0084] 7) N5th symbol before the last DMRS symbol position, which may be understood as N5th symbol before the last DMRS symbol position occupied by the SL-PRS symbol position. For example, if there are more than two DMRS symbols and the last DMRS symbol transmission is cancelled, the SL-PRS symbol position is {DMRS Ending位置 -N5~DMRS Ending位置 Also, for example, if there are more than two DMRS symbols and the last DMRS symbol transmission is not occupied, the symbol position of the SL-PRS becomes {DMRS Ending位置 -N5~DMRS Ending位置 -1}.

[0085] In at least one selectable embodiment of the present application, when the symbol position or the starting symbol position of the SL-PRS determined by the first terminal according to any one of 1) to 6) above overlaps with the symbol position of the DMRS, the SL-PRS is transmitted in a symbol after the DMRS. Also, the starting symbol of the SL-PRS may be transmitted in a symbol one symbol after the DMRS.

[0086] In at least one embodiment of the present application, the start symbol of the scheduled PSSCH resource occupied by the SL-PRS is a selectable symbol associated with the pattern of the DMRS and the number of symbols occupied by the PSSCH; As an optional embodiment, the symbol position of the SL-PRS associated with the pattern of the DMRS is at least one of the following:

[0087] When PSSCH=6 symbols, the selectable symbol positions of the SL-PRS are at least one of {4, 6, 7, 8, 9} or at least N (N is the symbol length of the SL-PRS).

[0088] When PSSCH=7 to 8 symbols, the selectable symbol positions of the SL-PRS are at least one of {[3], 4, 6, 7, 8, 9} or at least N (N is the symbol length of the SL-PRS).

[0089] When PSSCH=9 to 10 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS). {4,5,6,7,9,10,11,12}, corresponding to the case where the DMRS is two symbols and the symbol positions are {3,8}. or {5,6,8,9,10,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,8}. or {5,6,7,9,10,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol positions {1,4,7}.

[0090] When PSSCH=11 to 12 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS). {4,5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}. or {[3], 4, 6, 7, 8, 10, 11, 12}, corresponding to the case where the DMRS is three symbols and is in symbol positions {1, 5, 9}. or {5,6,8,9,11,12}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1,4,7,10}.

[0091] When PSSCH=13 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS): {4,5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {4,5,7,8,9,10,12}, corresponding to the case where the DMRS is three symbols and is in symbol positions {1,6,11}. or {3,5,6,8,9,11,12}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1,4,7,10}. or {5,6,8,9,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}.

[0092] As another selectable embodiment, the starting symbol position of the SL-PRS associated with the pattern of the DMRS is at least one of {4, 5, 6, 7, 8, 9, 10, 11}, and further, the starting symbol position of the SL-PRS is associated with the following information:

[0093] If PSSCH=6 symbols, the selectable SL-PRS symbol starting positions are {6}.

[0094] When PSSCH=7 to 8 symbols, the selectable SL-PRS symbol start position is {6}.

[0095] When PSSCH=9 to 10 symbols, the selectable SL-PRS symbol starting positions are as follows. {4,9}, corresponding to the case where the DMRS is two symbols and is in symbol position {3,8}. or {5,9}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,8}. or {5,9}, corresponding to the case where the DMRS is two symbols and is in symbol positions {1,4,7}.

[0096] When PSSCH=11 to 12 symbols, the selectable SL-PRS symbol starting positions are as follows. {4,11}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {5,11}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}. or {6,10}, corresponding to the case where the DMRS is three symbols and is in symbol positions {1,5,9}. or {5,11}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1,4,7,10}.

[0097] For PSSCH=13 symbols, the selectable SL-PRS symbol starting positions are: {4,11}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {4,7}, corresponding to the case where the DMRS is three symbols and the symbol positions are {1,6,11}. or {5,8}, corresponding to the case where the DMRS is 4 symbols and the symbol positions are {1,4,7,10}. or {5,8,11}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}.

[0098] In at least one embodiment of the present application, the symbol length (e.g., the symbol length is 2 or 4) of the scheduled PSSCH resource occupied by the SL-PRS is associated with third information, and the third information includes at least one of the following:

[0099] The symbol positions of two adjacent DMRSs. For example, the symbol length of the SL-PRS = DMRS Ending-位置 (Last DMRS Position)-DMRS Ending-1位置 (the second-to-last DMRS position). Also, for example, the symbol length of the SL-PRS=DMRS Ending-位置 (Last DMRS Position)-DMRS Ending-1位置 (Second to last DMRS position) -1.

[0100] Whether or not the slot in which the SL-PRS is located includes a PSFCH resource. If a PSFCH resource is included, the number of selectable SL-PRS symbols is L3 (for example, 2). If a PSFCH resource is not included, the number of selectable SL-PRS symbols may be larger. Therefore, in the embodiment of the present application, a suitable number of symbols may be defined for each of the cases where a PSFCH exists and where a PSFCH does not exist.

[0101] Number of symbols in the PSSCH.

[0102] DMRS pattern.

[0103] Location of DMRS.

[0104] For example, the symbol length associated with the pattern of the DMRS is at least one of the following:

[0105] When PSSCH≦S1 (eg, {8, 9}) symbols, the number of selectable SL-PRS symbols is {2, 4}.

[0106] When PSSCH>S1, the selectable number of SL-PRS symbols is {2,4}.

[0107] In the case of S1=2, if the number of DMRS symbols is greater than 2, the number of SL-PRS symbols is 2. If the number of DMRS symbols is ≦2, the number of SL-PRS symbols is {2, 4}.

[0108] 9 and 10 are some examples where the number of symbols in the SL-PRS is 4, and optionally the figures may be extended according to the selectable symbol positions of the SL-PRS in the above embodiments to apply to any symbol position.

[0109] Figures 11 to 16 are some examples where the number of symbols in the SL-PRS is two, and optionally the figures may be extended according to the selectable symbol positions of the SL-PRS in the above embodiments to apply to any symbol position.

[0110] In another alternative embodiment of the present application, the method further comprises: determining a pattern of an SL-PRS based on a correspondence relationship between a pattern of a DMRS and a pattern of an SL-PRS by the first terminal; Or, determining a pattern of an SL-PRS based on the pattern of a DMRS of a PSSCH or fourth information by the first terminal; Or, The method further includes the step of determining a pattern of an SL-PRS based on a correspondence relationship between a pattern of a DMRS and a pattern of an SL-PRS, and a pattern of a DMRS of a PSSCH, by the first terminal; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length {2,3}, Start symbol of PSSCH {2,4,5}, PSSCH symbol length {6,7,8,9,10,11,12,13}, whether a PSFCH resource is included in the slot in which the SL-PRS is located.

[0111] In one embodiment, one or more DMRS parts of the M or less DMRS patterns are associated with an SL-PRS, and the SL-PRS is determined based on the indicated DMRS pattern and the SL-PRS associated with the DMRS pattern.

[0112] In another embodiment, one or more DMRS parts of the M or less DMRS patterns are associated with an SL-PRS, and a portion of the SL-PRS information (i.e., the fourth information) is included in the scheduling information or the resource pool configuration information, thereby determining the SL-PRS.

[0113] Optionally, the SL-PRS information includes at least one of a number of symbols of the SL-PRS, a comb value, an SL-PRS pattern, and a start symbol of the SL-PRS.

[0114] Optionally, the SL-PRS information includes frequency domain information, for example, at least one of the following: a bandwidth of the SL-PRS, a relationship between the SL-PRS and a PSSCH.

[0115] In another alternative embodiment of the present application, the method further comprises: The method further includes a step of determining a pattern of an SL-PRS by the first terminal based on whether a PSFCH resource is included in the slot in which the SL-PRS is located and based on fifth information, the fifth information being: PSCCH symbol length {2,3}, Start symbol of PSSCH {2,4,5}, PSSCH symbol length {6,7,8,9,10,11,12,13}, The pattern of the DMRS includes at least one of the following:

[0116] Based on the above embodiment, two selectable SL-PRS predefined modes or patterns are included: SL-PRS with PSFCH resource and SL-PRS without PSFCH resource.

[0117] In an alternative embodiment, the comb value of the SL-PRS is associated with sixth information, the sixth information being SL-PRS symbol length, DMRS pattern, The PSSCH symbol length.

[0118] For example, there are cases where the comb value is equal to the number of symbols of the SL-PRS, and cases where the comb value is a common divisor of the number of symbols of the SL-PRS.

[0119] Optionally, if the comb value is a common divisor of the number of symbols of the SL-PRS, the SL-PRS is partially staggered. Optionally, the UE reports whether it is capable of supporting partial staggering.

[0120] For example, FIG. 17 shows an example diagram for a comb value of 1, which may optionally be extended according to the selectable symbol positions of the SL-PRS in the above embodiment to apply to any symbol position.

[0121] Also, for example, Fig. 18 shows an example of mapping of SL-PRS when the comb value is 2, and optionally, triangles and diamonds in Fig. 18 indicate mapping of different SL-PRS. It may be understood that an SL-PRS is mapped to a triangular position of one UE, and an SL-PRS is mapped to a diamond position occupied by another UE. It may be understood that different SL-PRSs from one UE are mapped to triangular or diamond positions. That is, multiple SL-PRSs are mapped to one symbol, and different resource element (RE) offsets are used.

[0122] Also, for example, FIG. 19 shows an example of SL-PRS mapping when the comb value is 4, and the circle, heart, star, and diamond shapes in FIG. 19 each selectively indicate different SL-PRS mappings.

[0123] In at least one embodiment of the present application, the TDM mode of the SL-PRS and the PSSCH is: Symbol-level TDM, or slot-level TDM, for example, indicating the TDM mode by at least a slot carrying an SL-PRS or a slot carrying a PSSCH.

[0124] Optionally, the first terminal determines, based on signaling or capabilities, whether to support symbol-level TDM or slot-level TDM.

[0125] As an alternative embodiment, the symbol position of the PSSCH actually transmitted and the symbol position of the SL-PRS are different, which may be understood as symbol-level TDM, in which the PSSCH is located before the symbol in which the SL-PRS is transmitted, and the actually transmitted 2nd SCI and / or the PSSCH is located before the SL-PRS transmission.

[0126] Optionally, the step of the first terminal determining the first mapping information based on the first information includes determining the first mapping information based on the scheduling indication information and the preset first information, For example, the first terminal determines a specific mapping of the SL-PRS to the PSSCH by determining a bandwidth and a slot position of the SL-PRS based on the SCI, and determining an SL-PRS pattern or SL-PRS symbol information based on the preset first information.

[0127] Optionally, the first terminal determines the first mapping information based only on the scheduling indication information, for example, the first terminal determines a specific mapping of the SL-PRS to the PSSCH by determining a bandwidth, a slot position, a SL-PRS pattern, or SL-PRS symbol information of the SL-PRS based on the SCI.

[0128] For example, FIGS. 9 to 16 are typical mapping examples between SL-PRS and scheduled PSSCH resources in the PRS transmission method provided by the embodiment of the present application.

[0129] As described above, in the embodiment of the present application, the first terminal maps the SL-PRS to the scheduled PSSCH resource based on the determined first mapping information, and transmits the SL-PRS. The corresponding second terminal measures the SL-PRS based on the first mapping information. This can avoid interference with data signals caused by positioning while satisfying the demand for positioning on resources.

[0130] As shown in FIG. 20, the embodiment of the present application is as follows: Step 1501, in which the second terminal measures a sidelink SL-PRS based on first mapping information, the first mapping information is for indicating a mapping rule of the SL-PRS to a PSSCH resource, and the first mapping information includes: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, A method for transmitting a positioning reference signal PRS is further provided, which includes at least one of: SL-PRS and a time division multiplexing TDM mode of PSSCH.

[0131] Optionally, the PSSCH resource described in the embodiment of the present application is a scheduled PSSCH resource, specifically, the PSSCH resource is scheduled according to scheduling indication information for scheduling the PSSCH. For example, the scheduling indication information is: the bandwidth of the scheduled PSSCH resource; the starting frequency domain position of the scheduled PSSCH resource; A slot for scheduling the PSSCH.

[0132] In the embodiment of the present application, the means for scheduling the PSSCH resource is scheduling by scheduling indication information. For example, the scheduling indication information is Sidelink Control Information (SCI), and includes 1st SCI or 2nd SCI. Optionally, the scheduled PSSCH resource may occupy 6 to 13 symbols (6 to 13 symbols in one SL slot).

[0133] As an alternative embodiment, step 1501 includes: measuring the SL-PRS by the second terminal based on the first mapping information and scheduling indication information for scheduling a PSSCH; Or, The second terminal measures the SL-PRS based on the first mapping information and preset information of the SL-PRS.

[0134] As an optional embodiment, the above PRS transmission method is specifically a PRS transmission method between a first terminal and a second terminal, and the first terminal maps an SL-PRS to a scheduled PSSCH resource and transmits it to the second terminal. Note that the first terminal may be a transmitting terminal, and in this case, the second terminal may be a receiving terminal. Alternatively, the first terminal may be a scheduling terminal, and in this case, the second terminal may be a transmitting terminal. Alternatively, the first terminal may be a scheduling terminal, and in this case, the second terminal may be a receiving terminal. Here, they will not be listed one by one.

[0135] Furthermore, in the embodiment of the present application, the first terminal and the second terminal need to have the same understanding of the mapping means of the SL-PRS to the scheduled PSSCH resource, that is, when the first terminal maps the SL-PRS to the scheduled PSSCH resource based on the first mapping information and transmits it, the second terminal can also determine the position of the SL-PRS in the scheduled PSSCH resource based on the first mapping information, in order to receive and analyze the PSSCH and the SL-PRS in the PSSCH resource.

[0136] As an alternative embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule.

[0137] As an optional embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule and preset information of the SL-PRS.

[0138] As an alternative embodiment, the second terminal, as a receiving terminal, measures the SL-PRS based on the first mapping rule and the scheduling information of the PSSCH.

[0139] In at least one alternative embodiment of the present application, the method comprises: The method further includes the step of the second terminal determining whether to transmit the SL-PRS in a PSSCH resource according to a first mode, the first mode including at least one of the following:

[0140] Indication by scheduling indication information for scheduling PSSCH. For example, the scheduling indication for scheduling PSSCH is SCI, 1st SCI, or 2nd SCI. Optionally, when the scheduling indication information for scheduling PSSCH includes multiple PSSCH resources, a specific PSSCH resource on which the SL-PRS is transmitted may be selectively indicated by 2 bits or 3 bits.

[0141] Indication by resource pool setting information. The resource pool setting information is set by a network, or indicated by a network, or set by a terminal, or indicated by a terminal, or indicated by a higher layer. Selectably, the resource pool setting information may be 1 bit for indicating whether multiplexing by SL-PRS of the current resource pool is possible. Selectably, the resource pool setting information includes dedicated resource information available for multiplexing by SL-PRS. Selectably, the resource pool setting information includes SL-PRS priority indication information that allows multiplexing by SL-PRS. Selectably, the resource pool setting information includes symbol information, maximum resource occupancy, or maximum number of symbols that allows multiplexing by SL-PRS.

[0142] Optionally, the configuration granularity of the resource pool configuration information is: Each resource pool, Each quality of service QoS, Each logical channel, Each logical channel group, Each channel busy rate CBR, Each channel occupancy rate CR includes at least one of the following:

[0143] In other words, the resource pool setting information may be parameters set for each resource pool, or parameters set for each QoS, or parameters set for each logical channel, or parameters set for each logical channel group, or parameters set for each CBR, or parameters set for each CR.

[0144] For example, the resource pool configuration information may include SL-PRS priority indication information for multiplexing using multiple SL-PRSs corresponding to different QoS or different logical channels.

[0145] In another alternative embodiment of the present application, the method further comprises: The method further includes the step of: the second terminal determining the first mapping information based on a first rule and / or first information, and the first information is: Number of PSCCH symbols, Number of PSSCH symbols, Starting symbol of PSSCH, A pattern of the demodulation reference signal DMRS, SL-PRS pattern, Starting symbol of SL-PRS, A combination pattern of SL-PRS and DMRS. Period of the physical sidelink feedback channel PSFCH, and TDM setting information of the SL-PRS and the PSSCH. For example, the TDM setting information is for indicating that the SL-PRS and the PSSCH are TDM based on slots, or for indicating that the SL-PRS and the PSSCH are TDM based on symbols.

[0146] The first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

[0147] Optionally, the first rule includes a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the number of symbols of the PSCCH, or a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the number of symbols of the PSSCH / symbol position, or a relationship between SL-PRS (pattern, number of symbols, comb, start symbol) and the DMRS.

[0148] Alternatively, the period of the PSFCH may be specified by resource pool configuration information. For example, among P={0, 1, 2, 4} slots, there is a slot in which the PSFCH does not exist. When the period is set to 0, it indicates that the PSFCH resource does not exist in the resource pool.

[0149] In at least one embodiment of the present application, the first terminal may determine the first mapping information based only on the first rule, or may determine the first mapping information based on both the first rule and the first information. Here, there is no specific limitation.

[0150] As an alternative embodiment, the relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource is: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different.

[0151] For example, the resource pool configuration information or scheduling instruction signaling indicates that the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same or different, or for example, the protocol predefines or indicates that the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same or different.

[0152] The bandwidth of the SL-PRS and the bandwidth of the scheduled PSSCH resource are the same, which may be understood as the size and location of the bandwidth being the same. For example, the first symbol shown in Figures 3 and 4 is for automatic gain control AGC, the last symbol is used for GAP, and the SCI is for scheduling the PSSCH resource. This may be understood as the SL-PRS being transmitted within the frequency domain range of the PSSCH resource and sharing the same frequency domain bandwidth with it.

[0153] In at least one embodiment of the present application, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, there are two cases: Case 1 is, for example, a case where the SL-PRS and the PSSCH that is actually transmitted are time-division multiplexed, as shown in FIG. 5 and FIG. Case 2 is, for example, as shown in FIG. 7 and FIG. 8, where the SL-PRS and the PSSCH that is actually transmitted are frequency division multiplexed.

[0154] As an optional embodiment, in case 1, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: The bandwidth of the SL-PRS; A change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource, for example, an increased bandwidth of the SL-PRS compared to the PSSCH; a starting frequency domain position of the SL-PRS; and offset information of the starting frequency domain position of the SL-PRS relative to the starting frequency domain position of a PSSCH resource.

[0155] For example, the bandwidth of the SL-PRS is indicated by the SCI, or the increased bandwidth of the SL-PRS compared to the PSSCH is indicated by the SCI.

[0156] Also, for example, the starting frequency domain position of the SL-PRS is indicated by the SCI, or the starting frequency domain position of the SL-PRS offset with respect to the PSSCH is indicated by the SCI.

[0157] Note that if the bandwidth of one selectable SL-PRS is protocol predefined or predefined, the bandwidth of the SL-PRS does not need to be indicated at the time of scheduling, or if the bandwidths of multiple (e.g., N) selectable SL-PRSs are protocol predefined or predefined, the specific one to be used among the N must be indicated at the time of scheduling.

[0158] Optionally, a first rule dictates the bandwidths of the N SL-PRSs.

[0159] Optionally, a first rule dictates a relationship between the SL-PRS bandwidth and the PSSCH bandwidth in the different cases (eg, in different PSSCH bandwidths).

[0160] Optionally, a first rule indicates how to determine the SL-PRS bandwidth based on a bandwidth of a PSSCH.

[0161] As another optional embodiment, in case 2, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different, and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: Bandwidth allocation information of the PSSCH resource occupied by the SL-PRS; The bandwidth of the SL-PRS; a change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource.

[0162] Similarly, if the bandwidth of one selectable SL-PRS is protocol predefined or predefined, then it is not necessary to indicate the bandwidth of the SL-PRS at the time of scheduling, or if the bandwidths of multiple (e.g., N) selectable SL-PRS are protocol predefined or predefined, then it is necessary to indicate the one of the N that is specifically to be utilized at the time of scheduling.

[0163] Optionally, a first rule dictates an FDM mode for said SL-PRS and PSSCH, and optionally a ratio of SL-PRS in FDM.

[0164] Optionally, a first rule dictates the bandwidths of the N SL-PRSs.

[0165] It is necessary to determine the time-frequency division allocation of the SL-PRS based on both the above-mentioned "relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource" and "symbol information of the PSSCH resource occupied by the SL-PRS".

[0166] In at least one embodiment of the present application, the symbol information of the PSSCH resource occupied by the SL-PRS is: At least one of the symbol position, the number of symbols, and the starting symbol of the PSSCH resource occupied by the SL-PRS; A pattern of an SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS; Includes at least one of the following:

[0167] In one embodiment, the first rule further defines selectable SL-PRS patterns.

[0168] In one embodiment, the first rule further defines a symbol position of the PSSCH resource occupied by the selectable SL-PRS, and instructs to select one symbol position from a plurality of symbol positions for one resource pool.

[0169] In one embodiment, the first rule further defines symbol positions of PSSCH resources occupied by the plurality of SL-PRSs. Optionally, the symbol positions of the PSSCH resources occupied by the plurality of SL-PRSs are determined based on first scheduling information (one of which is indicated by the SCI), or the relationship between the SL-PRS symbol positions and PSSCH information or DMRS is indicated by the first rule, and the symbol positions of the SL-PRSs can be estimated based on the determined PSSCH information or DMRS.

[0170] At least one of a symbol position, a symbol number, a starting symbol, and a comb value of the PSSCH resource occupied by the SL-PRS is associated with second information, and the second information is Symbol length of the physical sidelink control channel PSCCH, e.g. {2,3}, Starting symbol of PSSCH, e.g. {2,4,5}, PSSCH symbol length, e.g. {6,7,8,9,10,11,12,13}, The pattern of the demodulation reference signal DMRS, for example, the number of symbols occupied by the DMRS, the symbol position of the DMRS, whether the slot in which the SL-PRS is located includes a physical sidelink feedback channel (PSFCH) resource or not.

[0171] As an alternative embodiment, the pattern of the SL-PRS may be indicated together with the pattern of the DMRS.

[0172] As another alternative embodiment, the correspondence between the SL-PRS pattern and the DMRS pattern is specified or predefined by a protocol.

[0173] The starting symbol of the scheduled PSSCH resource occupied by the SL-PRS is one of the following:

[0174] 1) The starting symbol of the PSSCH. For example, if the starting symbol of the PSSCH and the starting symbol of the PSCCH are different, the starting symbol of the SL-PRS may be located at the starting symbol of the PSSCH only if the starting symbol of the PSSCH is not 2.

[0175] 2) The N1th symbol after the starting symbol of the PSSCH. If the starting symbol of the scheduled PSSCH resource occupied by the SL-PRS is the N1th symbol after the starting symbol of the PSSCH, the value of N1 is related to whether the starting symbol of the PSCCH is the same as the starting symbol of the PSSCH.

[0176] For example, if the start symbol of the PSCCH and the start symbol of the PSSCH are the same, i.e., the start symbol of the PSSCH is 2, then the start symbol of the SL-PRS is located at the start symbol of the PSSCH+N1'. It may be understood that the start symbol of the SL-PRS is located at the last symbol position of the PSCCH+N1.

[0177] Also, for example, if the start symbol of the PSCCH and the start symbol of the PSSCH are different, i.e., the start symbol of the PSSCH is 4 or 5, the start symbol of the SL-PRS is located at the start symbol of the PSSCH + N1". It may also be understood that the start symbol of the SL-PRS is located at the last symbol position of the PSCCH + N1. The value of N1' is different from the value of N1".

[0178] 3) N2th symbol of the PSSCH resource. Optionally, the value of N2 may be determined based on the symbol length of the PSSCH. For example, for PSSCH symbol lengths {6, 7, 8, 9, 10, 11, 12, 13}, the values ​​of N2 may not be exactly the same, may be exactly the same, or may be completely different.

[0179] 4) The N3th symbol after the last symbol of the PSCCH. Optionally, the specific value of N3 is determined according to whether the last symbol of the PSCCH is symbol 3 or symbol 4, and the value of N3 may be different.

[0180] 5) Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH.

[0181] 6) N4 symbols after the DMRS symbol position. Optionally, N4 is 1. Optionally, the DMRS symbol position may be the last symbol position or an intermediate symbol position. For example, in the case of two DMRS symbols, the DMRS symbol position is the corresponding last symbol position. Also, for example, in the case of more than two DMRS symbols, the DMRS symbol position is the corresponding second DMRS symbol position.

[0182] 7) N5th symbol before the last DMRS symbol position, which may be understood as N5th symbol before the last DMRS symbol position occupied by the SL-PRS symbol position. For example, if there are more than two DMRS symbols and the last DMRS symbol transmission is cancelled, the SL-PRS symbol position is {DMRS Ending位置 -N5~DMRS Ending位置 Also, for example, if there are more than two DMRS symbols and the last DMRS symbol transmission is not occupied, the symbol position of the SL-PRS becomes {DMRS Ending位置 -N5~DMRS Ending位置 -1}.

[0183] In at least one selectable embodiment of the present application, when the symbol position or the starting symbol position of the SL-PRS determined by the first terminal according to any one of 1) to 6) above overlaps with the symbol position of the DMRS, the SL-PRS is transmitted in a symbol after the DMRS. Also, the starting symbol of the SL-PRS may be transmitted in a symbol one symbol after the DMRS.

[0184] In at least one embodiment of the present application, the start symbol of the scheduled PSSCH resource occupied by the SL-PRS is a selectable symbol associated with the pattern of the DMRS and the number of symbols occupied by the PSSCH; The symbol position of the SL-PRS associated with the pattern of the DMRS is at least one of the following.

[0185] When PSSCH=6 symbols, the selectable symbol positions of the SL-PRS are at least one of {4, 6, 7, 8, 9} or at least N (N is the symbol length of the SL-PRS).

[0186] When PSSCH=7 to 8 symbols, the selectable symbol positions of the SL-PRS are at least one of {[3], 4, 6, 7, 8, 9} or at least N (N is the symbol length of the SL-PRS).

[0187] When PSSCH=9 to 10 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS). {4,5,6,7,9,10,11,12}, corresponding to the case where the DMRS is two symbols and the symbol positions are {3,8}. or {5,6,8,9,10,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,8}. or {5,6,7,9,10,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol positions {1,4,7}.

[0188] When PSSCH=11 to 12 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS). {4,5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}. or {[3], 4, 6, 7, 8, 10, 11, 12}, DMRS {3 symbols, corresponding to symbol positions {1, 5, 9}. or {5,6,8,9,11,12}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1,4,7,10}.

[0189] When PSSCH=13 symbols, the selectable symbol positions of the SL-PRS are at least one of the following or at least N (N is the symbol length of the SL-PRS): {4,5,6,7,8,9,11,12}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {4,5,7,8,9,10,12}, corresponding to the case where the DMRS is three symbols and is in symbol positions {1,6,11}. or {3,5,6,8,9,11,12}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1,4,7,10}. or {5,6,8,9,11,12}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}.

[0190] As another selectable embodiment, the starting symbol position of the SL-PRS associated with the pattern of the DMRS is at least one of {4, 5, 6, 7, 8, 9, 10, 11}, and further, the starting symbol position of the SL-PRS is associated with the following information:

[0191] If PSSCH=6 symbols, the selectable SL-PRS symbol starting positions are {6}.

[0192] When PSSCH=7 to 8 symbols, the selectable SL-PRS symbol start position is {6}.

[0193] When PSSCH=9 to 10 symbols, the selectable SL-PRS symbol starting positions are as follows. {4,9}, corresponding to the case where the DMRS is two symbols and is in symbol position {3,8}. or {5,9}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,8}. or {5,9}, corresponding to the case where the DMRS is two symbols and is in symbol positions {1,4,7}.

[0194] When PSSCH=11 to 12 symbols, the selectable SL-PRS symbol starting positions are as follows. {4,11}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {511}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}. or {610}, corresponding to the case where the DMRS is three symbols and is in symbol positions {1,5,9}. or {511}, corresponding to the case where the DMRS is four symbols and the symbol positions are {1, 4, 7, 10}.

[0195] For PSSCH=13 symbols, the selectable SL-PRS symbol starting positions are: {4,11}, corresponding to the case where the DMRS is two symbols and the symbol position is {3,10}. or {4,7}, corresponding to the case where the DMRS is three symbols and the symbol positions are {1,6,11}. or {5,8}, corresponding to the case where the DMRS is 4 symbols and the symbol positions are {1,4,7,10}. or {5,8,11}, corresponding to the case where the DMRS is two symbols and is in symbol position {4,10}.

[0196] In at least one embodiment of the present application, the symbol length (e.g., the symbol length is 2 or 4) of the scheduled PSSCH resource occupied by the SL-PRS is associated with third information, and the third information includes at least one of the following:

[0197] The symbol positions of two adjacent DMRSs. For example, the symbol length of the SL-PRS = DMRS Ending-位置 (Last DMRS Position)-DMRS Ending-1位置 (the second-to-last DMRS position). Also, for example, the symbol length of the SL-PRS=DMRS Ending-位置 (Last DMRS Position)-DMRS Ending-1位置 (Second to last DMRS position) -1.

[0198] Whether or not the slot in which the SL-PRS is located includes a PSFCH resource. If a PSFCH resource is included, the number of selectable SL-PRS symbols is L3 (for example, 2). If a PSFCH resource is not included, the number of selectable SL-PRS symbols may be larger. Therefore, in the embodiment of the present application, a suitable number of symbols may be defined for each of the cases where a PSFCH exists and where a PSFCH does not exist.

[0199] Number of symbols in the PSSCH.

[0200] DMRS pattern.

[0201] Location of DMRS.

[0202] For example, the symbol length associated with the pattern of the DMRS is at least one of the following:

[0203] When PSSCH≦S1 (eg, {8, 9}) symbols, the number of selectable SL-PRS symbols is {2, 4}.

[0204] When PSSCH>S1, the selectable number of SL-PRS symbols is {2,4}.

[0205] In the case of S1=2, if the number of DMRS symbols is greater than 2, the number of SL-PRS symbols is 2. If the number of DMRS symbols is ≦2, the number of SL-PRS symbols is {2, 4}.

[0206] 9 and 10 are some examples where the number of symbols in the SL-PRS is 4, and optionally the figures may be extended according to the selectable symbol positions of the SL-PRS in the above embodiments to apply to any symbol position.

[0207] Figures 11 to 16 are some examples where the number of symbols in the SL-PRS is two, and optionally the figures may be extended according to the selectable symbol positions of the SL-PRS in the above embodiments to apply to any symbol position.

[0208] In another alternative embodiment of the present application, the method further comprises: determining a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS by the second terminal; Or, determining a pattern of an SL-PRS based on the pattern of a DMRS of a PSSCH or fourth information by the second terminal; Or, The second terminal further includes determining a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS and the pattern of the DMRS of the PSSCH; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length {2,3}, Start symbol of PSSCH {2,4,5}, PSSCH symbol length {6,7,8,9,10,11,12,13}, whether a PSFCH resource is included in the slot in which the SL-PRS is located.

[0209] In one embodiment, one or more DMRS parts of the M or less DMRS patterns are associated with an SL-PRS, and the SL-PRS is determined based on the indicated DMRS pattern and the SL-PRS associated with the DMRS pattern.

[0210] In another embodiment, one or more DMRS parts of the M or less DMRS patterns are associated with an SL-PRS, and a portion of the SL-PRS information (i.e., the fourth information) is included in the scheduling information or the resource pool configuration information, thereby determining the SL-PRS.

[0211] Optionally, the SL-PRS information includes at least one of a number of symbols of the SL-PRS, a comb value, an SL-PRS pattern, and a start symbol of the SL-PRS.

[0212] Optionally, the SL-PRS information includes frequency domain information, for example, at least one of the following: a bandwidth of the SL-PRS, a relationship between the SL-PRS and a PSSCH.

[0213] In another alternative embodiment of the present application, the method further comprises: The method further includes a step of determining a pattern of the SL-PRS based on whether a PSFCH resource is included in the slot in which the SL-PRS is located and based on fifth information, the fifth information being: PSCCH symbol length {2,3}, Start symbol of PSSCH {2,5}, PSSCH symbol length {6,7,8,9,10,11,12,13}, The pattern of the DMRS includes at least one of the following:

[0214] Based on the above embodiment, two selectable SL-PRS predefined modes or patterns are included: SL-PRS with PSFCH resource and SL-PRS without PSFCH resource.

[0215] In an alternative embodiment, the comb value of the SL-PRS is associated with sixth information, the sixth information being SL-PRS symbol length, DMRS pattern, The PSSCH symbol length.

[0216] For example, there are cases where the comb value is equal to the number of symbols of the SL-PRS, and cases where the comb value is a common divisor of the number of symbols of the SL-PRS.

[0217] Optionally, if the comb value is a common divisor of the number of symbols of the SL-PRS, the SL-PRS is partially staggered. Optionally, the UE reports whether it is capable of supporting partial staggering.

[0218] In at least one embodiment of the present application, the TDM mode of the SL-PRS and the PSSCH is: Symbol-level TDM, or slot-level TDM. For example, the TDM mode is indicated by at least a slot carrying an SL-PRS or a slot carrying a PSSCH.

[0219] Optionally, the first terminal determines, based on signaling or capabilities, whether to support symbol-level TDM or slot-level TDM.

[0220] As an alternative embodiment, the symbol position of the PSSCH actually transmitted and the symbol position of the SL-PRS are different, which may be understood as symbol-level TDM, in which the PSSCH is located before the symbol in which the SL-PRS is transmitted, and the actually transmitted 2nd SCI and / or the PSSCH is located before the SL-PRS transmission.

[0221] Optionally, the step of the first terminal determining the first mapping information based on the first information includes determining the first mapping information based on the scheduling indication information and the preset first information, For example, the first terminal determines a specific mapping of the SL-PRS to the PSSCH by determining a bandwidth and a slot position of the SL-PRS based on the SCI, and determining an SL-PRS pattern or SL-PRS symbol information based on the preset first information.

[0222] Optionally, the first terminal determines the first mapping information based only on the scheduling indication information, for example, the first terminal determines a specific mapping of the SL-PRS to the PSSCH by determining a bandwidth, a slot position, a SL-PRS pattern, or SL-PRS symbol information of the SL-PRS based on the SCI.

[0223] As described above, in the embodiment of the present application, the first terminal maps the SL-PRS to the scheduled PSSCH resource based on the determined first mapping information, and transmits the SL-PRS. The corresponding second terminal measures the SL-PRS based on the first mapping information. This can avoid interference with data signals caused by positioning while satisfying the demand for positioning on resources.

[0224] The PRS transmission method provided by the embodiment of the present application may be executed by a PRS transmission device. In the embodiment of the present application, the PRS transmission device provided by the embodiment of the present application will be described by taking the case where the PRS transmission method is executed by the PRS transmission device as an example.

[0225] As shown in FIG. 21, the embodiment of the present application is as follows: The sidelink SL-PRS is mapped to a physical sidelink shared channel (PSSCH) resource according to first mapping information, and the first mapping information is: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, There is further provided an apparatus 1600 for transmitting positioning reference signals PRS, including at least one of SL-PRS and time division multiplexing TDM mode of PSSCH.

[0226] In an alternative embodiment, the device comprises: and a first determination module for determining whether to transmit the SL-PRS in a PSSCH resource according to a first mode, the first mode comprising: an indication by the scheduling indication information for scheduling the PSSCH; and an instruction by resource pool setting information. The resource pool setting information includes at least one of the following: the resource pool setting information is set by a network, or is instructed by a network, or is set by a terminal, or is instructed by a terminal, or is instructed by a higher layer.

[0227] In an alternative embodiment, the device comprises: and a second determination module for determining the first mapping information based on a first rule and / or first information, the first information being: Number of PSCCH symbols, Number of PSSCH symbols, Starting symbol of PSSCH, A pattern of the demodulation reference signal DMRS, SL-PRS pattern, Starting symbol of SL-PRS, A combination pattern of SL-PRS and DMRS. Period of the physical sidelink feedback channel PSFCH, SL-PRS and PSSCH TDM setting information; The first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

[0228] As an alternative embodiment, the relationship between the bandwidth of the SL-PRS and the bandwidth of the scheduled PSSCH resource is: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different.

[0229] As an optional embodiment, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: The bandwidth of the SL-PRS; A variation bandwidth of the bandwidth of the SL-PRS with respect to the bandwidth of the PSSCH resource; a starting frequency domain position of the SL-PRS; and offset information of the starting frequency domain position of the SL-PRS relative to the starting frequency domain position of a PSSCH resource.

[0230] As an optional embodiment, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: Bandwidth allocation information of the PSSCH resource occupied by the SL-PRS; The bandwidth of the SL-PRS; a change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource.

[0231] In an alternative embodiment, the device comprises: The PSSCH resource may further include a matching or puncturing module for performing rate matching or puncturing on a SL data channel or a SL signal in the PSSCH resource.

[0232] In an alternative embodiment, the device comprises: The device further comprises a third determining module for determining a gap between the SL-PRS and the SL channel based on a predefined or network-configured or terminal-configured basis.

[0233] As an alternative embodiment, the symbol information of the scheduled PSSCH resource occupied by the SL-PRS is At least one of the symbol position, the symbol number, and the starting symbol of the scheduled PSSCH resource occupied by the SL-PRS; A pattern of an SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS; Includes at least one of the following:

[0234] In an alternative embodiment, at least one of a symbol position, a symbol number, a starting symbol, and a comb value of the SL-PRS occupied by the SL-PRS is associated with second information, and the second information is the symbol duration of the physical sidelink control channel PSCCH, Starting symbol of PSSCH, PSSCH symbol length, A pattern of the demodulation reference signal DMRS, whether the slot in which the SL-PRS is located includes a physical sidelink feedback channel (PSFCH) resource or not.

[0235] In an alternative embodiment, the symbol position of the PSSCH resource occupied by the SL-PRS is: the start symbol of the scheduled PSSCH resource occupied by the SL-PRS; and the symbol length of the scheduled PSSCH resource occupied by the SL-PRS.

[0236] As an alternative embodiment, the start symbol of the scheduled PSSCH resource occupied by the SL-PRS is: Starting symbol of PSSCH, The N1th symbol after the start symbol of the PSSCH, N2th symbol of the PSSCH resource, the N3th symbol after the last symbol of the PSCCH, Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH; The N4th symbol after the DMRS symbol position, the N5th symbol before the symbol position of the last DMRS.

[0237] In an alternative embodiment, if the starting symbol of the PSSCH resource occupied by the SL-PRS is the N1th symbol after the starting symbol of the PSSCH, the value of N1 is: This is associated with whether the starting symbol of the PSCCH and the starting symbol of the PSSCH are the same or not.

[0238] In an alternative embodiment, the symbol length of the PSSCH resource occupied by the SL-PRS is associated with third information, the third information being The symbol positions of two adjacent DMRSs, Whether the slot in which the SL-PRS is located includes a PSFCH resource; Number of PSSCH symbols, DMRS pattern, the location of the DMRS.

[0239] In an alternative embodiment, the device comprises: determining a SL-PRS pattern based on the correspondence between the DMRS pattern and the SL-PRS pattern; Or, a pattern of the SL-PRS is determined based on the pattern of the DMRS of the PSSCH or the fourth information; Alternatively, the present invention further includes a fourth determination module for determining a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS and the pattern of the DMRS of the PSSCH; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, whether a PSFCH resource is included in the slot in which the SL-PRS is located.

[0240] In an alternative embodiment, the device comprises: The method further includes: determining a pattern of an SL-PRS based on whether a PSFCH resource is included in the slot in which the SL-PRS is located and based on fifth information, the fifth information being: PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, DMRS pattern.

[0241] In an alternative embodiment, the comb value of the SL-PRS is associated with sixth information, the sixth information being SL-PRS symbol length, DMRS pattern, The PSSCH symbol length.

[0242] As an alternative embodiment, the TDM mode of the PSSCH of the SL-PRS is: Symbol-level TDM, Slot-level TDM.

[0243] As an optional embodiment, the setting granularity of the resource pool setting information is: Each resource pool, Each quality of service QoS, Each logical channel, Each logical channel group, Each channel busy rate CBR, Each channel occupancy rate CR includes at least one of the following:

[0244] In an embodiment of the present application, the first terminal maps the SL-PRS to the scheduled PSSCH resource according to the determined first mapping information, and the corresponding second terminal measures the SL-PRS according to the first mapping information, thereby satisfying the demand for positioning on the resource and avoiding interference with the data signal caused by positioning.

[0245] In addition, the PRS transmission device provided by the embodiments of the present application is a transmission device capable of executing the above PRS transmission method, and all embodiments of the above PRS transmission method can be applied to the device, and all can achieve the same or similar advantageous effects.

[0246] As shown in FIG. 22, the embodiment of the present application is as follows: a measurement module 1701 for measuring a sidelink SL-PRS based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, the first mapping information being: The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, There is further provided an apparatus 1700 for transmitting positioning reference signals PRS, including at least one of SL-PRS and time division multiplexing TDM mode of PSSCH.

[0247] In an alternative embodiment, the measurement module comprises: a first measurement submodule for measuring the SL-PRS according to the first mapping information and scheduling indication information for scheduling a PSSCH; Or, the second measurement sub-module is configured to measure the SL-PRS based on the first mapping information and preset information of the SL-PRS.

[0248] In an alternative embodiment, the device comprises: and a tenth determination module for determining whether to transmit the SL-PRS in a PSSCH resource according to a first mode, the first mode being: an indication by the scheduling indication information for scheduling the PSSCH; and an instruction by resource pool setting information. The resource pool setting information includes at least one of the following: the resource pool setting information is set by a network, or is instructed by a network, or is set by a terminal, or is instructed by a terminal, or is instructed by a higher layer.

[0249] In an alternative embodiment, the device comprises: and an eleventh determining module for determining the first mapping information based on a first rule and / or first information, the first information being: Number of PSCCH symbols, Number of PSSCH symbols, Starting symbol of PSSCH, A pattern of the demodulation reference signal DMRS, SL-PRS pattern, Starting symbol of SL-PRS, A combination pattern of SL-PRS and DMRS. Period of the physical sidelink feedback channel PSFCH, SL-PRS and PSSCH TDM setting information; The first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

[0250] As an alternative embodiment, the relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource is: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different.

[0251] As an optional embodiment, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: The bandwidth of the SL-PRS; A variation bandwidth of the bandwidth of the SL-PRS with respect to the bandwidth of the PSSCH resource; a starting frequency domain position of the SL-PRS; and offset information of the starting frequency domain position of the SL-PRS relative to the starting frequency domain position of a PSSCH resource.

[0252] As an optional embodiment, when the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further comprises: Bandwidth allocation information of the PSSCH resource occupied by the SL-PRS; The bandwidth of the SL-PRS; a change in the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource.

[0253] As an alternative embodiment, the symbol information of the PSSCH resource occupied by the SL-PRS is At least one of the symbol position, the number of symbols, and the starting symbol of the PSSCH resource occupied by the SL-PRS; A pattern of an SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS; Includes at least one of the following:

[0254] In an alternative embodiment, at least one of a symbol position, a symbol number, a starting symbol, and a comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS is associated with second information, and the second information is the symbol duration of the physical sidelink control channel PSCCH, Starting symbol of PSSCH, PSSCH symbol length, A pattern of the demodulation reference signal DMRS, whether the slot in which the SL-PRS is located includes a physical sidelink feedback channel (PSFCH) resource or not.

[0255] In an alternative embodiment, the starting symbol of the PSSCH resource occupied by the SL-PRS is: Starting symbol of PSSCH, The N1th symbol after the start symbol of the PSSCH, N2th symbol of the PSSCH resource, the N3th symbol after the last symbol of the PSCCH, Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH; The N4th symbol after the DMRS symbol position, the N5th symbol before the symbol position of the last DMRS.

[0256] In an alternative embodiment, if the starting symbol of the PSSCH resource occupied by the SL-PRS is the N1th symbol after the starting symbol of the PSSCH, the value of N1 is: This is associated with whether the starting symbol of the PSCCH and the starting symbol of the PSSCH are the same or not.

[0257] In an alternative embodiment, the symbol length of the PSSCH resource occupied by the SL-PRS is associated with third information, the third information being The symbol positions of two adjacent DMRSs, Whether the slot in which the SL-PRS is located includes a PSFCH resource; Number of PSSCH symbols, DMRS pattern, the location of the DMRS.

[0258] In an alternative embodiment, the device comprises: determining a SL-PRS pattern based on the correspondence between the DMRS pattern and the SL-PRS pattern; Or, a pattern of the SL-PRS is determined based on the pattern of the DMRS of the PSSCH or the fourth information; Alternatively, a twelfth determination module is further provided for determining a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS and the pattern of the DMRS of the PSSCH; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, whether a PSFCH resource is included in the slot in which the SL-PRS is located.

[0259] In an alternative embodiment, the device comprises: and a thirteenth determination module for determining a pattern of the SL-PRS based on whether a PSFCH resource is included in the slot where the SL-PRS is located and fifth information, the fifth information being: PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, DMRS pattern.

[0260] In an alternative embodiment, the comb value of the SL-PRS is associated with sixth information, the sixth information being SL-PRS symbol length, DMRS pattern, The PSSCH symbol length.

[0261] As an alternative embodiment, the TDM mode of the PSSCH of the SL-PRS is: Symbol-level TDM, Slot-level TDM.

[0262] As an optional embodiment, the setting granularity of the resource pool setting information is: Each resource pool, Each quality of service QoS, Each logical channel, Each logical channel group, Each channel busy rate CBR, Each channel occupancy rate CR includes at least one of the following:

[0263] In an embodiment of the present application, the first terminal maps the SL-PRS to the scheduled PSSCH resource according to the determined first mapping information, and the corresponding second terminal measures the SL-PRS according to the first mapping information, thereby satisfying the demand for positioning on the resource and avoiding interference with the data signal caused by positioning.

[0264] In addition, the PRS transmission device provided by the embodiments of the present application is a transmission device capable of executing the above PRS transmission method, and all embodiments of the above PRS transmission method can be applied to the device, and all can achieve the same or similar advantageous effects.

[0265] The transmission device of the PRS in the embodiment of the present application may be an electronic device, such as an electronic device having an operating system, or a component in an electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other device other than a terminal. Exemplarily, the terminal may include, but is not limited to, the types of terminal 11 listed above. The other device may be a server, a network attached storage (NAS), etc., but is not specifically limited in the embodiment of the present application.

[0266] The PRS transmission device provided by the embodiments of the present application can realize each procedure realized by the method embodiments of Figures 1 to 20 and can achieve similar technical effects, so in order to avoid duplication, they will not be repeated here.

[0267] Optionally, for example, as shown in Fig. 23, the embodiment of the present application further provides a terminal 1800. The terminal 1800 includes a processor 1801 and a memory 1802, and the memory 1802 stores programs or commands executable by the processor 1801. When the programs or commands are executed by the processor 1801, the steps of the embodiment of the PRS transmission method can be realized and similar technical effects can be achieved, so that they will not be repeated here to avoid duplication.

[0268] The present embodiment further provides a terminal, comprising: a processor and a communication interface, the processor for mapping and transmitting a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, the first mapping information including at least one of: a relationship between a bandwidth of the SL-PRS and a bandwidth of the PSSCH resource, symbol information of the PSSCH resource occupied by the SL-PRS, and a time division multiplexing TDM mode of the SL-PRS and the PSSCH. Alternatively, the present embodiment provides a terminal, comprising: a processor and a communication interface, the processor for measuring a sidelink SL-PRS based on first mapping information, the first mapping information for indicating a mapping rule of the SL-PRS to the PSSCH resource, the first mapping information including at least one of: a relationship between a bandwidth of the SL-PRS and a bandwidth of the PSSCH resource, symbol information of the PSSCH resource occupied by the SL-PRS, and a time division multiplexing TDM mode of the SL-PRS and the PSSCH. The embodiment of the terminal corresponds to the embodiment of the method on the terminal side, and each implementation procedure and realization means of the embodiment of the method can be applied to the embodiment of the terminal, and the same technical effects can be achieved. Figure 24 is a schematic diagram of the hardware structure of a terminal for realizing the embodiment of the present application.

[0269] The terminal 1900 includes at least some of the following components, but is not limited to: a high-frequency unit 1901, a network module 1902, an audio output unit 1903, an input unit 1904, a sensor 1905, a display unit 1906, a user input unit 1907, an interface unit 1908, a memory 1909, and a processor 1910.

[0270] As will be appreciated by those skilled in the art, the terminal 1900 may further include a power source (e.g., a battery) for powering each component. The power source is logically connected to the processor 1910 by a power management system, so that the power management system realizes functions such as charge / discharge management and power consumption management. The terminal structure shown in FIG. 5 is not intended to limit the terminal, and the terminal may include more or fewer components than those shown, or some combinations of components, or different component configurations, which will not be repeated here.

[0271] It should be noted that in the embodiment of the present application, the input unit 1904 may include a graphics processing unit (GPU) 19041 for processing image data of a static image or a video captured by an image capture device (e.g., a camera) in a video capture mode or an image capture mode, and a microphone 19042. The display unit 1906 may include a display panel 19061, which may be configured as a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1907 includes a touch panel 19071 and other input devices 19072. The touch panel 19071 is also called a touch screen. The touch panel 19071 may include two parts: a touch detection device and a touch controller. The other input devices 19072 may include, but are not limited to, a physical keyboard, a function button (e.g., a volume control button, a switch button, etc.), a trackball, a mouse, and an operation lever, which will not be repeated here.

[0272] In an embodiment of the present application, the high frequency unit 1901 receives downlink data from the network side device, sends it to the processor 1910 for processing, and sends uplink data to the network side device. Typically, the high frequency unit 1901 includes, but is not limited to, an antenna, at least one amplifier, a receiver-transmitter, a coupler, a low-noise amplifier, a duplexer, etc.

[0273] The memory 1909 may be used to store software programs or commands and various data. The memory 1909 may mainly include a first memory area for storing programs or commands and a second memory area for storing data. The first memory area may store an operating system, an application or command required for at least one function (e.g., a sound playback function, an image playback function, etc.), etc. The memory 1909 may also include a volatile memory or a non-volatile memory, or the memory 1909 may include both volatile and non-volatile memory. The non-volatile memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate Synchronous DRAM (DDRSDRAM), an Enhanced Synchronous DRAM (ESDRAM), a Synch link DRAM (SLDRAM), or a Direct Rambus RAM (DRRAM). The memory 1909 in the embodiments of the present application includes, but is not limited to, these and any other suitable memory.

[0274] The processor 1910 may include one or more processing units. Optionally, the processor 1910 may be integrated with an application processor that mainly processes an operating system, a user interface, and applications or commands, and a modem processor, such as a baseband processor that mainly processes wireless communication. Of course, the modem processor does not have to be integrated with the processor 1910.

[0275] The processor 1910 is for mapping the sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource of the scheduling based on first mapping information, and the radio frequency unit 1901 is for transmitting the mapped SL-PRS and PSSCH, and the first mapping information is The relationship between the bandwidth of the SL-PRS and the bandwidth of the scheduled PSSCH resource; Symbol information of the scheduled PSSCH resource occupied by the SL-PRS; SL-PRS and PSSCH time division multiplexing TDM mode.

[0276] Alternatively, the processor 1910 is for measuring a sidelink SL-PRS based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to the PSSCH resource, the first mapping information being The relationship between the bandwidth of SL-PRS and the bandwidth of PSSCH resources, Symbol information of the PSSCH resource occupied by the SL-PRS, SL-PRS and PSSCH time division multiplexing TDM mode.

[0277] In an embodiment of the present application, the first terminal maps the SL-PRS to the scheduled PSSCH resource according to the determined first mapping information, and the corresponding second terminal measures the SL-PRS according to the first mapping information, thereby satisfying the demand for positioning on the resource and avoiding interference with the data signal caused by positioning.

[0278] In addition, the terminal provided by the embodiments of the present application is a terminal capable of executing the above PRS transmission method, and all of the embodiments of the above PRS transmission method are applicable to the terminal, and all of them can achieve the same or similar advantageous effects.

[0279] The embodiment of the present application further provides a readable storage medium, which stores a program or command, and when the program or command is executed by a processor, the program or command can realize each step of the embodiment of the method for transmitting a positioning reference signal PRS and achieve the same technical effects, so that the description will not be repeated here to avoid duplication.

[0280] The processor is the processor in the terminal according to the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0281] The embodiment of the present application further provides a chip, which includes a processor and a communication interface coupled thereto, and the processor executes a program or command to realize each step of the embodiment of the method for transmitting a positioning reference signal PRS, and achieves the same technical effects, so that the description will not be repeated here to avoid duplication.

[0282] The chip described in the embodiments of the present application is also called a system on chip, a system chip, a chip system, or an SoC.

[0283] The embodiments of the present application further provide a computer program / program product, which is stored in a storage medium and is executed by at least one processor to realize each step of the embodiment of the method for transmitting positioning reference signals PRS, and achieve similar technical effects, so that they will not be described again here to avoid duplication.

[0284] It should be noted that, in this specification, the terms "comprise", "consist of" or any other variants are intended to include a non-exclusive inclusion, whereby a process, method, article, or apparatus that includes a set of elements includes not only those elements, but also other elements not expressly stated or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element limited by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. In addition, the scope of the method and apparatus in the embodiments of this application is not limited to performing functions in the order shown or discussed herein, and may further include performing functions substantially simultaneously or in the opposite order, depending on the functions involved. For example, the above methods may be performed in a different order than described, and further, steps may be added, omitted, or combined. Also, features described with reference to some examples may be combined with other examples.

[0285] From the above description of the embodiments, it can be clearly understood by those skilled in the art that the methods of the above embodiments can be realized in the form of a combination of software and a necessary common hardware platform. Of course, it can also be realized by hardware, but in many cases the former is a more preferred embodiment. Based on this view, the technical means of the present application can be substantially or partly contributed to the prior art can be implemented as a software product, and the computer software product is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes a plurality of commands that cause a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0286] Although the examples of the present application have been described above with reference to the drawings, the present application is not limited to the above specific embodiments, which are merely illustrative and not limiting. Based on the suggestions of this application, many forms that a person skilled in the art can obtain without departing from the spirit of the present application and the scope of protection of the claims are all within the scope of protection of the present application.

Claims

1. The first terminal transmits a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, the first mapping information being: The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource, Symbol information of the PSSCH resource occupied by the SL-PRS, time division multiplexing (TDM) mode of SL-PRS and PSSCH; A method for transmitting a positioning reference signal (PRS).

2. The method further includes a step of determining whether to transmit the SL-PRS in a PSSCH resource by the first terminal according to a first mode, and the first mode is: An instruction by scheduling indication information for scheduling the PSSCH; and an instruction by resource pool setting information, wherein the resource pool setting information is set by a network, or is instructed by a network, or is set by a terminal, or is instructed by a terminal, or is instructed by a higher layer.

3. The method further includes the step of the first terminal determining the first mapping information based on a first rule and / or first information, wherein the first information is: Number of symbols of PSCCH, Number of symbols of PSSCH, Starting symbol of PSSCH, A pattern of the demodulation reference signal DMRS; SL-PRS pattern, The start symbol of the SL-PRS, A composite pattern of SL-PRS and DMRS, Periodicity of the physical sidelink feedback channel PSFCH, At least one of SL-PRS and PSSCH TDM setting information; The transmission method according to claim 1 or 2, wherein the first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

4. The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource is as follows: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The transmission method according to claim 2 or 3, comprising: a bandwidth of the SL-PRS and a bandwidth of the PSSCH resource being different.

5. When the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further includes: The bandwidth of the SL-PRS; A change bandwidth of the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource; The starting frequency domain position of the SL-PRS; and offset information of a starting frequency domain position of the SL-PRS relative to a starting frequency domain position of a PSSCH resource.

6. When the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further includes: Bandwidth allocation information of the PSSCH resources occupied by the SL-PRS; The bandwidth of the SL-PRS; 5. The transmission method of claim 4, wherein the transmission method is used to indicate at least one of: a change in bandwidth of the SL-PRS relative to a bandwidth of a PSSCH resource.

7. The step of the first terminal mapping the SL-PRS to the PSSCH resource and transmitting the SL-PRS includes: The transmission method according to claim 6 , further comprising the step of the first terminal performing rate matching or puncturing on a SL data channel or a SL signal in the PSSCH resource.

8. The method further includes the step of: determining a gap between the SL-PRS and the SL channel by the first terminal based on a predefined or network-configured or terminal-configured basis. The transmission method according to claim 6.

9. Symbol information of the PSSCH resource occupied by the SL-PRS, At least one of the symbol position, the number of symbols, and the starting symbol of the PSSCH resource occupied by the SL-PRS; A pattern of SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS; The transmission method according to any one of claims 1 to 8, comprising at least one of the following:

10. At least one of a symbol position, a symbol number, a starting symbol, and a comb value of the PSSCH resource occupied by the SL-PRS is associated with second information, and the second information is the symbol duration of the physical sidelink control channel PSCCH, Starting symbol of PSSCH, PSSCH symbol length, A pattern of the demodulation reference signal DMRS; The transmission method according to claim 9, further comprising at least one of: whether a physical sidelink feedback channel (PSFCH) resource is included in the slot in which the SL-PRS is located;

11. The start symbol of the PSSCH resource occupied by the SL-PRS is Starting symbol of PSSCH, The N1th symbol after the start symbol of the PSSCH, N2 symbol of the PSSCH resource; The N3th symbol after the last symbol of the PSCCH, Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH; The N4th symbol after the DMRS symbol position; 10. The transmission method according to claim 9, wherein the N5th symbol is located before the last DMRS symbol position.

12. When the start symbol of the PSSCH resource occupied by the SL-PRS is the N1th symbol after the start symbol of the PSSCH, the value of N1 is The transmission method according to claim 11, which is associated with whether the starting symbol of the PSCCH and the starting symbol of the PSSCH are the same or not.

13. The symbol length of the PSSCH resource occupied by the SL-PRS is associated with third information, and the third information includes The symbol positions of two adjacent DMRSs; Whether the slot in which the SL-PRS is located includes a PSFCH resource; Number of symbols of PSSCH, DMRS patterns, 10. The transmission method of claim 9, further comprising at least one of: a. a location of the DMRS;

14. The first terminal determines a pattern of an SL-PRS based on a correspondence relationship between a pattern of a DMRS and a pattern of an SL-PRS; Or, The first terminal determines a pattern of an SL-PRS based on a pattern of a DMRS of a PSSCH or fourth information; Or, The first terminal further includes determining a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS and the pattern of the DMRS of the PSSCH; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, The transmission method according to claim 9, further comprising at least one of: whether a PSFCH resource is included in the slot in which the SL-PRS is located;

15. The method further includes a step of determining a pattern of the SL-PRS based on whether a PSFCH resource is included in the slot in which the SL-PRS is located and based on fifth information, the fifth information being: PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, A pattern of DMRS.

16. The comb value of the SL-PRS is associated with sixth information, and the sixth information is SL-PRS symbol length, DMRS patterns, 10. The transmission method of claim 9, further comprising at least one of: a symbol length of the PSSCH;

17. The TDM mode of the SL-PRS and PSSCH is Symbol-level TDM, A transmission method according to any one of claims 1 to 16, comprising any one of the following: slot-level TDM.

18. The setting granularity of the resource pool setting information is: Each resource pool, Each quality of service QoS, Each logical channel, Each logical channel group, Each channel busy rate CBR, 4. The method of claim 2, further comprising at least one of the following:

19. The method includes a step of measuring a sidelink SL-PRS by a second terminal based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, and the first mapping information being: The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource, Symbol information of the PSSCH resource occupied by the SL-PRS, time division multiplexing (TDM) mode of SL-PRS and PSSCH; A method for transmitting a positioning reference signal (PRS).

20. The step of measuring the SL-PRS by the second terminal based on the first mapping information includes: The second terminal measures the SL-PRS based on the first mapping information and scheduling indication information for scheduling a PSSCH; Or, The second terminal measures the SL-PRS based on the first mapping information and preset information of the SL-PRS; 20. The transmission method of claim 19, comprising:

21. The second terminal may further include a step of determining whether to transmit the SL-PRS in a PSSCH resource according to a first mode, the first mode being: An instruction by scheduling indication information for scheduling the PSSCH; and an instruction by resource pool setting information, wherein the resource pool setting information is set by a network, or is instructed by a network, or is set by a terminal, or is instructed by a terminal, or is instructed by a higher layer.

22. The method further includes the step of the second terminal determining the first mapping information based on a first rule and / or first information, wherein the first information is: Number of symbols of PSCCH, Number of symbols of PSSCH, Starting symbol of PSSCH, A pattern of the demodulation reference signal DMRS; SL-PRS pattern, The start symbol of the SL-PRS, A composite pattern of SL-PRS and DMRS, Periodicity of the physical sidelink feedback channel PSFCH, At least one of SL-PRS and PSSCH TDM setting information; The transmission method according to any one of claims 19 to 21, wherein the first rule is indicated by scheduling indication information for scheduling a PSSCH, or is indicated by resource pool configuration information, or is a predefined SL-PRS mapping rule.

23. The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource is as follows: The bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are the same; Or, The transmission method according to claim 21 or 22, comprising: a bandwidth of the SL-PRS and a bandwidth of the PSSCH resource being different.

24. When the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are time division multiplexed, the scheduling indication information or the resource pool configuration information further includes: The bandwidth of the SL-PRS; A change bandwidth of the bandwidth of the SL-PRS relative to the bandwidth of the PSSCH resource; The starting frequency domain position of the SL-PRS; and offset information of a starting frequency domain position of the SL-PRS relative to a starting frequency domain position of a PSSCH resource.

25. When the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource are different and the SL-PRS and the PSSCH are frequency division multiplexed, the scheduling indication information or the resource pool configuration information further includes: Bandwidth allocation information of the PSSCH resources occupied by the SL-PRS; The bandwidth of the SL-PRS; 24. The transmission method of claim 23, wherein the transmission method is used to indicate at least one of: a change in bandwidth of the SL-PRS relative to a bandwidth of a PSSCH resource.

26. Symbol information of a PSSCH resource occupied by a SL-PRS, At least one of the symbol position, the number of symbols, and the starting symbol of the PSSCH resource occupied by the SL-PRS; A pattern of SL-PRS for indicating at least two of the number of symbols, the symbol position, the starting symbol, and the comb value of the SL-PRS of the PSSCH resource occupied by the SL-PRS; The transmission method according to any one of claims 19 to 25, comprising at least one of the following:

27. At least one of a symbol position, a symbol number, a starting symbol, and a comb value of the PSSCH resource occupied by the SL-PRS is associated with second information, and the second information is the symbol duration of the physical sidelink control channel PSCCH, Starting symbol of PSSCH, PSSCH symbol length, A pattern of the demodulation reference signal DMRS; The transmission method according to claim 26, comprising at least one of: whether a physical sidelink feedback channel (PSFCH) resource is included in the slot in which the SL-PRS is located.

28. The start symbol of the PSSCH resource occupied by the SL-PRS is Starting symbol of PSSCH, The N1th symbol after the start symbol of the PSSCH, N2 symbol of the PSSCH resource; The N3th symbol after the last symbol of the PSCCH, Selectable symbols associated with the DMRS pattern and the number of symbols occupied by the PSSCH; The N4th symbol after the DMRS symbol position; 27. The transmission method of claim 26, wherein the N5th symbol is located before the last DMRS symbol position.

29. When the start symbol of the PSSCH resource occupied by the SL-PRS is the N1th symbol after the start symbol of the PSSCH, the value of N1 is 29. The transmission method of claim 28, which is associated with whether the starting symbol of the PSCCH and the starting symbol of the PSSCH are the same or not.

30. The symbol length of the PSSCH resource occupied by the SL-PRS is associated with third information, and the third information includes The symbol positions of two adjacent DMRSs; Whether the slot in which the SL-PRS is located includes a PSFCH resource; Number of symbols of PSSCH, DMRS patterns, 27. The transmission method of claim 26, further comprising at least one of: a. a location of the DMRS;

31. The second terminal determines a pattern of the SL-PRS based on a correspondence relationship between the pattern of the DMRS and the pattern of the SL-PRS; Or, The second terminal determines a pattern of an SL-PRS based on a pattern of a DMRS of a PSSCH or fourth information; Or, The second terminal may further include determining a pattern of the SL-PRS based on a correspondence relationship between a predefined DMRS pattern and a SL-PRS pattern and a DMRS pattern of a PSSCH; The correspondence relationship is predefined, and the fourth information is PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, The transmission method according to claim 26, comprising at least one of: whether a PSFCH resource is included in the slot in which the SL-PRS is located;

32. The method further includes a step of determining a pattern of the SL-PRS based on whether a PSFCH resource is included in the slot in which the SL-PRS is located and based on fifth information, the fifth information being: PSCCH symbol length, Starting symbol of PSSCH, PSSCH symbol length, A pattern of DMRS.

33. The comb value of the SL-PRS is associated with sixth information, and the sixth information is SL-PRS symbol length, DMRS patterns, 27. The transmission method of claim 26, further comprising at least one of: a symbol length of the PSSCH;

34. The TDM mode of the SL-PRS and PSSCH is Symbol-level TDM, A transmission method according to any one of claims 19 to 33, comprising any one of the following: slot-level TDM.

35. The setting granularity of the resource pool setting information is: Each resource pool, Each quality of service QoS, Each logical channel, Each logical channel group, Each channel busy rate CBR, 23. A transmission method according to claim 21 or 22, comprising at least one of the following:

36. a transmitting module for mapping and transmitting a sidelink SL-PRS to a physical sidelink shared channel (PSSCH) resource based on first mapping information, the first mapping information comprising: The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource, Symbol information of the PSSCH resource occupied by the SL-PRS, time division multiplexing (TDM) mode of SL-PRS and PSSCH; A transmission device for a positioning reference signal PRS.

37. a measurement module for measuring a sidelink SL-PRS based on first mapping information, the first mapping information being for indicating a mapping rule of the SL-PRS to a PSSCH resource, the first mapping information being: The relationship between the bandwidth of the SL-PRS and the bandwidth of the PSSCH resource, Symbol information of the PSSCH resource occupied by the SL-PRS, time division multiplexing (TDM) mode of SL-PRS and PSSCH; A transmission device for a positioning reference signal PRS.

38. A terminal comprising a processor and a memory, wherein a program or command executable by the processor is stored in the memory, and when the program or command is executed by the processor, steps of a method for transmitting a positioning reference signal PRS described in any one of claims 1 to 18 are realized, or steps of a method for transmitting a positioning reference signal PRS described in any one of claims 19 to 35 are realized.

39. A readable storage medium storing a program or command which, when executed by a processor, realizes steps of a method for transmitting a positioning reference signal PRS described in any one of claims 1 to 18, or realizes steps of a method for transmitting a positioning reference signal PRS described in any one of claims 19 to 35.

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