Sidelink positioning method, device, terminal, server and radio access network device

Abstract

The present application discloses a sidelink positioning method, an apparatus, a terminal, a server and a radio access network device, which belong to the field of communication technology. A sidelink positioning method in an embodiment of the present application includes: a first terminal receiving a configuration message from a radio access network device, the configuration message being used to configure N sets of SL positioning reference signal configurations, N being a positive integer greater than 1; the first terminal determining a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations; and the first terminal transmitting an SL positioning reference signal based on the target SL positioning reference signal configuration.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to Chinese Patent Application No. 202210515821.3 filed in China on May 11, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of communications technology, and in particular to a sidelink positioning method, device, terminal, server and radio access network equipment. [Background technology]

[0003] In some communication systems, sidelink (SL) transmission, i.e. direct data transmission on the physical layer between terminals, is supported. However, current terminals only support mobile network-based positioning technology, i.e., the radio access network device transmits a downlink positioning reference signal and the terminal performs measurement, or the terminal transmits an uplink positioning reference signal and the radio access network device performs measurement to realize positioning. As can be seen, current terminals cannot support SL positioning, and terminal positioning performance is relatively poor. Summary of the Invention [Problem to be solved by the invention]

[0004] The embodiments of the present application provide a sidelink positioning method, device, terminal, server and radio access network equipment to solve the problem that terminal SL positioning cannot be supported and terminal positioning performance is relatively poor. [Means for solving the problem]

[0005] According to a first aspect, there is provided a sidelink positioning method, the method comprising: receiving, by a first terminal, a configuration message from a radio access network device, the configuration message being used to configure N sets of SL positioning reference signal configurations, where N is a positive integer greater than 1; The first terminal determines a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations; and The first terminal transmits an SL positioning reference signal based on the target SL positioning reference signal configuration.

[0006] According to a second aspect, there is provided a sidelink positioning method, the method comprising: a positioning server receiving a sidelink SL positioning request; The positioning server sends a first message to a radio access network device based on the positioning request to request activation of a target SL positioning reference signal configuration of the first terminal.

[0007] According to a third aspect, there is provided a sidelink positioning method, the method comprising: A radio access network device receives a first message sent by a positioning server, the first message being used to request activation of a target SL positioning reference signal configuration of a first terminal; and transmitting an activation message to the first terminal by the radio access network device; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0008] According to a fourth aspect, there is provided a sidelink positioning device, the device comprising: a first receiving module for receiving a configuration message from a radio access network device, the configuration message being used to configure N sets of sidelink SL positioning reference signal configurations, N being a positive integer greater than 1; a determining module for determining a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations; and a transmitting module for transmitting a SL positioning reference signal based on the target SL positioning reference signal configuration.

[0009] According to a fifth aspect, there is provided a sidelink positioning device, the device comprising: a first receiving module for receiving a sidelink SL positioning request; and a first sending module for sending a first message to a radio access network device to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

[0010] According to a sixth aspect, there is provided a sidelink positioning device, the device comprising: a first receiving module for receiving a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of the first terminal; a first sending module for sending an activation message to the first terminal; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0011] According to a seventh aspect, there is provided a terminal, the terminal including a processor and a memory, the memory storing a program or instructions operable on the processor, the program or instructions, when executed by the processor, realizing steps of a terminal-side sidelink positioning method according to an embodiment of the present application.

[0012] According to an eighth aspect, there is provided a terminal, the terminal including a processor and a communication interface, wherein the communication interface is adapted to receive a configuration message from a radio access network equipment, the configuration message being adapted to configure N sets of sidelink SL positioning reference signal configurations, N being a positive integer greater than 1, the communication interface or the processor being adapted to determine a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations, and the communication interface is further adapted to transmit an SL positioning reference signal based on the target SL positioning reference signal configuration.

[0013] According to a ninth aspect, there is provided a positioning server, the positioning server including a processor and a memory, the memory storing a program or instructions operable to run on the processor, the program or instructions, when executed by the processor, realizing steps of a sidelink positioning method on the positioning server side according to an embodiment of the present application.

[0014] According to a tenth aspect, there is provided a positioning server, the positioning server including: a processor and a communication interface, wherein the communication interface is adapted to receive a sidelink SL positioning request and to transmit a first message to a radio access network equipment for requesting activation of a target SL positioning reference signal configuration for a first terminal based on the positioning request.

[0015] According to an eleventh aspect, there is provided a radio access network device, the radio access network device including a processor and a memory, the memory storing a program or instructions operable on the processor, the program or instructions, when executed by the processor, realizing steps of a sidelink positioning method on the radio access network device side according to an embodiment of the present application.

[0016] According to a twelfth aspect, there is provided a radio access network equipment including a processor and a communication interface, wherein the communication interface is used to receive a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of a first terminal, and to send an activation message to the first terminal, wherein the activation message is used for at least one of activating the target SL positioning reference signal configuration and activating transmission resources associated with the target SL positioning reference signal configuration.

[0017] According to a thirteenth aspect, there is provided a readable storage medium storing a program or instructions, which, when executed by a processor, realize steps of a terminal-side sidelink positioning method according to an embodiment of the present application, or, when executed by a processor, realize steps of a positioning server-side sidelink positioning method according to an embodiment of the present application, or, when executed by a processor, realize steps of a radio access network device-side sidelink positioning method according to an embodiment of the present application.

[0018] According to a fourteenth aspect, there is provided a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor running a program or instruction to realize a terminal-side sidelink positioning method according to an embodiment of the present application, or the processor running a program or instruction to realize a positioning server-side sidelink positioning method according to an embodiment of the present application, or the processor running a program or instruction to realize a radio access network device-side sidelink positioning method according to an embodiment of the present application.

[0019] According to a fifteenth aspect, there is provided a computer program / program product, the computer program / program product being stored in a storage medium, the computer program / program product being executed by at least one processor to realize steps of a terminal-side sidelink positioning method according to an embodiment of the present application, or the computer program / program product being executed by at least one processor to realize steps of a positioning server-side sidelink positioning method according to an embodiment of the present application, or the computer program / program product being executed by at least one processor to realize steps of a radio access network device-side sidelink positioning method according to an embodiment of the present application.

[0020] According to a sixteenth aspect, there is provided a positioning system, the positioning system comprising a terminal, a positioning server and a radio access network device, wherein the terminal may be used for performing steps of the sidelink positioning method according to the first aspect, the positioning server may be used for performing steps of the sidelink positioning method according to the second aspect, and the radio access network device may be used for performing steps of the sidelink positioning method according to the third aspect. Effect of the Invention

[0021] In an embodiment of the present application, a first terminal receives a configuration message from a radio access network device, the configuration message is used to configure N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1, the first terminal determines a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations, and the first terminal transmits a SL positioning reference signal based on the target SL positioning reference signal configuration, thus allowing the terminal to support SL positioning and improving terminal positioning performance. [Brief description of the drawings]

[0022] [Figure 1] 1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied. [Diagram 2] 1 is a flowchart of a sidelink positioning method according to an embodiment of the present application; [Diagram 3] 1 is a flowchart of another sidelink positioning method according to an embodiment of the present application; [Figure 4] 1 is a flowchart of another sidelink positioning method according to an embodiment of the present application; [Diagram 5] FIG. 1 is a schematic diagram of a sidelink positioning method according to an embodiment of the present application; [Figure 6] FIG. 1 is a schematic diagram of another sidelink positioning method according to an embodiment of the present application; [Figure 7] FIG. 2 is a structural diagram of a sidelink positioning device according to an embodiment of the present application; [Figure 8] FIG. 2 is a structural diagram of another sidelink positioning device according to an embodiment of the present application. [Figure 9] FIG. 2 is a structural diagram of another sidelink positioning device according to an embodiment of the present application. [Figure 10] FIG. 2 is a structural diagram of a communication device according to an embodiment of the present application; [Figure 11] FIG. 2 is a structural diagram of a terminal according to an embodiment of the present application; [Figure 12] FIG. 2 is a structural diagram of a positioning server according to an embodiment of the present application; [Figure 13] FIG. 2 is a structural diagram of a radio access network device according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The following clearly describes the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application are all within the scope of protection of the present application.

[0024] The terms "first," "second," etc. in the specification and claims of the present application are intended to distinguish between similar objects and are not intended to describe a particular order or sequence. It is to be understood that the terms so used are interchangeable where appropriate, such that the embodiments of the present application may be performed in an order other than that shown or described herein, and that the objects distinguished by "first" and "second" are generally of the same type and do not limit the number of objects, e.g., the first object may be one or more. It is to be noted that "and / or" in the specification and claims represents at least one of the objects connected, and the character " / " generally represents an "or" relationship between the related objects.

[0025] 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, but can also be applied to 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. The terms "system" and "network" in the embodiments of the present application are always used interchangeably, and the techniques described may be used in the above-mentioned systems and radio technologies, or in other systems and radio technologies. Although the following description describes a New Radio (NR) system for illustrative purposes and uses NR terminology in most of the description below, these techniques may be applied to applications other than NR system applications, such as 6th Generation (6G) communication systems.

[0026] 1 shows a block diagram of 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. Here, the terminal 11 may be a mobile phone, a tablet personal computer, a laptop computer (also called a notebook computer), a personal digital assistant (PDA), a palmtop computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a road side unit (RSU), a smart home (home equipment having a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture), a game machine, a personal computer, a mobile phone, a mobile terminal (MID), a mobile user equipment (MID), a mobile terminal ... The terminal 11 may be a terminal-side device such as a personal computer (PC), a deposit and withdrawal machine or a self-service machine, and the wearable device includes a smart watch, a smart wristband, a smart earphone, a smart glasses, a smart accessory (a smart bracelet, a smart hand chain, a smart ring, a smart necklace, a smart ankle bracelet, a smart anklet, a smart helmet, a smart joystick, etc.), a smart band, a smart clothing, etc. It should be noted that the terminal 11 in the embodiment of the present application is not limited to a specific type.

[0027] In an embodiment of the present application, sidelink (also translated as sublink, side link, edge link, etc., abbreviated as SL) transmission can be performed between terminals 11, that is, data transmission is performed directly on the physical layer between terminals 11. SL transmission between terminals 11 may be broadcast, unicast, multicast, groupcast, etc. Furthermore, the terminals in the SL transmission may all be online or all be offline, or some devices may be online and some devices may be offline.

[0028] The network side equipment 12 may include radio access network equipment and core network equipment, where the radio access network equipment may be referred to as a Radio Access Network (RAN), a radio access network function or a radio access network unit. The radio access network equipment may include a base station, a Wireless Local Area Network (WLAN) access point, or a Wireless Fidelity (WiFi) node, etc., and the base station may be called a Node B, an Evolved Node B (eNB), 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 home B node, a home evolved B node, a Transmitting Receiving Point (TRP), or any other suitable term in the art. As long as the same technical effect is achieved, the base station is not limited to a specific technical term, and it should be explained that in the embodiments of this application, only a base station in an NR system is introduced as an example, and the specific type of the base station is not limited.

[0029] The core network devices are: Core Network Node, Core Network Function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF or L-NEF), Binding Support Function (BSF), Application Function (Application Node Function (ADF)), and Application Node Function (ADN). Function (AF), Network Data Analytics Function (NWDAF), Location Management Function (LMF), etc. It should be noted that in the embodiments of the present application, only core network equipment in an NR system is taken as an example, and the specific type of core network equipment is not limited.

[0030] In an embodiment of the present application, the positioning server may be a core network device, such as an LMF.

[0031] In some embodiments, the SL transmission may include two resource allocation modes, one is mode1, which schedules resources for the network side device, and the other is mode2, which the terminal itself decides which resources to use for transmission. Here, the resource information may be from a broadcast message of the network side device or preconfigured information. If the terminal operates within the range of the network side device and has a Radio Resource Control (RRC) connection with the network side device, it may adopt resources of mode1 and / or mode2, and if the terminal operates within the range of the network side device but does not have an RRC connection with the network side device, it may operate in mode2. If the terminal is outside the range of the network side device, it may operate in mode2 and perform SL transmission based on preconfigured information.

[0032] Here, for mode 2, the operation method may have the following method:

[0033] 1) After resource selection is triggered, the terminal first determines a resource selection window, where the lower boundary of the resource selection window is T1 time after resource selection is triggered and the upper boundary of resource selection is T2 time after the trigger, where T2 is a value selected within the packet delay budget (PDB) to be transmitted in its transport block (TB) according to the implementation method of the terminal, and T2 is not earlier than T1.

[0034] 2) Before resource selection, the terminal needs to determine a candidate resource set for resource selection, and compare it with a corresponding RSRP threshold based on the Reference Signal Received Power (RSRP) measured on the resources within the resource selection window; if the RSRP is lower than the RSRP threshold, the terminal may include this resource in the candidate resource set.

[0035] 3) After determining the resource set, the terminal randomly selects transmission resources from the candidate resource set, and may reserve transmission resources for the next transmission in the current transmission.

[0036] The following describes in detail the sidelink positioning method, device, terminal and server according to the embodiments of the present application through several embodiments and application scenarios thereof in conjunction with the drawings.

[0037] Referring to FIG. 2, FIG. 2 is a flowchart of a sidelink positioning method according to an embodiment of the present application, which includes the following steps, as shown in FIG. 2 :

[0038] Step 201, a first terminal receives a configuration message from a radio access network device, the configuration message is used to configure N sets of SL Positioning Reference Signal (PRS) configurations, where N is a positive integer greater than 1.

[0039] The configuration message is used to configure N sets of SL positioning reference signals, and a PRS configuration may be understood as the N sets of SL positioning reference signal configurations being carried in the configuration message.

[0040] In some embodiments, the configuration message may be an RRC configuration message, such as an RRC Reconfiguration message.

[0041] It should be noted that in the embodiments of the present application, step 201 may be understood as a pre-configured step, i.e., the N sets of SL positioning reference signal configurations configured in this step may occur before receiving an SL positioning request, and may be used for one or more SL positionings, that is, in the embodiments of the present application, it is not necessary to perform step 201 every time SL positioning is performed, and performing step 201 once may be used for one or more SL positionings, and the same or different configurations in the above N sets of SL positioning reference signal configurations may be used for different SL positionings.

[0042] It should be noted that in this application, SL positioning is a positioning mechanism in which one or more terminals transmit SL positioning reference signals on a PC5 interface, and one or more other terminals acquire their location by measuring the SL positioning reference signals.

[0043] In an embodiment of the present application, the SL positioning reference signal configuration is: This may include at least one of the following, but is not limited to: the bandwidth of the SL positioning reference signal, the transmission resources of the SL positioning reference signal, the physical layer configuration of the SL positioning reference signal, the sparsity of the SL positioning reference signal, and the transmission power of the SL positioning reference signal.

[0044] Step 202: the first terminal determines a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations.

[0045] The above-mentioned first terminal determining a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations may mean that the terminal itself selects a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations, or may mean that the terminal selects a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations based on a received activation message.

[0046] Step 202, the first terminal transmits a SL positioning reference signal based on the target SL positioning reference signal configuration.

[0047] The above-mentioned transmitting an SL positioning reference signal may also mean transmitting an SL positioning reference signal in a sidelink interface (PC5 interface) to have a second terminal measure the SL positioning reference signal and obtain a measurement result, which is used to determine the positioning of the second terminal or the first terminal.

[0048] In this embodiment, the SL positioning reference signal may be a reference signal that the terminal transmits in the PC5 interface and that can be used for positioning measurements, for example, a positioning reference signal newly introduced in PC5, or may reuse a reference signal of the PC5 interface already defined in the protocol.

[0049] In the embodiment of the present application, the above steps are used to realize the support of SL positioning by the terminal, thereby improving the terminal positioning performance and realizing terminal positioning in scenarios where there is no mobile network coverage.

[0050] In addition, since the N sets of SL positioning reference signal configurations may be configured in advance, when positioning is required, the target SL positioning reference signal configuration is directly used to transmit the SL positioning reference signal, thereby reducing positioning delay. Since N is an integer greater than 1, a plurality of sets of positioning reference signal configurations can be configured in advance, and a corresponding configuration can be flexibly determined according to actual needs in a subsequent positioning process to perform SL positioning, thereby improving the flexibility of SL positioning.

[0051] In one alternative embodiment, the determining by the first terminal of a target SL positioning reference signal configuration among N sets of sidelink SL positioning reference signal configurations comprises: The first terminal receives an activation message from the radio access network device, and determines the target SL positioning reference signal configuration based on the activation message.

[0052] The activation message is used to activate the transmission of the SL positioning reference signal.

[0053] In some embodiments, the activation message comprises: activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0054] Here, the activation message may be transmitted by a Media Access Control (MAC) control element (CE) or downlink control information (DCI), and thus transmission of the SL positioning reference signal can be realized by activating the MAC CE or DCI. Specifically, the activation message may be to activate a target SL positioning reference signal configuration or to activate a transmission resource related to the SL positioning reference signal, for example, activating a transmission resource related to the target SL positioning reference signal configuration means activating the transmission of the SL positioning reference signal corresponding to the target SL positioning reference signal configuration.

[0055] In some embodiments, the activation message may include an identifier or index of the target SL positioning reference signal configuration, or may include an index of a resource associated with the target SL positioning reference signal configuration, and if the transmission resource associated with the target SL positioning reference signal configuration is a configured grant type 2 resource of mode 1, the activation message may further carry time-frequency resource information of the configured grant type 2 resource, so as to directly cause the first terminal to transmit the SL positioning reference signal on the resource corresponding to the time-frequency resource information.

[0056] In this embodiment, the target SL positioning reference signal configuration is determined by the activation message, thereby supporting dynamic change of the configuration for transmitting the SL positioning reference signal, and improving the flexibility of the SL positioning. In addition, when the activation message is the MAC CE or DCI, the activation by the MAC CE or DCI can reduce the delay compared with the activation by the RRC message.

[0057] Optionally, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0058] Here, the transmission resource may be a mode 1 (mode1) or mode 2 (mode2) resource defined in the protocol.

[0059] In some embodiments, the transmission resources include: may include at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0060] The first configured grant type resource may be a configured grant type 1 resource in mode 1 defined in a protocol, and the transmission resources on which the first terminal can directly transmit the SL positioning reference signal may be understood as the terminal can immediately use these transmission resources to transmit the SL positioning reference signal. The configuration message may also indicate a resource pool in which the first configured grant type resource is located.

[0061] The second configured grant type resources may be configured grant type 2 resources in mode 1 defined in the protocol, and it may be understood that the transmission resources on which the first terminal transmits the SL positioning reference signal based on the activation command need to receive an activation command for these resources so that the terminal can transmit the SL positioning reference signal on these resources.

[0062] The autonomously selected resources may be mode 2 resources defined by a protocol, which are resources that the terminal autonomously selects, and which may be a resource pool in which the network side indicates one or more autonomously selected resources for transmitting the SL positioning reference signal.

[0063] The activation states of the N sets of SL positioning reference signal configurations may be, for example, activated or deactivated, with corresponding activation states for each set of SL positioning reference signal configurations. If the activation state is activated, the first terminal can immediately transmit the SL positioning reference signal using these transmission resources, and if the activation state is deactivated, the first terminal needs to transmit the SL positioning reference signal using these transmission resources after receiving an activation command subsequently. The activation states of the transmission resources associated with the N sets of SL positioning reference signal configurations are similar.

[0064] In addition, each set of SL positioning reference signal configurations may correspond to one configuration index, and thus the SL positioning reference signal configurations may be activated by the configuration index, and the transmission resources associated with the SL positioning reference signal configurations may also correspond to one resource index, and thus the transmission resources associated with the SL positioning reference signal configurations may be activated by the resource index.

[0065] As an alternative embodiment, the first terminal is a target terminal (target UE) of SL positioning, or the first terminal is an auxiliary terminal or anchor terminal (anchor UE) of SL positioning, such as an RSU.

[0066] The first terminal being a target terminal for SL positioning may be understood as an SL positioning request that triggers SL positioning being directed to the first terminal, i.e., positioning the first terminal, for example when a positioning server receives an SL positioning request for the first terminal and sends an SL positioning reference signal configuration activation request to a radio access network equipment, which further sends an activation message to the first terminal, whereby the first terminal responds to the activation message by transmitting an SL positioning reference signal based on the target SL positioning reference signal configuration.

[0067] In this embodiment, the first terminal transmits an SL positioning reference signal, and the second terminal measures the SL positioning reference signal and uses the obtained measurement results to determine the positioning of the first terminal, for example reporting the measurement results to a positioning server, and the positioning server calculates the positioning of the first terminal based on the measurement results, or the second terminal calculates the positioning of the first terminal based on the measurement results.

[0068] In this embodiment, the first terminal can realize positioning of the first terminal by transmitting an SL positioning reference signal, and thus it is possible to avoid the problem of first terminal positioning failing because there is no terminal capable of transmitting an SL positioning reference signal in the vicinity of the first terminal.

[0069] The above-mentioned first terminal being an auxiliary terminal or anchor terminal of SL positioning may also be understood as the first terminal being an auxiliary terminal or anchor terminal of second terminal positioning, i.e. the first terminal assists the positioning of the second terminal. It should be noted that the first terminal may be one or more terminals that respectively transmit SL positioning reference signals to assist the positioning of the second terminal.

[0070] In an embodiment of the present application, a first terminal receives a configuration message from a radio access network device, the configuration message is used to configure N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1, the first terminal determines a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations, and the first terminal transmits a SL positioning reference signal based on the target SL positioning reference signal configuration, thus allowing the terminal to support SL positioning and improving terminal positioning performance.

[0071]

[0036] Referring to FIG. 3, FIG. 3 is a flowchart of another sidelink positioning method according to an embodiment of the present application, which includes the following steps, as shown in FIG. 3:

[0072] Step 301, the positioning server receives a SL positioning request.

[0073] The above receiving the SL positioning request may be receiving a SL positioning request for the first terminal or the second terminal.

[0074] The above SL positioning request may be the receipt of an SL positioning request sent by an application server or other device, or may be the receipt of an SL positioning request sent by an internal module of the positioning server, i.e., the above SL positioning request may be spontaneously triggered by the positioning server.

[0075] Step 302, the positioning server sends a first message to a radio access network device to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

[0076] Here, the positioning server sending a first message to a radio access network device based on the positioning request may be sending a first message to one or more radio access network devices, and the first message may request activation of target SL positioning reference signal configurations of one or more first terminals, and the target SL positioning reference signal configurations of different first terminals are the same or different.

[0077] In this embodiment, the above-mentioned first message causes the first terminal to transmit an SL positioning reference signal based on the target SL positioning reference signal configuration, thereby realizing support for SL positioning by the terminal and improving the terminal positioning performance.

[0078] In one alternative embodiment, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0079] The terminal identifier information may include a terminal identifier (UE ID) or a SL layer 2 identifier (layer 2 ID) of the terminal.

[0080] In this embodiment, the first terminal and the target SL positioning reference signal configuration can be flexibly indicated by at least one of the identifier information of the first terminal and the identifier or index of the target SL positioning reference signal configuration, thereby improving the flexibility of terminal positioning.

[0081] It should be noted that in some embodiments, the first message may not include identifier information of the first terminal, e.g., the first terminal may be determined by a radio access network device, or in some embodiments, the first message may not include an identifier or index of a target SL positioning reference signal configuration, e.g., the target SL positioning reference signal configuration of the first terminal may be determined by a radio access network device.

[0082] In one alternative embodiment, before the positioning server receives the SL positioning request, the method further comprises: The method further includes receiving, by the positioning server, a second message transmitted by the radio access network device, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0083] The positioning server receiving the second message transmitted by the radio access network device may comprise receiving the second message transmitted by one or more radio access network devices.

[0084] The second message may include information of one or more second terminals, including the first terminal in step 402 .

[0085] The information of the first terminal is Location information of the first terminal; and identifier information of the first terminal.

[0086] The location information of the first terminal may be longitude and latitude information of the first terminal.

[0087] The identifier information of the first terminal may include a SL layer 2 identifier (Layer 2 ID) of the first terminal.

[0088] The information of the SL positioning reference signal configuration of the first terminal may include one or more sets of target SL positioning reference signal configurations, for example, N sets of SL positioning reference signal configurations.

[0089] In this embodiment, since the second message includes at least one of information of the first terminal and information of the SL positioning reference signal configuration of the first terminal, the positioning server can select the first terminal and the target SL positioning reference signal configuration according to the positioning needs.

[0090] It should be noted that in some embodiments, the second message may not include information of the first terminal, e.g., the positioning server is pre-configured with information of one or more first terminals, and the second message may not include information of the SL positioning reference signal configuration of the first terminal, e.g., the positioning server is pre-configured with information of the SL positioning reference signal configuration of the first terminal.

[0091] Optionally, before the positioning server receives a second message transmitted by the radio access network device, the method further comprises: The method further includes the positioning server sending a third message to the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of Quality of Service (QoS) information; and a number of members of one or more sets; The positioning server sending a third message to the radio access network device may comprise sending a third message to one or more radio access network devices.

[0092] The positioning reference signal characteristic information may be characteristic information such as a bandwidth, a transmission period, etc. of a positioning reference signal. And each set of positioning reference signal characteristic information may correspond to one or multiple sets of positioning reference signal configurations. When multiple sets of positioning reference signal characteristic information are included, QoS information corresponding to different positioning reference signal characteristic information may be different.

[0093] The QoS information may be QoS information such as positioning delay, positioning accuracy, etc. The QoS information may be called SL QoS information.

[0094] The above configuration number is the number of SL positioning reference signal configurations, and different SL positioning reference signal configurations may correspond to different QoS information.

[0095] In this embodiment, a specific SL positioning reference signal configuration may be obtained to satisfy different positioning demands according to at least one of the positioning reference signal characteristic information, the QoS information, and the number of configurations. Specifically, a SL positioning reference signal configuration matching the positioning reference signal characteristic information may be obtained, and a SL positioning reference signal configuration matching the QoS information or a SL positioning reference signal configuration matching the number of configurations may be obtained.

[0096] It should be noted that in some embodiments, the third message may not be sent, for example the radio access network device spontaneously reports the second message to the positioning server.

[0097] Optionally, the third message is a message associated with a terminal; or The third message is a message that is not related to the terminal.

[0098] Here, the above-mentioned third message being a message related to a terminal may mean sending a third message to each first terminal, that is, each third message is a message related to a terminal, and the SL positioning reference signal configuration of the corresponding first terminal is obtained through the third message.

[0099] The third message being a message not related to a terminal means that the third message may be for a specific terminal, i.e., the third message is not related to a terminal, in which case the radio access network equipment may autonomously select the first terminal and determine the corresponding SL positioning reference signal configuration.

[0100] In this embodiment, by supporting terminal-related messages or terminal-unrelated messages to enable the terminal to realize SL positioning, the need to introduce additional specific messages can be avoided and the complexity of the terminal to realize SL positioning can be reduced.

[0101] In one alternative embodiment, the method comprises: The method further includes the positioning server sending an instruction message to a second terminal to indicate the target SL positioning reference signal configuration.

[0102] In this embodiment, the instruction message can instruct the second terminal to perform SL positioning reference signal measurement based on the target SL positioning reference signal configuration, thereby enabling the second terminal to complete the SL positioning reference signal measurement more quickly and accurately.

[0103] Optionally, the instruction message further comprises: a time-frequency transmission resource associated with the target SL positioning reference signal configuration; and and identifier information of the first terminal.

[0104] Here, the time-frequency transmission resource associated with the target SL positioning reference signal configuration is a time-frequency transmission resource in the transmission resource associated with the target SL positioning reference signal configuration.

[0105] In one alternative embodiment, the method comprises: The method further includes the positioning server sending a positioning request message to the second terminal to request the second terminal to perform SL positioning reference signal measurement.

[0106] In this embodiment, the positioning request message allows the second terminal to perform SL positioning reference signal measurements in a timely manner, thereby reducing positioning delay.

[0107] It should be noted that in some embodiments, the positioning server may not send the positioning request message, and the second terminal may directly perform SL positioning reference signal measurement based on the indication message.

[0108] It should be noted that this embodiment is an embodiment of a positioning server corresponding to the embodiment shown in FIG. 2, and its specific embodiment may refer to the relevant description of the embodiment shown in FIG. 2. In order to avoid repetition, this embodiment will not be described further.

[0109]

[0046] Referring to FIG. 4, FIG. 4 is a flowchart of another sidelink positioning method according to an embodiment of the present application, which includes the following steps, as shown in FIG. 4:

[0110] Step 401: a radio access network device receives a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of a first terminal; Step 402, the radio access network device sends an activation message to the first terminal.

[0111] wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0112] Here, for the first message, the relevant description of the embodiment shown in FIG. 3 can be referred to, and the description is omitted here.

[0113] Regarding the above activation message, the relevant description of the embodiment shown in FIG. 2 can be referred to, and the description is omitted here.

[0114] In this embodiment, the above steps cause the first terminal to transmit an SL positioning reference signal, so that the terminal can support SL positioning and further improve the positioning performance of the terminal.

[0115] In one alternative embodiment, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0116] In one alternative embodiment, before the radio access network device receives the first message transmitted by the positioning server, the method further comprises: The method further includes the radio access network device sending a second message to the positioning server, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0117] Optionally, the information of the first terminal is: Location information of the first terminal; and identifier information of the first terminal.

[0118] Optionally, the first terminal identifier information includes an SL layer 2 identifier of the first terminal.

[0119] In one alternative embodiment, before the radio access network device transmits the second message to the positioning server, the method further comprises: The method further includes receiving a third message from the positioning server by the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; and a configuration number.

[0120] In one alternative embodiment, before the radio access network device receives the first message transmitted by the positioning server, the method further comprises: The method further includes the radio access network equipment sending a configuration message to the first terminal, the configuration message being used to configure N sets of SL positioning reference signal configurations, the target SL positioning reference signal configuration being a configuration among the N sets of SL positioning reference signal configurations, where N is a positive integer greater than 1.

[0121] In one alternative embodiment, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0122] In one alternative embodiment, the transmission resources are at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0123] It should be noted that this embodiment is an embodiment of a positioning server corresponding to the embodiment shown in Figures 2 and 3, and its specific embodiment may refer to the relevant description of the embodiment shown in Figures 2 and 3 in order to avoid repetition of description, and this embodiment will not be described further.

[0124] Hereinafter, the sidelink positioning method according to the embodiment of the present application will be described by way of example through two embodiments.

[0125] Here, the main technical solutions in the following two embodiments are as follows:

[0126] For mobile network-based (LMF-based) positioning, the network side pre-configures multiple sets of SL PRS configurations in the anchor UE (e.g., RSU), and when a positioning request arrives, the LMF determines which set of SL PRS configurations to use based on the positioning QoS, sends a message to the base station to activate the determined set of SL PRS configurations, and the base station makes the UE transmit SL PRS using the set of SL PRS configurations on the PC5 interface by MAC CE or DCI activation. By pre-configuring multiple sets of SL PRS configurations in this way, when positioning measurement is required, the positioning delay is reduced by quickly activating them by MAC CE or DCI.

[0127] Example 1: This embodiment takes the positioning flow in which an anchor UE transmits a SL PRS as an example, and includes the following steps, as shown in FIG.

[0128] Step 1: Before the positioning request arrives, the LMF sends a first message to the base station, which is used to request the acquisition of SL PRS configuration information of the anchor UE (which may be called auxiliary UE) under this base station. This first message may include one or more of the following: one or more sets of requested PRS characteristic information (e.g., PRS bandwidth, PRS transmission period, etc.), optionally the multiple sets of PRS characteristic information corresponding to different QoS requirements; one or more sets of desired QoS information (e.g., positioning delay, positioning accuracy, etc.); A set number of SL PRS configurations (different SL PRS configurations correspond to different QoS requirements), ie, a set number of SL PRS configurations corresponding to different QoS requirements are required to be provided.

[0129] Here, the SL PRS is a reference signal that the UE transmits on the PC5 interface and can be used for positioning measurements. It may be a positioning reference signal newly introduced in PC5, or it may reuse a reference signal of the PC5 interface already defined in the protocol.

[0130] Step 2: The base station determines one or more sets of SL PRS configurations and transmission resources of corresponding SL PRSs based on the first message, for example, each set of PRS feature information or each set of QoS information corresponds to a set of SL PRS configurations.

[0131] The first message may be a message associated with a UE, where the base station determines a corresponding SL PRS configuration for the associated UE; The first message may be a UE-unrelated message, in which the base station selects some UEs, eg, RSUs, and determines corresponding SL PRS configurations for them.

[0132] Step 3: The base station sends an RRC Reconfiguration message to the anchor UE, in which one or more sets of SL PRS configurations and transmission resources of corresponding SL PRSs (in the PC5 interface) are carried, and each set of configurations may correspond to a configuration index.

[0133] Optionally, the RRC reconfiguration message further carries the activation status of the SL PRS configuration (or the transmission resources of the SL PRS), and if the activation status is activated, the anchor UE immediately uses these transmission resources to transmit the SL PRS; if the activation status is deactivated, the anchor UE needs to transmit the SL PRS after receiving a subsequent activation command.

[0134] Alternatively, the transmission resources of the SL PRS may be mode 1 configured grant type 1 resources or configured grant type 2 resources. Both of these resources are periodic grant resources. In the former case, the anchor UE immediately uses these transmission resources to transmit the SL PRS. Alternatively, the RRC reconfiguration message may specify the resource pool in which the configured grant type 1 resources are located. In the latter case, the anchor UE needs to transmit the SL PRS after receiving a subsequent activation command.

[0135] Optionally, the transmission resources for the SL PRS may be resources dynamically scheduled by the base station in mode 1 or autonomously selected by the anchor UE in mode 2. Optionally, in the latter case, the RRC reconfiguration message may indicate one or more resource pools available for transmitting the SL PRS.

[0136] Step 4: The anchor UE sends an RRC Reconfiguration Complete message to the base station, and if what the anchor UE received in step 3 is an SL PRS configuration that needs to be transmitted immediately, the UE starts transmitting the SL PRS on the PC5 interface.

[0137] Step 5: The base station sends a response message of the first message to the LMF, in which the message carries one or more sets of SL PRS configurations of the anchor UE, a configuration index (in case of multiple sets) and transmission resources corresponding to each set of configurations, and optionally further carries one or more of the following information:

[0138] The location information of each anchor UE, for example, longitude and latitude information.

[0139] ID information of each anchor UE, for example, the Layer 2 ID of the anchor UE.

[0140] It should be noted that the response message may include the SL PRS configurations of one or more anchor UEs.

[0141] Step 6: The LMF receives a positioning request for the target UE.

[0142] Step 7: The LMF determines which set of SL PRS configurations for which anchor UEs to activate based on information such as QoS in the positioning request.

[0143] If the decision made in step 3 to use configured grant type 1 resources in mode 1, steps 7 / 8 / 9 / 11 may be skipped.

[0144] Step 8: The LMF sends a second message to one or more base stations, the second message being used to request the base stations to activate the SL PRS configuration, the second message including: One or more anchor UE IDs that need to be activated, e.g., an index of the anchor UE and a layer 2 ID of the anchor UE; and the index of the SL PRS configuration (for each anchor UE) that needs to be activated.

[0145] Step 9: The base station sends a MAC CE or DCI to the anchor UE to activate the SL PRS transmission or activate the transmission resource associated with the SL PRS, where the MAC CE or DCI may carry the SL PRS configuration index or the index of the resource associated therewith. Optionally, if the transmission resource in step 3 is a configured grant type 2 resource of mode1, the MAC CE or DCI may further carry the time-frequency resource information of the configured grant type 2 resource. The activation by the MAC CE or DCI can reduce the delay compared with the RRC message.

[0146] Step 10: The anchor UE transmits the SL PRS on the designated (activated) resource in the PC5 interface.

[0147] Step 11: The base station sends a response message of the second message to the LMF.

[0148] Optionally, if the transmission resource in step 3 is a configured grant type 2 resource in mode1, the response message may further carry time-frequency resource information of the transmission resource of the SL PRS.

[0149] Step 12: The LMF sends a Provide Assistance Data message to the target UE, which carries the SL PRS configuration and the transmission resource information of the corresponding SL PRS (in the PC5 interface). The message may carry the SL PRS configuration and the corresponding transmission resource information of multiple anchor UEs. Optionally, it may carry the UE ID, e.g., layer 2 ID, of each anchor UE. Optionally, these multiple anchor UEs or SL PRS configurations have different measurement priorities, e.g., the higher the order in the list, the higher the measurement priority.

[0150] Step 13: The LMF sends a Request Location Information message to the target UE, requesting the target UE to perform SL positioning measurement.

[0151] Step 14: The target UE performs SL PRS measurement according to the SL PRS information provided in step 12; Step 15: The target UE sends the SL PRS measurement result to the LMF; Step 16: The LMF obtains location information of the target UE according to the SL PRS measurement result; Step 17: The LMF sends the location information of the target UE to the requester.

[0152] Example 2: This embodiment takes a positioning flow in which a target UE transmits a SL PRS signal and an anchor UE performs measurement as an example, and includes the following steps, as shown in FIG.

[0153] Step 1: Before the positioning request arrives, the LMF sends a first message to the base station, which is used to request the acquisition of SL PRS configuration information of the anchor UE (which may also be called auxiliary UE) under this base station. This first message may include one or more of the following:

[0154] one or more sets of requested PRS characteristic information (e.g., PRS bandwidth, PRS transmission period, etc.), optionally the multiple sets of PRS characteristic information corresponding to different QoS requirements; one or more sets of desired QoS information (e.g., positioning delay, positioning accuracy, etc.); A set number of SL PRS configurations (different SL PRS configurations correspond to different QoS requirements).

[0155] Here, the SL PRS is a reference signal that the UE transmits on the PC5 interface and can be used for positioning measurements. It may be a positioning reference signal newly introduced in PC5, or it may reuse a reference signal of the PC5 interface already defined in the protocol.

[0156] Step 2: The base station determines one or more sets of SL PRS configurations and transmission resources of corresponding SL PRSs based on the first message, for example, each set of PRS feature information or each set of QoS information corresponds to a set of SL PRS configurations.

[0157] The first message may be a message associated with a UE, where the base station determines a corresponding SL PRS configuration for the associated UE; The first message may be a UE-unrelated message, in which the base station selects some UEs, eg, RSUs, and determines corresponding SL PRS configurations for them.

[0158] Step 3: The base station sends an RRC Reconfiguration message to the anchor UE, in which one or more sets of SL PRS configurations and transmission resources of corresponding SL PRSs (in the PC5 interface) are carried, and each set of configurations may correspond to a configuration index.

[0159] Optionally, the RRC reconfiguration message further carries the activation status of the SL PRS configuration (or the transmission resources of the SL PRS), and if the activation status is activated, the anchor UE immediately uses these transmission resources to transmit the SL PRS; if the activation status is deactivated, the anchor UE needs to transmit the SL PRS after receiving a subsequent activation command.

[0160] Alternatively, the transmission resources of the SL PRS may be mode 1 configured grant type 1 resources or configured grant type 2 resources. Both of these resources are periodic grant resources. In the former case, the anchor UE immediately uses these transmission resources to transmit the SL PRS. Alternatively, the RRC reconfiguration message may specify the resource pool in which the configured grant type 1 resources are located. In the latter case, the anchor UE needs to transmit the SL PRS after receiving a subsequent activation command.

[0161] Optionally, the transmission resources for the SL PRS may be resources dynamically scheduled by the base station in mode 1 or autonomously selected by the anchor UE in mode 2. Optionally, in the latter case, the RRC reconfiguration message may indicate one or more resource pools available for transmitting the SL PRS.

[0162] Step 4: The anchor UE sends an RRC Reconfiguration Complete message to the base station, and if what the anchor UE received in step 3 is an SL PRS configuration that needs to be transmitted immediately, the UE starts transmitting the SL PRS on the PC5 interface.

[0163] Step 5: The base station sends a response message of the first message to the LMF, in which the message carries one or more sets of SL PRS configurations of the anchor UE, a configuration index (in case of multiple sets) and transmission resources corresponding to each set of configurations, and optionally further carries one or more of the following information:

[0164] The location information of each anchor UE, for example, longitude and latitude information.

[0165] ID information of each anchor UE, for example, the Layer 2 ID of the anchor UE.

[0166] It should be noted that the response message may include the SL PRS configurations of one or more anchor UEs.

[0167] Step 6: The LMF receives a positioning request for the target UE.

[0168] Step 7: The LMF determines which set of SL PRS configurations for which anchor UEs to activate based on information such as QoS in the positioning request.

[0169] If the decision made in step 3 to use configured grant type 1 resources in mode 1, steps 7 / 8 / 9 / 11 may be skipped.

[0170] Step 8: The LMF sends a second message to one or more base stations, the second message being used to request the base stations to activate the SL PRS configuration, the second message including: One or more anchor UE IDs that need to be activated, for example, an index of the anchor UE and a layer 2 ID of the anchor UE; and the index of the SL PRS configuration (for each anchor UE) that needs to be activated.

[0171] Step 9: The base station sends a MAC CE or DCI to the target UE, where the MAC CE or DCI may carry an SL PRS configuration index or an index of a resource associated therewith, to activate the SL PRS transmission or activate a transmission resource associated with the SL PRS. Optionally, if the transmission resource in step 3 is a configured grant type 2 resource of mode1, the MAC CE or DCI may further carry time-frequency resource information of the configured grant type 2 resource. Activation by the MAC CE or DCI can reduce delay compared with an RRC message.

[0172] Step 10: The target UE transmits the SL PRS on the specified (activated) resource in the PC5 interface.

[0173] Step 11: The base station sends a response message of the second message to the LMF.

[0174] Optionally, if the transmission resource in step 3 is a configured grant type 2 resource in mode1, the response message may further carry time-frequency resource information of the transmission resource of the SL PRS.

[0175] Step 12: The LMF sends a Provide Assistance Data message to the anchor UE, which carries the SL PRS configuration and the transmission resource information of the corresponding SL PRS (in the PC5 interface). The message may carry the SL PRS configuration and the corresponding transmission resource information of multiple anchor UEs. Optionally, it may carry the UE ID, e.g., layer 2 ID, of each anchor UE. Optionally, these multiple anchor UEs or SL PRS configurations have different measurement priorities, e.g., the higher the order in the list, the higher the measurement priority.

[0176] Step 13: The LMF sends a Request Location Information message to the anchor UE, requesting the target UE to perform SL positioning measurement.

[0177] Step 14: The anchor UE performs SL PRS measurement according to the SL PRS information provided in step 12; Step 15: The anchor UE sends the SL PRS measurement result to the LMF; Step 16: The LMF obtains location information of the target UE according to the SL PRS measurement result; Step 17: The LMF sends the location information of the target UE to the requester.

[0178] In the embodiment of the present application, for LMF-based positioning, the network pre-configures multiple sets of SL PRS configurations for the terminal, and when a positioning request arrives, the LMF decides which set of configurations to use, and sends a message to the base station to activate the determined set of configurations, and the base station lets the UE send the set of SL PRS configurations on the PC5 interface by MAC CE or DCI activation, where: The RRC reconfiguration message may carry the activation status of the SL PRS configuration; The RRC reconfiguration message indicates the transmission resources associated with the SL PRS, which may be configured grant type 1 resources or configured grant type 2 resources in mode1.

[0179] The transmission resources may be resources autonomously selected by the anchor UE in mode 2. The RRC Reconfiguration message indicates one or more resource pools available for transmitting the SL PRS.

[0180] For configured grant type 2 resources, the activation response message sent by the base station to the LMF after activation carries the time-frequency resource information of the transmission resources of the SL PRS.

[0181] In the embodiment of the present application, multiple sets of SL PRS configurations are pre-configured to reduce positioning delay by being quickly activated by the MAC CE or DCI when positioning measurements are required.

[0182] Referring to FIG. 7, FIG. 7 is a structural diagram of a sidelink positioning device according to an embodiment of the present application. As shown in FIG. 7, a first receiving module 701 for receiving a configuration message from a radio access network device, the configuration message being used to configure N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1; a determining module 702 for determining a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations; and a transmitting module 703 for transmitting a SL positioning reference signal based on the target SL positioning reference signal configuration.

[0183] Optionally, the determining module 702 is used to receive an activation message from the radio access network device, and determine the target SL positioning reference signal configuration based on the activation message; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0184] Optionally, the activation message is transmitted via a media access control MAC control element CE or downlink control information DCI.

[0185] Optionally, the activation message includes an identifier or index of the target SL positioning reference signal configuration.

[0186] Optionally, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0187] Optionally, the transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0188] Optionally, the first terminal is a target terminal of SL positioning, or the first terminal is an auxiliary terminal or an anchor terminal of SL positioning.

[0189] The sidelink positioning device can improve the positioning performance of a terminal.

[0190] The sidelink positioning device in the embodiments of the present application may be an electronic device, such as an electronic device having an operating system, or may be a component in an electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other devices other than a terminal. Exemplarily, the terminal may include, but is not limited to, the types of terminals enumerated in the embodiments of the present application, and the other devices may be servers, network attached storage (NAS), etc., and the embodiments of the present application are not specifically limited thereto.

[0191] The sidelink positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method shown in FIG. 2 and achieve the same technical effects, and will not be further described here to avoid repetition.

[0192] Referring to FIG. 8, FIG. 8 is a structural diagram of a sidelink positioning device according to an embodiment of the present application. As shown in FIG. 8, a first receiving module 801 for receiving a sidelink SL positioning request; and a first sending module 802 for sending a first message to a radio access network device to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

[0193] Optionally, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0194] Optionally, the apparatus further comprises: and a second receiving module for receiving a second message transmitted by the radio access network device, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0195] Optionally, the information of the first terminal is: Location information of the first terminal; and identifier information of the first terminal.

[0196] Optionally, the first terminal identifier information includes an SL layer 2 identifier of the first terminal.

[0197] Optionally, the apparatus further comprises: and a second transmitting module for transmitting a third message to the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; and a configuration number.

[0198] Optionally, the third message is a message associated with a terminal; or The third message is a message that is not related to the terminal.

[0199] Optionally, the apparatus further comprises: The radio access network device further includes a third receiving module for receiving a response message to the first message transmitted by the radio access network device, the response message including a time-frequency transmission resource associated with the target SL positioning reference signal configuration.

[0200] Optionally, the apparatus further comprises: The third sending module further includes: a third sending module for sending an instruction message to a second terminal for instructing the target SL positioning reference signal configuration.

[0201] Optionally, the instruction message further comprises: a time-frequency transmission resource associated with the target SL positioning reference signal configuration; and and identifier information of the first terminal.

[0202] Optionally, the apparatus further comprises: The second terminal further includes a fourth sending module for sending a positioning request message to the second terminal, for requesting the second terminal to perform SL positioning reference signal measurement.

[0203] The sidelink positioning device can improve the positioning performance of a terminal.

[0204] The sidelink positioning device in the embodiments 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 core network device, a server.

[0205] The sidelink positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method shown in FIG. 3 and achieve the same technical effects, and will not be further described here to avoid repetition.

[0206] Referring to FIG. 9, FIG. 9 is a structural diagram of a sidelink positioning device according to an embodiment of the present application. As shown in FIG. 9, A first receiving module 901 for receiving a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of a first terminal; a first sending module 902 for sending an activation message to the first terminal; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0207] Optionally, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0208] Optionally, the apparatus further comprises: and a second sending module for sending a second message to the positioning server, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0209] Optionally, the information of the first terminal is: Location information of the first terminal; and identifier information of the first terminal.

[0210] Optionally, the first terminal identifier information includes an SL layer 2 identifier of the first terminal.

[0211] Optionally, the apparatus further comprises: and a second receiving module for receiving a third message from the positioning server, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; and a configuration number.

[0212] Optionally, the apparatus further comprises: The terminal further includes a third transmitting module for transmitting a configuration message to the first terminal, the configuration message being used to configure N sets of SL positioning reference signal configurations, the target SL positioning reference signal configuration being a configuration among the N sets of SL positioning reference signal configurations, where N is a positive integer greater than 1.

[0213] Optionally, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0214] Optionally, the transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0215] Optionally, the activation message is transmitted via a media access control MAC control element CE or downlink control information DCI.

[0216] Optionally, the activation message includes an identifier or index of the target SL positioning reference signal configuration.

[0217] The sidelink positioning device can improve the positioning performance of a terminal.

[0218] The sidelink positioning device in the embodiments of the present application may be an electronic device, for example an electronic device having an operating system, or may be a component in an electronic device, for example an integrated circuit or chip. The electronic device may be a radio access network device.

[0219] The sidelink positioning device according to the embodiment of the present application can realize each process realized by the embodiment of the method shown in FIG. 4 and achieve the same technical effects, and will not be further described here to avoid repetition.

[0220] Optionally, as shown in FIG. 10, the embodiment of the present application further provides a communication device 1000, which includes a processor 1001 and a memory 1002, and the memory 1002 stores a program or instruction that can run on the processor 1001. For example, when the communication device 1000 is a terminal, the program or instruction can be executed by the processor 1001 to realize each step of the embodiment of the sidelink positioning method on the first terminal side, and the same technical effect can be achieved. When the communication device 1000 is a positioning server, the program or instruction can be executed by the processor 1001 to realize each step of the embodiment of the sidelink positioning method on the positioning server side, and the same technical effect can be achieved. When the communication device 1000 is a radio access network device, the program or instruction can be executed by the processor 1001 to realize each step of the embodiment of the sidelink positioning method on the radio access network device side, and the same technical effect can be achieved, and in order to avoid repetition, no further description will be given here.

[0221] The embodiment of the present application further provides a terminal, which includes a processor and a communication interface, the communication interface being used for receiving a configuration message from a radio access network device, the configuration message being used for configuring N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1, the processor or the communication interface being used for determining a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations, and the communication interface further transmits an SL positioning reference signal according to the target SL positioning reference signal configuration. This embodiment of the terminal corresponds to the embodiment of the first terminal-side method described above, and each implementation process and realization manner of the embodiment of the method can be applied to the embodiment of the terminal, and the same technical effects can be achieved. Specifically, FIG. 11 is a schematic diagram of a hardware structure for realizing a terminal of the embodiment of the present application.

[0222] The terminal 1100 includes at least some of the following components, but is not limited to: a radio frequency unit 1101, a network module 1102, an audio output unit 1103, an input unit 1104, a sensor 1105, a display unit 1106, a user input unit 1107, an interface unit 1108, a memory 1109, and a processor 1110.

[0223] As can be understood by those skilled in the art, the terminal 1100 may further include a power source (e.g., a battery) for powering each component, and the power source may be logically connected to the processor 1110 by a power management system, so that the power management system can realize functions such as charge / discharge management and power consumption management. The terminal structure shown in FIG. 11 does not constitute a limitation on the terminal, and the terminal may include more or less components than the number of components shown, or a combination of some components, or a different arrangement of components, and will not be further described here.

[0224] It should be understood that in the embodiment of the present application, the input unit 1104 may include a graphics processing unit (GPU) 11041 and a microphone 11042, and the graphics processing unit 11041 processes image data of still or video captured by an image capture device (e.g., a camera) in a video capture mode or an image capture mode. The display unit 1106 may include a display panel 11061, and the display panel 11061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1107 includes at least one of a touch panel 11071 and other input devices 11072. The touch panel 11071 is also called a touch screen. The touch panel 11071 may include two parts: a touch detection device and a touch controller. The other input devices 11072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control buttons, switch buttons, etc.), a trackball, a mouse, and an operation lever, which will not be described further herein.

[0225] In the embodiment of the present application, the radio frequency unit 1101 can receive downlink data from the network side device, and then transmit the data to the processor 1110 for processing, and can transmit uplink data to the network side device. In general, the radio frequency unit 1101 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0226] The memory 1109 may be used to store software programs or instructions and various data. The memory 1109 may include a first storage area that mainly stores programs or instructions and a second storage area that stores data, where the first storage area can store an operating system, application programs or instructions required for at least one function (e.g., audio playback function, image playback function, etc.), etc. The memory 1109 may include a volatile memory or a non-volatile memory, or the memory 1109 may include both volatile and non-volatile memory. Here, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be Random Access Memory (RAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synch link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). Memory 1109 in embodiments of the present application may include, but is not limited to, these and any other suitable types of memory.

[0227] The processor 1110 may include one or more processing units. Optionally, the processor 1110 integrates an application processor and a modem processor, where the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication signals, e.g., a baseband processor. As can be understood, the modem processor may not be integrated into the processor 1110.

[0228] Wherein the radio frequency unit 1101 is used for receiving a configuration message from a radio access network device, and the configuration message is used for configuring N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1; The radio frequency unit 1101 or the processor 1110 is used to determine a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations; The radio frequency unit 1101 is further used for transmitting a SL positioning reference signal based on the target SL positioning reference signal configuration.

[0229] Optionally, determining a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations further comprises: receiving an activation message from the radio access network device; and determining the target SL positioning reference signal configuration based on the activation message; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0230] Optionally, the activation message is transmitted via a media access control MAC control element CE or downlink control information DCI.

[0231] Optionally, the activation message includes an identifier or index of the target SL positioning reference signal configuration.

[0232] Optionally, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0233] Optionally, the transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0234] Optionally, the first terminal is a target terminal of SL positioning, or the first terminal is an auxiliary terminal or an anchor terminal of SL positioning.

[0235] The terminal can improve the positioning performance of the terminal.

[0236] An embodiment of the present application further provides a positioning server, including a processor and a communication interface, where the communication interface is used for receiving a sidelink SL positioning request, and sending a first message to a radio access network device according to the positioning request, for requesting activation of a target SL positioning reference signal configuration of a first terminal. This positioning server embodiment corresponds to the above-mentioned embodiment of the method on the positioning server side, and each implementation process and realization manner of the above-mentioned embodiment of the method are all applicable to this positioning server embodiment, and can achieve the same technical effects.

[0237] Specifically, an embodiment of the present application further provides a positioning server. As shown in Fig. 12, the positioning server 1200 includes a processor 1201, a network interface 1202 and a memory 1203. Here, the network interface 1202 is, for example, a common public radio interface (CPRI).

[0238] Specifically, the positioning server 1200 of the embodiment of the present application further includes instructions or programs stored in the memory 1203 and capable of running on the processor 1201, and the processor 1201 calls the instructions or programs in the memory 1203 to execute the method performed by each module shown in FIG. 8, and achieves the same technical effect, which will not be described further here in order to avoid repetition.

[0239] The processor 1201 or the network interface 1202 is used to receive a sidelink SL positioning request, The network interface 1202 is further used for sending a first message to a radio access network device to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

[0240] Optionally, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0241] Optionally, before the positioning server receives the SL positioning request, the network interface 1202 further comprises: and receiving a second message transmitted by the radio access network device, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0242] Optionally, the information of the first terminal is: Location information of the first terminal; and identifier information of the first terminal.

[0243] Optionally, the first terminal identifier information includes an SL layer 2 identifier of the first terminal.

[0244] Optionally, before the positioning server receives the second message transmitted by the radio access network device, the network interface 1202 further comprises: and transmitting a third message to the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; and a configuration number.

[0245] Optionally, the third message is a message associated with a terminal; or The third message is a message that is not related to the terminal.

[0246] Optionally, the network interface 1202 further comprises: It is used to receive a response message to the first message transmitted by the radio access network equipment, the response message including a time-frequency transmission resource associated with the target SL positioning reference signal configuration.

[0247] Optionally, the network interface 1202 further comprises: It is used for sending an instruction message to a second terminal to instruct the second terminal of the target SL positioning reference signal configuration.

[0248] Optionally, the instruction message further comprises: a time-frequency transmission resource associated with the target SL positioning reference signal configuration; and and identifier information of the first terminal.

[0249] Optionally, the network interface 1202 further comprises: It is used to send a positioning request message to the second terminal to request the second terminal to perform SL positioning reference signal measurement.

[0250] The location server can improve the positioning performance of the terminal.

[0251] An embodiment of the present application further provides a radio access network equipment, including a processor and a communication interface, where the communication interface is used to receive a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of a first terminal, and to send an activation message to the first terminal, where the activation message is used for at least one of activating the target SL positioning reference signal configuration and activating a transmission resource associated with the target SL positioning reference signal configuration. This embodiment of the radio access network equipment corresponds to the embodiment of the method on the radio access network equipment side described above, and each implementation process and realization manner of the embodiment of the method described above are all applicable to this embodiment of the radio access network equipment, and can achieve the same technical effects.

[0252] Specifically, an embodiment of the present application further provides a radio access network device. As shown in Fig. 13, the radio access network device 1300 includes an antenna 1301, a radio frequency device 1302, a baseband device 1303, a processor 1304 and a memory 1305. The antenna 1301 and the radio frequency device 1302 are connected. In the uplink direction, the radio frequency device 1302 receives information through the antenna 1301, and transmits the received information to the baseband device 1303 for processing. In the downlink direction, the baseband device 1303 processes the information to be transmitted and transmits it to the radio frequency device 1302, and the radio frequency device 1302 processes the received information and then sends it out through the antenna 1301.

[0253] The methods performed by the radio access network equipment in the above embodiments may be implemented in a baseband device 1303, which includes a baseband processor.

[0254] The baseband device 1303 may include, for example, at least one baseband board, on which multiple chips are installed, and as shown in FIG. 13, one of the chips is, for example, a baseband processor, which is connected to the memory 1305 via a bus interface, calls the program in the memory 1305, and performs the network equipment operations shown in the above method embodiments.

[0255] The radio access network equipment may further include a network interface 1306, which may be, for example, a common public radio interface (CPRI).

[0256] Specifically, the radio access network equipment 1300 of the embodiment of the present invention further includes instructions or programs stored in the memory 1305 and operable on the processor 1304, and the processor 1304 calls the instructions or programs in the memory 1305 to execute the method performed by each module shown in FIG. 9, and achieves the same technical effect, which will not be described further here in order to avoid repetition.

[0257] The radio frequency device 1302 is used to receive a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of a first terminal, and to send an activation message to the first terminal; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

[0258] Optionally, the first message comprises: Identifier information of the first terminal; and an identifier or index of the target SL positioning reference signal configuration.

[0259] Optionally, before the radio access network device receives the first message transmitted by the positioning server, the radio frequency device 1302 further comprises: and transmitting a second message to the positioning server, the second message comprising: Information of the first terminal; and information of an SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

[0260] Optionally, the information of the first terminal is: Location information of the first terminal; and identifier information of the first terminal.

[0261] Optionally, the first terminal identifier information includes an SL layer 2 identifier of the first terminal.

[0262] Optionally, before the radio access network device transmits the second message to the positioning server, the radio frequency device 1302 further comprises: and receiving a third message from the positioning server, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; and a configuration number.

[0263] Optionally, before the radio access network device receives the first message transmitted by the positioning server, the radio frequency device 1302 further comprises: It is used to send a configuration message to the first terminal, the configuration message is used to configure N sets of SL positioning reference signal configurations, the target SL positioning reference signal configuration is a configuration among the N sets of SL positioning reference signal configurations, and N is a positive integer greater than 1.

[0264] Optionally, the configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; activation states of the N sets of SL positioning reference signal configurations; and and the activation state of transmission resources associated with the N sets of SL positioning reference signal configurations.

[0265] Optionally, the transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration permission type resource is a transmission resource for the first terminal to transmit a SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting a SL positioning reference signal, which is dynamically scheduled by the radio access network device; The autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

[0266] Optionally, the activation message is transmitted via a media access control MAC control element CE or downlink control information DCI.

[0267] Optionally, the activation message includes an identifier or index of the target SL positioning reference signal configuration.

[0268] The radio access network device can improve the positioning performance of a terminal.

[0269] An embodiment of the present application further provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, realize steps of a sidelink positioning method according to an embodiment of the present application.

[0270] Wherein, 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, or an optical disk.

[0271] An embodiment of the present application further provides a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run a program or instruction to realize each process of the embodiment of the above sidelink positioning method, and the same technical effect can be achieved, and in order to avoid repetition of description, no further description will be given here.

[0272] It should be understood that the chips referred to in the embodiments of the present application may be referred to as system level chips, system chips, chip systems, or systems on chips.

[0273] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium, and which can be executed by at least one processor to realize each process of the embodiment of the sidelink positioning method and achieve the same technical effects, and will not be described further here in order to avoid repetition.

[0274] An embodiment of the present application further provides a sidelink positioning system, the system including a first terminal, a positioning server and a radio access network device, the first terminal may be used to perform a sidelink positioning step on the first terminal side according to an embodiment of the present application, the positioning server may be used to perform a sidelink positioning step on the positioning server side according to an embodiment of the present application, and the radio access network device may be used to perform a sidelink positioning step on the radio access network device side according to an embodiment of the present application.

[0275] It should be explained that in this specification, the terms "comprise", "include", or any other variants thereof are intended to cover the non-exclusive "comprise", whereby a process, method, article, or apparatus that includes a set of elements includes not only those elements, but also other elements not expressly listed or inherent to such process, method, article, or apparatus. In the absence of further limitations, 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 this element. It should be pointed out that 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, but may include performing functions in an essentially simultaneous manner or in reverse order based on the functions involved, for example, the described method can be performed in a different order than described, and various steps can be added, omitted, or combined. Also, features described with reference to some examples can be combined in other examples.

[0276] From the above description of the embodiments, it is clear to those skilled in the art that the methods of the above embodiments can be realized in the form of software and a necessary general-purpose hardware platform. Of course, they can also be realized in hardware, but in many cases the former is a more preferred embodiment. In light of this understanding, the technical proposal of the present application may be substantially or the part that contributes to the prior art may be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes some instructions for causing 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.

[0277] The above describes the embodiments of the present application in conjunction with the drawings, but the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not limiting. Those skilled in the art can take the suggestions of this application and make many forms without departing from the spirit and scope of the claims of this application, all of which belong to the protection scope of this application.

Claims

1. 1. A side link positioning method, comprising: receiving, by a first terminal, a configuration message from a radio access network device, the configuration message being used to configure N sets of sidelink (SL) positioning reference signal configurations, where N is a positive integer greater than 1; The first terminal determines a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations; and and transmitting, by the first terminal, a SL positioning reference signal based on the target SL positioning reference signal configuration.

2. The first terminal determining a target SL positioning reference signal configuration in the N sets of SL positioning reference signal configurations includes: The first terminal receives an activation message from the radio access network device, and determines the target SL positioning reference signal configuration based on the activation message; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating a transmission resource associated with the target SL positioning reference signal configuration.

3. The method of claim 2 , wherein the activation message is transmitted via a media access control (MAC) control element (CE) or a downlink control information (DCI).

4. The method of claim 2 , wherein the activation message includes an identifier or index of the target SL positioning reference signal configuration.

5. The configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; an activation state of the N sets of SL positioning reference signal configurations; and and an activation state of a transmission resource associated with the N sets of SL positioning reference signal configurations.

6. The transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration grant type resource is a transmission resource through which the first terminal transmits an SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting an SL positioning reference signal, which is dynamically scheduled by the radio access network device; The method according to claim 5 , wherein the autonomously selected resource is a resource for transmitting an SL positioning reference signal, selected by the first terminal through sensing.

7. The method according to claim 1 , wherein the first terminal is a target terminal of SL positioning, or the first terminal is an auxiliary terminal or an anchor terminal of SL positioning.

8. 1. A side link positioning method, comprising: a positioning server receiving a sidelink (SL) positioning request; and transmitting, by the positioning server, a first message to a radio access network device to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

9. The first message comprises: Identifier information of the first terminal; and an index or an identifier of the target SL positioning reference signal configuration.

10. Before the positioning server receives the SL positioning request, the method includes: The method further includes receiving, by the positioning server, a second message transmitted by the radio access network device, the second message comprising: Information of the first terminal; and information of a SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

11. The information of the first terminal is Location information of the first terminal; and identifier information of the first terminal.

12. The method of claim 11 , wherein the identifier information of the first terminal includes an SL Layer 2 identifier of the first terminal.

13. Before the positioning server receives a second message transmitted by the radio access network device, the method further comprises: The method further includes the positioning server sending a third message to the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; The method of claim 10 , further comprising at least one of: a configuration number.

14. the third message is a message related to a terminal; or The method of claim 13 , wherein the third message is a non-terminal related message.

15. The method comprises:

9. The method of claim 8, further comprising: the positioning server receiving a response message to the first message transmitted by the radio access network equipment, the response message including a time-frequency transmission resource associated with the target SL positioning reference signal configuration.

16. The method comprises: The method according to claim 8 , further comprising: the positioning server sending an indication message to a second terminal to indicate the target SL positioning reference signal configuration.

17. The instruction message further comprises: a time-frequency transmission resource associated with the target SL positioning reference signal configuration; and identifier information of the first terminal.

18. The method comprises: The method of claim 16, further comprising: the positioning server sending a positioning request message to the second terminal to request the second terminal to perform SL positioning reference signal measurements.

19. 1. A side link positioning method, comprising: A radio access network device receives a first message sent by a positioning server, the first message being used to request activation of a target SL positioning reference signal configuration of a first terminal; and transmitting an activation message to the first terminal by the radio access network device; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating transmission resources associated with the target SL positioning reference signal configuration.

20. The first message comprises: Identifier information of the first terminal; and an index or an identifier of the target SL positioning reference signal configuration.

21. Before the radio access network device receives the first message transmitted by the positioning server, the method includes: The method further includes the radio access network device sending a second message to the positioning server, the second message comprising: Information of the first terminal; and information of a SL positioning reference signal configuration of the first terminal including a target SL positioning reference signal configuration of the first terminal.

22. The information of the first terminal is Location information of the first terminal; and identifier information of the first terminal.

23. The method of claim 22 , wherein the identifier information of the first terminal includes an SL Layer 2 identifier of the first terminal.

24. Before the radio access network device transmits the second message to the positioning server, the method further comprises: The method further includes receiving a third message from the positioning server by the radio access network device, the third message comprising: one or more sets of positioning reference signal characteristic information; one or more sets of quality of service (QoS) information; 22. The method of claim 21, further comprising at least one of: a configuration number.

25. Before the radio access network device receives the first message transmitted by the positioning server, the method includes:

25. The method of claim 19, further comprising: the radio access network equipment sending a configuration message to the first terminal, the configuration message being used to configure N sets of SL positioning reference signal configurations, the target SL positioning reference signal configuration being a configuration among the N sets of SL positioning reference signal configurations, N being a positive integer greater than 1.

26. The configuration message further comprises: transmission resources associated with the N sets of SL positioning reference signal configurations; an activation state of the N sets of SL positioning reference signal configurations; and and an activation state of a transmission resource associated with the N sets of SL positioning reference signal configurations.

27. The transmission resource is: at least one of a first configuration permission type resource, a second configuration permission type resource, a dynamic scheduling resource, and an autonomously selected resource; Wherein, the first configuration permission type resource is a transmission resource through which the first terminal can directly transmit an SL positioning reference signal; The second configuration grant type resource is a transmission resource through which the first terminal transmits an SL positioning reference signal based on an activation command; The dynamic scheduling resource is a resource for transmitting an SL positioning reference signal, which is dynamically scheduled by the radio access network device; The method according to claim 26, wherein the autonomously selected resource is a resource for transmitting an SL positioning reference signal selected by the first terminal through sensing.

28. 20. The method of claim 19, wherein the activation message is transmitted via a media access control MAC control element CE or a downlink control information DCI.

29. The method of claim 28 , wherein the activation message includes an identifier or index of the target SL positioning reference signal configuration.

30. A side link positioning device, comprising: a first receiving module for receiving a configuration message from a radio access network equipment, the configuration message being used to configure N sets of sidelink SL positioning reference signal configurations, N being a positive integer greater than 1; a determining module for determining a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations; a transmitting module for transmitting a SL positioning reference signal based on the target SL positioning reference signal configuration.

31. A side link positioning device, comprising: a first receiving module for receiving a sidelink (SL) positioning request; a first sending module for sending a first message to a radio access network equipment to request activation of a target SL positioning reference signal configuration of the first terminal based on the positioning request.

32. A side link positioning device, comprising: a first receiving module for receiving a first message sent by a positioning server to request activation of a target SL positioning reference signal configuration of the first terminal; a first sending module for sending an activation message to the first terminal; wherein the activation message is activating the target SL positioning reference signal configuration; and and activating transmission resources associated with the target SL positioning reference signal configuration.

33. 8. A terminal including a processor and a memory, the memory storing a program or instructions operable on the processor, the program or instructions, when executed by the processor, implementing the steps of the sidelink positioning method according to any one of claims 1 to 7.

34. 19. A positioning server comprising a processor and a memory, the memory storing a program or instructions operable to run on the processor, the program or instructions, when executed by the processor, implementing the steps of a sidelink positioning method according to any one of claims 8 to 18.

35. 30. A radio access network device comprising a processor and a memory, the memory storing a program or instructions operable on the processor, the program or instructions being operable when executed by the processor to implement the steps of a sidelink positioning method according to any one of claims 19 to 29.

36. 30. A readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implements steps of the sidelink positioning method according to any one of claims 1 to 7; or, when executed by a processor, which implements steps of the sidelink positioning method according to any one of claims 8 to 18; or, when executed by a processor, which implements steps of the sidelink positioning method according to any one of claims 19 to 29.

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