Transmission of control information related to sidelink positioning reference signals

Abstract

An exemplary embodiment of the present disclosure relates to transmission of control information related to a sidelink positioning reference signal. In the exemplary method, a first terminal device in a radio access network includes at least one processor and at least one memory including computer program code configured to cause the first terminal device, using the at least one processor, to transmit control information related to a physical sidelink feedback channel (PSFCH) symbol or a sidelink (SL) positioning reference signal (PRS) dedicated for control information to a second terminal device during an SL positioning session for positioning the second terminal device in the radio access network, using a control information resource in the at least one symbol. In this manner, the first terminal device can efficiently transmit the control information to the second terminal device while maintaining backward compatibility.

Description

[Technical Field]

[0001] Exemplary embodiments of the present disclosure relate generally to the field of telecommunications, and more particularly to a first terminal device, a second terminal device, a network device in a radio access network, a method, an apparatus, and a computer-readable storage medium for transmitting control information related to a sidelink positioning reference signal. [Background technology]

[0002] In the 3GPP Release 18 Study Item, sidelink (SL) positioning will be studied to extend and improve New Radio (NR) positioning. One of the goals of the Release 18 Study Item is to reuse existing SL physical layer designs as much as possible. This is to maximize backward compatibility and reduce standardization efforts. However, the current SL frame structure was designed with only SL communicators in mind. Positioning signals, on the other hand, have special requirements, particularly in terms of bandwidth and latency. This is to enable accurate and timely measurements, with the overall goal of meeting the diverse Quality of Service (QoS) requirements of sidelink positioning use cases.

[0003] For SL positioning, it is necessary to define signals as SL positioning reference signals (SL PRS) and control information associated with the SL PRS. The transmission of the SL PRS and control information associated with the SL PRS must be accommodated within the SL frame structure while meeting the needs of positioning and minimizing impact on legacy operation. Summary of the Invention

[0004] Generally, according to example embodiments of the present disclosure, a solution is provided for transmission of control information related to sidelink positioning reference signals.

[0005] In a first aspect, there is provided a first terminal device in a radio access network, the first terminal device comprising: at least one processor and at least one memory including computer program code configured to cause the first terminal device, together with the at least one processor, to transmit control information related to a sidelink (SL) positioning reference signal (PRS) to a second terminal device during an SL positioning session for positioning the second terminal device in the radio access network, using resources for SL PRS-related control information of a physical sidelink feedback channel (PSFCH) symbol or at least one symbol dedicated for SL PRS-related control information.

[0006] In a second aspect, there is provided a second terminal device in a radio access network, the second terminal device comprising: at least one processor and at least one memory including computer program code configured to cause the second terminal device, together with the at least one processor, to receive control information related to a sidelink (SL) positioning reference signal (PRS) from a first terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, in physical sidelink feedback channel (PSFCH) symbols or in at least one symbol dedicated for control information related to the SL PRS, using resources for the control information.

[0007] In a third aspect, there is provided a network device in a radio access network, comprising: at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured, together with the at least one processor, to cause at least one terminal device in the radio access network to transmit configuration information related to a sidelink (SL) positioning session for positioning of the at least one terminal device in the radio access network.

[0008] In a fourth aspect, there is provided a method performed by a first terminal device in a radio access network, the method comprising: transmitting, at the first terminal device in the radio access network, control information related to a sidelink (SL) positioning reference signal (PRS), using resources for control information related to the SL PRS in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information related to the SL PRS, to a second terminal device during an SL positioning session for positioning of the second terminal device in the radio access network.

[0009] In a fifth aspect, there is provided a method performed by a second terminal device in a radio access network, the method comprising: receiving, at the second terminal device in the radio access network, control information related to a sidelink (SL) positioning reference signal (PRS) from a first terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, using resources for control information related to an SL PRS in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information related to the SL PRS.

[0010] In a sixth aspect, there is provided a method performed by a network device in a radio access network, the method comprising: transmitting, at the network device in the radio access network, to at least one terminal device in the radio access network, configuration information related to a sidelink (SL) positioning session for positioning of the at least one terminal device in the radio access network.

[0011] In a seventh aspect, there is provided an apparatus, comprising: means, at a first terminal device in a radio access network, for transmitting control information related to a sidelink (SL) positioning reference signal (PRS) to a second terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, using resources of the SL PRS related control information in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information.

[0012] In an eighth aspect, there is provided an apparatus, comprising: means for receiving, at a second terminal device in a radio access network, control information related to a sidelink (SL) positioning reference signal (PRS) from a first terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, using resources for the control information related to the SL PRS in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information.

[0013] In a ninth aspect, there is provided an apparatus, comprising: means, in a network device in a radio access network, for transmitting, to at least one terminal device in the radio access network, configuration information related to a sidelink (SL) positioning session for positioning of the at least one terminal device in the radio access network.

[0014] In a tenth aspect, there is provided a non-transitory computer readable medium comprising program instructions for causing an apparatus to perform the methods of at least the fourth, fifth and sixth aspects.

[0015] It should be understood that the summary section is not intended to identify key or important features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become readily apparent throughout the following description.

[0016] Several exemplary embodiments will now be described with reference to the accompanying drawings. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 illustrates an example of a network environment in which some exemplary embodiments of the present disclosure may be implemented.

[0018] [Figure 2] FIG. 10 illustrates an example process flow for transmission of control information related to SL PRS.

[0019] [Figure 3A] FIG. 1 illustrates an example of a sidelink frame format in some exemplary embodiments of the present disclosure.

[0020] [Figure 3B] FIG. 10 illustrates another example of a sidelink frame format in some exemplary embodiments of the present disclosure.

[0021] [Figure 4] FIG. 2 illustrates an example slot structure for an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0022] [Figure 5A]FIG. 10 illustrates another example slot structure for an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0023] [Figure 5B] FIG. 10 illustrates another example slot structure for an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0024] [Figure 6] FIG. 10 illustrates yet another example slot structure for an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0025] [Figure 7] FIG. 10 illustrates yet another example slot structure for an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0026] [Figure 8] 10 illustrates an example of transmission of control information associated with SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0027] [Figure 9] FIG. 10 illustrates another example of transmission of SL PRSs and control information associated with the SL PRSs in accordance with some exemplary embodiments of the present disclosure.

[0028] [Figure 10] 10A-10C illustrate further examples of transmission of SL PRSs and control information associated with the SL PRSs in accordance with some exemplary embodiments of the present disclosure.

[0029] [Figure 11] 10A-10C illustrate further examples of transmission of SL PRSs and control information associated with the SL PRSs in accordance with some exemplary embodiments of the present disclosure.

[0030] [Figure 12]FIG. 10 illustrates yet another example of transmission of SL PRSs and control information associated with the SL PRSs in accordance with some exemplary embodiments of the present disclosure.

[0031] [Figure 13] FIG. 10 illustrates an example process flow for transmission of control information associated with an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0032] [Figure 14] FIG. 2 illustrates an example of a method implemented in a first terminal device in some exemplary embodiments of the present disclosure.

[0033] [Figure 15] FIG. 10 illustrates an example of a method implemented in a second terminal device in some exemplary embodiments of the present disclosure.

[0034] [Figure 16] FIG. 1 illustrates an example of a method implemented in a network device in some exemplary embodiments of the present disclosure.

[0035] [Figure 17] FIG. 1 shows a simplified block diagram of a device suitable for practicing some exemplary embodiments of the present disclosure.

[0036] [Figure 18] In some exemplary embodiments of the present disclosure, a block diagram of an example of a computer-readable medium is shown. DETAILED DESCRIPTION OF THE INVENTION

[0037] Throughout the drawings, the same or similar reference numbers represent the same or similar elements.

[0038] The principles of the present disclosure will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are provided for illustrative purposes to help those skilled in the art understand and practice the present disclosure, and are not intended to imply any limitations on the scope of the present disclosure. The disclosure described herein can be implemented in various forms other than those described below.

[0039] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0040] In this disclosure, phrases such as "one embodiment," "an embodiment," "exemplary embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but do not necessarily mean that every embodiment includes the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is believed to be within the knowledge of one of ordinary skill in the art to affect such feature, structure, or characteristic in other embodiments, whether or not explicitly stated.

[0041] Terms such as "first" and "second" may be used herein to describe various elements, but it should be understood that these elements should not be limited by these terms. These terms are used merely to distinguish one element from another. For example, a first element could be termed a second element, and similarly, a second element could be termed a first element, without departing from the scope of the exemplary embodiments. As used herein, the term "and / or" includes any and all combinations of one or more of the listed terms.

[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit example embodiments. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will be further understood that the terms "comprises," "comprising," "has," "having," "includes," and / or "including," when used herein, specify the presence of stated features, elements, and / or components, etc., but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0043] As used herein, the term "circuitry" may refer to one or more or all of the following: (a) hardware-only circuit implementations (e.g., analog and / or digital-only implementations); and (b) Combinations of hardware circuitry and software (if applicable): (i) a combination of analog and / or digital hardware circuitry and software / firmware; and (ii) any portion of software (including digital signal processors), hardware processors with software and memory, that work together to cause a device, such as a mobile phone or server, to perform various functions; and (c) A hardware circuit and / or processor, e.g., a microprocessor or portion of a microprocessor, that requires software (e.g., firmware) to operate, but the software may be absent when not necessary for operation.

[0044] This definition of circuit applies to all uses of the term in this application, including any claims. As a further example, when used in this application, the term circuit also covers simply a hardware circuit or processor (or processors) or portion of a hardware circuit or processor and its (or their) accompanying software and / or firmware implementation. The term circuit also covers, for example, a baseband or processor integrated circuit for a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing or network device, if applicable to a particular claim element.

[0045] As used herein, the term "communication network" refers to a network conforming to any appropriate communication standard, such as Long Term Evolution (LTE), LTE-Advanced (LTE-A), Wideband Code Division Multiple Access (WCDMA), High-Speed ​​Packet Access (HSPA), or Narrow Band Internet of Things (NB-IoT). Furthermore, communications between terminal devices and network devices in a communication network may be performed according to any appropriate generation of communication protocols, including, but not limited to, fourth-generation (4G), 4.5G, future fifth-generation (5G) communication protocols, and / or other protocols currently known or developed in the future. Embodiments of the present disclosure may be applied in various communication systems. Given the rapid development of communications, there will, of course, be future communication technologies and systems to which the present disclosure may be applied in embodiments. The scope of the present disclosure should not be considered limited to only the aforementioned systems.

[0046] As used herein, the term "network device" refers to a node of a communication network through which a terminal device accesses the network and receives services therefrom. Depending on the terminology and technology applied, a network device may refer to, for example, a Node B (NodeB or NB), an evolved Node B (eNodeB or eNB), an NR NB (also referred to as a gNB), a Remote Radio Unit (RRU), a Radio Header (RH), a Remote Radio Head (RRH), a relay, an Integrated Access Backhaul (IAB) node, a low-power node such as a femto or pico node, a non-terrestrial network (NTN) or non-terrestrial network device such as a satellite network device, a low Earth orbit (LEO) satellite, a geostationary Earth orbit (GEO) satellite, an airborne network device, or the like, a base station (BS) or an access point (AP).

[0047] The term "terminal device" refers to any end device capable of wireless communication. By way of example and not limitation, a terminal device may also be referred to as a communication device, user equipment (UE), subscriber station (SS), mobile subscriber station, mobile station (MS), or access terminal (AT). Terminal devices may include, but are not limited to, mobile phones, cellular phones, smartphones, voice-over-IP (VoIP) phones, wireless local loop phones, tablets, wearable terminal devices, personal digital assistants (PDAs), portable computers, desktop computers, image capture terminal devices such as digital cameras, gaming terminal devices, music storage and playback equipment, vehicle wireless terminal devices, wireless endpoints, mobile stations, laptop embedded devices (LEEs), laptop mounted devices (LMEs), USB dongles, smart devices, wireless customer premises equipment (CPEs), Internet of Things (IoT) devices, watches or other wearables, head-mounted displays (HMDs), vehicles, drones, medical devices and applications (e.g., remote surgery), industrial devices and applications (e.g., robots and / or other wireless devices operating in industrial and / or automated processing chain contexts), electronic devices that may include consumer, commercial, and / or industrial wireless networks, etc. In the following description, the terms "terminal device," "communicator," and "terminal" may be used interchangeably.

[0048] The 3GPP Release 18 Study Item will investigate sidelink (SL) positioning to extend and improve New Radio (NR) positioning. One of the goals of the Release 18 Study Item is to reuse existing SL physical layer designs as much as possible to maximize backward compatibility and reduce standardization efforts. However, the current SL frame structure was designed with only SL communications in mind. Positioning signals, on the other hand, have special requirements, particularly in terms of bandwidth and latency. This is to enable accurate and timely measurements, with the overall goal of meeting the diverse Quality of Service (QoS) requirements of sidelink positioning use cases.

[0049] To realize radio access technology (RAT)-dependent positioning technology, it is necessary to transmit reference signals over the cellular interface. In conventional uplink (UL) or downlink (DL) based positioning, the following signals are defined: DL: Positioning Reference Signal (PRS), UL: Positioning Sounding Reference Signal (SRS).

[0050] In this specification, a sidelink positioning reference signal (SL PRS) for SL positioning refers to a reference signal transmitted over the SL interface. For SL positioning, control information related to the SL PRS must also be defined. The transmission of the SL PRS and its associated control information must be accommodated within the SL frame structure, minimizing impact on legacy operation while meeting the positioning needs.

[0051] According to exemplary embodiments of the present disclosure, a scheme for solving the above-mentioned problems is provided, in which control information related to SL PRS transmission and reception over the SL interface is designed while reusing existing specifications for backward compatibility. The principles and some exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0052] 1 illustrates an example of a network environment 100 in which some exemplary embodiments of the present disclosure can be implemented. In the wireless access network, or network environment 100, there is a network device 101, a first terminal device 102, and a second terminal device 103. The network device 101 transmits configuration information related to an SL positioning session for positioning to the terminal devices 102 and 103 at 104 and 105. The first terminal device 102 transmits control information related to an SL PRS directly to the second terminal device 103 at 106 without going through the network device 101. The first terminal device 102 can also transmit a PRS to the second terminal device 103 at 106. The terminal devices 102 and 103 can be vehicles or other terminal devices in the SL positioning session.

[0053] Figure 2 illustrates an example process flow 200 for transmitting control information associated with an SL PRS. For purposes of discussion, the process flow 200 will be described with reference to Figure 1. Although the process flow 200 is described with reference to the network environment 100 of Figure 1, it will be understood that the process flow 200 may be applied to other similar communication contexts as well.

[0054] In process flow 200, the network device 101 transmits (210) configuration information 201 related to the SL positioning session to the first terminal device 102. Additionally, the network device 101 transmits (220) the setting information 201 related to the SL positioning session to the second terminal device 103.

[0055] Continuing with reference to Figure 2, the first terminal device 102 receives (215) configuration information 201 related to an SL positioning session from the network device 101. The first terminal device 102 then transmits (230) control information 205 related to a sidelink (SL) positioning reference signal (PRS) to the second terminal device 103 during the SL positioning session for positioning the second terminal device using resources for the control information 205 in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information.

[0056] In some example embodiments, the configuration information 201 may comprise a number of slots for a SL positioning session, which may be used to indicate to a terminal device which slots to use for a positioning session in SL.

[0057] Additionally or alternatively, the configuration information 201 may comprise whether the resources for the control information 205 are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information related to SL PRSs, which may indicate that the first terminal device 102 transmits control information related to SL PRSs in said symbols, and that the second terminal device 103 receives control information 205 in said symbols.

[0058] Additionally or alternatively, the configuration information 201 can include whether resources for the control information 205 and resources for the SL PRS are in different resource pools. The network device 101 can configure a specific SL resource pool (or pools) for transmission of the SL PRS, e.g., a pool including new minislots with symbols dedicated to SL PRS transmission. In this case, the control information 205 related to the SL PRS transmission can be transmitted in another pool, e.g., a pool that is fully compatible with legacy UEs. The terminal device 102 can use one of the SL resource pools to reserve and indicate SL PRS resources in another pool via different options for transmitting the SL PRS and control information related to the SL PRS. The terminal device 102 can then transmit the SL PRS in the other pool via different options for transmitting the SL PRS.

[0059] Additionally or alternatively, the configuration information 201 may comprise whether resources for the SL PRS are in at least one DMRS symbol or in at least one symbol dedicated to the SL PRS. For example, the first terminal device 102 may use a dedicated symbol for SL PRS transmission if at least one DMRS symbol cannot provide sufficient resources for the positioning quality of service requirements.

[0060] In this way, the network device 101 can clearly indicate to the terminal device the resources for transmitting the control information 205 and the SL PRS, and can avoid wasting resources and collisions in signal transmission.

[0061] In some exemplary embodiments, the configuration information 201 from the network device 101 can be provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message. The configuration information 201 can have a variety of content. For example, the configuration information can include slots configured for the SL positioning session, such as slots including at least one symbol dedicated to positioning control information that are repeated every eight slots. In this manner, the configuration information can be reliably transmitted to all terminal devices required for the SL positioning session.

[0062] In some exemplary embodiments, the control information 205 related to the SL PRS can have a variety of content. For example, the control information 205 can include the slot type or format in which the SL PRS is transmitted. The slot can be a legacy slot with a DMRS used to transmit the "SL PRS" with a different DMRS configuration. The slot can also be a new minislot that includes at least one dedicated symbol for the SL PRS.

[0063] As another example, the control information 205 associated with the SL PRS may include a resource pool identifier (ID) in which the SL PRS is transmitted. As another example, the control information 205 associated with the SL PRS may include an offset indicating the slot number in which the SL PRS is transmitted. As another example, the control information 205 may include other control information associated with the SL PRS, such as resource allocation, symbols and subchannels within a slot, periodicity, comb structure, etc. In this manner, the control information 205 associated with the SL PRS may provide more flexible control over the SL PRS. As a further example, the control information associated with the SL PRS may include any combination of one or more of the foregoing.

[0064] 2, the second terminal device 103 receives 225 configuration information 201 related to an SL positioning session from the network device 101. The second terminal device 103 then receives 235 control information 205 related to a sidelink (SL) positioning reference signal (PRS) during the SL positioning session for positioning of the second terminal device from the first terminal device 102 in the radio access network using resources for control information related to an SL PRS of a physical sidelink feedback channel (PSFCH) symbol or at least one symbol dedicated for control information related to the SL PRS.

[0065] In this way, the second terminal device 103 can obtain detailed information about the SL PRS from the control information related to the SL PRS after obtaining resource allocation for the control information related to the SL PRS from the network device 101. This makes it possible to avoid resource waste and collisions in signal transmission related to the SL PRS.

[0066] 3A and 3B show an example of a sidelink frame format in some exemplary embodiments of the present disclosure. The New Radio (NR) sidelink currently uses the following physical channels and signals, among others, for SL communication purposes: The Physical Sidelink Control Channel (PSCCH) carries control information related to the sidelink SL PRS, also known as Sidelink Control Information (SCI). The Physical Sidelink Shared Channel (PSSCH) carries the sidelink data payload and additional control information. The Physical Sidelink Feedback Channel (PSFCH) carries feedback regarding successful or unsuccessful reception of sidelink transmissions and inter-UE coordination information. The Demodulation Reference Signal (DMRS) is used by the receiver to decode the associated sidelink physical channels, such as the PSCCH and PSSCH.

[0067] The resources on which the PSSCH is transmitted may be scheduled or configured by the network device 101, such as a gNB, in resource allocation mode 1, or may be determined through a sensing procedure performed autonomously by the first terminal device 102, or the transmitting UE, in resource allocation mode 2. The DMRS associated with the PSSCH may be transmitted in 2, 3, or 4 sidelink symbols distributed over a sidelink slot.

[0068] According to an exemplary embodiment of the present disclosure, there is no PSFCH in Figure 3A, while there are two PSCCH symbols and two PSSCH-DRMS symbols in the slot. In addition to the physical channels and signals described above, automatic gain control (AGC) symbols are used to adjust received signal power, and guard symbols are used for timing adjustment and to allow terminal devices to switch between transmission and reception across slots. The slot in Figure 3B has three PSCCH symbols, three PSSCH-DRMS symbols, and one PSFCH symbol.

[0069] Figure 4 illustrates an example slot structure for SL PRS in some exemplary embodiments of the present disclosure. In the current implementation, there are dedicated symbols for SL PRS transmission in the SL slot, as shown in Figure 4. Relevant control information for the SL PRS and "metadata" related to positioning (e.g., device known location, measurement results, etc.) are transmitted using the PSCCH / PSSCH in the preceding slot.

[0070] 5A illustrates another example slot structure for SL PRS in some exemplary embodiments of the present disclosure. In this embodiment, the resource allocation for SL PRS comprises a set of dedicated symbols for SL PRS transmission in the SL slot. The last symbol in the slot is allocated for the SL PRS. The previous symbol carrying the PRS is used as an AGC symbol.

[0071] 5B illustrates a further example of a slot structure for SL PRS in some exemplary embodiments of the present disclosure. In this embodiment, the resource allocation for SL PRS comprises a set of symbols dedicated for SL PRS transmission in an SL slot. In a slot, multiple PRS symbol sets are configured for SL PRS. In each set of PRS symbols, the first symbol is used as an AGC symbol. Guard symbols are allocated between two adjacent sets of PRS symbols.

[0072] 6 illustrates a further example of a slot structure for the SL PRS in some exemplary embodiments of the present disclosure. In this embodiment, the SL PRS is configured in a new, independent SL positioning slot.

[0073] 7 illustrates yet another example slot structure for SL PRS in some exemplary embodiments of this disclosure. In this embodiment, there is also a single dedicated slot for the SL PRS.

[0074] 4 to 7 show several ways of SL slot structures in which dedicated symbols are used to transmit SL PRS. Based on existing implementations in the prior art, it can be concluded that there are many ways of SL slot structures or specific SL resources for transmitting SL PRS. However, the prior art does not mention how to efficiently incorporate the transmission of control information related to SL PRS into the frame structure.

[0075] Figures 8, 9, and 10 illustrate examples of transmission of control information associated with SL PRSs in accordance with some exemplary embodiments of the present disclosure. According to exemplary embodiments of the present disclosure, Figures 8, 9, and 10 illustrate symbol allocations for SL PRSs and control information associated with SL PRSs.

[0076] According to an exemplary embodiment of the present disclosure, the first terminal device 102 transmits control information 205 related to SL PRSs to the second terminal device 103 during an SL positioning session using resources in the PSFCH symbol 801. The resource can be at least one physical resource block (PRB) in the PSFCH symbol. This proposal does not affect the current SL frame structure, such as that shown in FIG. 3B. The control information 205 related to SL PRSs can utilize unused resources in the PSFCH symbol in slots configured for this feature. According to an exemplary embodiment of the present disclosure, there is a resource pool with 100 PRBs, with 10 PRBs per subchannel in the PSFCH. 20 PRBs can be allocated to the conventional PSFCH, and the remaining 80 PRBs can be utilized to transmit control information 205 related to SL PRSs. In this way, the control information 205 related to SL PRSs has the least impact on the specifications and allows for backward compatibility. This is Option 1 for transmitting the control information 205.

[0077] According to an exemplary embodiment of the present disclosure, the new minislot can include a configurable number (e.g., between 1 and 4) of symbols dedicated to transmitting control information 205 related to SL PRSs. This avoids wasting resources in the remaining part of the slot when the UE only transmits SL PRSs and does not want to transmit other associated data. The remaining part of the slot can instead be used by SL transmissions of other terminal devices. While this option requires a change to the structure of the SL slot, backward compatibility can be achieved by placing the proposed minislots, for example, at the ends of the slot. In this way, legacy terminal devices can still decode the legacy PSCCH at the beginning of the slot and sense and decode transmissions from other terminal devices.

[0078] According to an exemplary embodiment of the present disclosure, the first terminal device 102 can transmit control information 205 associated with the SL PRS using a new minislot consisting of at least one symbol dedicated to control information associated with the SL PRS 901. This is particularly efficient when the first terminal device 102 has no other SL data to transmit, thus preserving the remainder of the slot for SL transmissions of other terminal devices. By placing the proposed minislot consisting of at least one symbol for control information associated with the SL PRS at the first end of the legacy slot structure, it is also possible for legacy terminal devices to still sense, decode, or utilize the first end of the slot. In this way, wasting resources in the remainder of the slot is avoided, and the remainder of the slot can be used instead by SL transmissions of other terminal devices, ensuring backward compatibility. This is option 2 for transmitting control information 205.

[0079] According to an example embodiment of the present disclosure, the first terminal device 102 may use dedicated symbols to transmit control information 205 related to the SL PRS. Those skilled in the art will appreciate that a minislot consisting of at least one symbol dedicated to control information related to the SL PRS may also be located in other parts of the legacy slot structure, such as in the middle of the legacy slot structure, with the following symbols reserved for future use.

[0080] According to an exemplary embodiment of the present disclosure, the first terminal device 102 transmits SL PRS-related control information 205 using the legacy PSCCH in 1001, as in the case of SL data transmission. This embodiment also does not involve any changes to the SL frame structure. In this case, if the first terminal device 102 has other positioning-related data to transmit along with the SL PRS-related control information 205, such as RTT (Real Time Trace) measurements, the positioning-related data can be transmitted in a latency-efficient manner by using the PSSCH symbols in the remaining part of the slot. This allows for transmission in a latency-efficient manner while maintaining backward compatibility. This is option 3 for transmitting the control information 205.

[0081] According to an exemplary embodiment of the present disclosure, the first terminal device 102 can use a DMRS symbol in a legacy slot for SL PRS. This allows for backward compatibility without requiring changes to the SL frame structure. However, depending on the SL PRS parameters, the DMRS may not be sufficient to meet the required positioning QoS needs. In FIG. 10, the DMRS symbol 1002 is used for SL PRS transmission within the same slot, and the associated control information 205 is transmitted using the legacy PSCCH 1001. This scheme can further improve positioning latency.

[0082] On the other hand, the DMRS symbol 902 or 1003 for the SL PRS can be in a slot further after the slot for the control information 205 related to the SL PRS, thereby allowing the terminal device 1003 time to prepare for receiving the SL PRS after receiving the control information 205 related to the SL PRS. This is also effective for terminals with low capabilities such as IoT (Internet of Things) terminals. The above is option 1 for transmitting the SL PRS.

[0083] According to an exemplary embodiment of the present disclosure, the first terminal device 102 uses a new type of minislot that includes at least one dedicated symbol 903, 1004 for SL PRS transmission, occupying part or all of the slot. The number of at least one symbol in the minislot can be configured by the network device 101, such as depending on the positioning needs. This implementation may require a change in the SL frame structure. This is option 2 for transmitting SL PRS.

[0084] According to an example embodiment of the present disclosure, the first terminal device 102 can dynamically determine whether to transmit the SL PRS in at least one DMRS symbol or at least one dedicated symbol. For example, the first terminal device 102 can use a dedicated symbol for SL PRS transmissions where at least one DMRS symbol does not provide sufficient positioning resources for the request.

[0085] This decision should be made in the anchor terminal device or the first terminal device 102 of Figures 1 and 2, which can evaluate the need for dedicated resources. Such evaluation should be made based on at least one of the following factors: The first factor can be the number of terminal devices in the radio access network 100 that are going to measure the SL PRS in the SL positioning session. The second factor can be the importance of the positioning session in the radio access network 100, as reflected in the positioning QoS. The third factor can be the availability of resources at the anchor terminal device, for example, whether such dedicated symbols or resources are unused or will be used for SL communication purposes. In this way, decision conflicts among multiple terminal devices can be avoided, and transmission resources in SL can be saved.

[0086] According to an example embodiment of the present disclosure, the SL PRS and the control information associated with the SL PRS may be scheduled on the same resources or on different resources. The resources may be resource pools. For example, the control information 205 associated with the SL PRS may be transmitted on one resource pool, while the transmission of the associated SL PRS occurs on another resource pool. This option allows the control information 205 associated with the SL PRS to be accommodated within the existing SL slot structure as proposed above, again designed to ensure backward compatibility, where different resource pools can be configured for new Rel-18 UEs that can transmit or receive SL PRSs for SL positioning.

[0087] The network device 101 can configure a specific SL resource pool (or pools) for the transmission of SL PRS, e.g., a resource pool that includes new minislots with symbols dedicated to SL PRS transmissions. In this case, control information 205 related to SL PRS transmissions can be transmitted in other resource pools, e.g., a resource pool that is fully compatible with legacy terminal devices.

[0088] An end device can use one of the SL resource pools to reserve and indicate SL PRS resources in another pool, such as via control option 1, 2, or 3. It then transmits the SL PRS of the other pool via SL PRS option 1 or 2.

[0089] 11 and 12 show further examples of transmission of SL PRSs and control information associated with SL PRSs in some exemplary embodiments of the present disclosure. According to exemplary embodiments of the present disclosure, network device 101 can configure resources 1101 for control information 205 associated with SL PRSs. The resources for control information 205 associated with SL PRSs can be a PSFCH, a PSCCH, or at least one symbol dedicated to control information associated with SL PRSs. Resources 1201 for SL PRSs can be within a DMRS or can include a new minislot with at least one dedicated symbol. As shown in FIGS. 11 and 12, resources 1101 and 1201 can reside in different resource pools. In this manner, more flexibility can be provided in resource allocation for SL PRSs and control information associated with SL PRSs.

[0090] According to an exemplary embodiment of the present disclosure, resource 1101 and resource 1201 can also be in the same resource pool. In this way, more accurate location measurement can be achieved when a terminal device is moving at high speed. According to an exemplary embodiment of the present disclosure, the present disclosure proposes new control information not only between SL terminal devices but also between a network device such as a gNB or a Location Management Function (LMF) in a core network and a terminal device to utilize the new SL frame structure.

[0091] In some exemplary embodiments, the control information 205 for the SL PRS can have a variety of content. For example, the control information 205 related to the SL PRS can include the slot type or format in which the SL PRS is transmitted. The slot can be a legacy slot with a DMRS used to transmit the "SL PRS" with a different DMRS configuration. The slot can also be a new minislot that includes at least one SL PRS dedicated symbol.

[0092] As another example, the control information 205 associated with the SL PRS may include a resource pool identifier (ID) in which the SL PRS is transmitted. As another example, the control information 205 associated with the SL PRS may include an offset indicating the slot number in which the SL PRS is transmitted. As another example, the control information 205 associated with the SL PRS may include resource allocation or other control information associated with the SL PRS, such as symbols and subchannels within a slot, periodicity, comb structure, etc. In this manner, the control information 205 associated with the SL PRS may provide more flexible control over the SL PRS. As a further example, the control information 205 associated with the SL PRS may include any combination of one or more of the foregoing.

[0093] In some exemplary embodiments, configuration information from network device 101 can be provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message. The configuration information can comprise a variety of content. For example, configuration information 201 can include configured slots for the SL positioning session, such as a new minislot for positioning control information that is repeated every 8 slots.

[0094] As another example, the configuration information 201 may indicate whether the terminal device can use at least one PSFCH symbol, at least one PSCCH symbol, and at least one dedicated symbol to transmit control information related to SL PRSs. As another example, the configuration information 201 may indicate whether the terminal device can schedule SL PRSs and control information related to SL PRSs across different SL resource pools. As another example, the configuration information 201 may indicate whether the terminal device can use at least one DMRS symbol or at least one dedicated symbol to transmit SL PRSs. In this way, the network device can more efficiently configure resources for SL positioning of all terminal devices and avoid resource waste or decision conflicts between different terminal devices. As a further example, the configuration information may include any combination of one or more of the above.

[0095] FIG. 13 illustrates an example process flow 1300 for transmission of control information associated with an SL PRS in accordance with some exemplary embodiments of the present disclosure.

[0096] In process flow 1300, the network device 101 transmits (210) configuration information 201 related to the SL positioning session to the first terminal device 102. Additionally, the network device 101 transmits (220) configuration information 201 related to the SL positioning session to the second terminal device 103.

[0097] 13 , the first terminal device 102 receives 215 configuration information 201 related to an SL positioning session from the network device 101. Then, the first terminal device 102 transmits 230 control information 205 related to a sidelink (SL) positioning reference signal (PRS) to the second terminal device 103 during the SL positioning session for positioning the second terminal device using resources for control information in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information.

[0098] In some example embodiments, the configuration information may comprise a number of slots for the SL positioning session, which may be used to indicate to the terminal device the slots to be used for the positioning session in SL.

[0099] Additionally or alternatively, the configuration information 201 may comprise whether the resources for the control information 205 related to the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information related to the SL PRS, which may indicate that the first terminal device 102 transmits control information 205 related to the SL PRS in said symbols, and that the second terminal device 103 receives control information 205 related to the SL PRS in said symbols.

[0100] Additionally or alternatively, the configuration information 201 can include whether resources for control information related to SL PRSs and resources for SL PRSs are in different resource pools. The network device 101 can configure a specific SL resource pool (or pools) for transmission of SL PRSs, e.g., a resource pool including new minislots with symbols dedicated to SL PRS transmissions. In this case, control information 205 related to SL PRS transmissions can be transmitted in other pools, e.g., pools that are fully compatible with legacy terminal devices. The terminal device 102 can use one of the SL resource pools to reserve and indicate SL PRS resources in another pool via a different control option. In response, the terminal device 102 can transmit SL PRSs in the other pool via a different SL PRS option.

[0101] Additionally or alternatively, the configuration information 201 may comprise whether resources for the SL PRS are in at least one DMRS symbol or in at least one symbol dedicated to the SL PRS. For example, the first terminal device 102 may use a dedicated symbol for SL PRS transmission if at least one DMRS symbol cannot provide sufficient positioning resources for the request.

[0102] In this way, the network device 101 can clearly indicate the resources of the SL PRS and the control information 205 associated with the SL PRS to the terminal device, and can avoid resource wastage and signal transmission collisions.

[0103] In some exemplary embodiments, configuration information 201 from network device 101 can be provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message. The configuration information 201 can have various contents. For example, the configuration information 201 can include configured slots for the SL positioning session, such as a new minislot for positioning control information that is repeated every eight slots. In this manner, configuration information can be reliably transmitted to all terminal devices required for the SL positioning session.

[0104] In some exemplary embodiments, the SL PRS-related control information 205 can have a variety of content. For example, the SL PRS-related control information 205 can include the slot type or format in which the SL PRS is transmitted. The slot can be a legacy slot with a DMRS used to transmit the "SL PRS" with a different DMRS configuration. The slot can also be a new minislot that includes at least one SL PRS-dedicated symbol.

[0105] As another example, the control information 205 associated with the SL PRS may include a resource pool identifier (ID) in which the SL PRS is transmitted. As another example, the control information 205 associated with the SL PRS may include an offset indicating the slot number in which the SL PRS is transmitted. As another example, the control information 205 associated with the SL PRS may include other control information associated with the SL PRS, such as resource allocation, symbols and subchannels within a slot, periodicity, comb structure, etc. In this manner, the control information 205 associated with the SL PRS may provide more flexible control over the SL PRS. As a further example, the control information 205 associated with the SL PRS may include any combination of one or more of the above.

[0106] The first terminal device 102 transmits 1310 the SL PRS 1301 to the second terminal device 103 in accordance with the control information 205 .

[0107] 13 , the second terminal device 103 receives 225 configuration information 201 related to an SL positioning session from the network device 101. The second terminal device 103 then receives 235 control information 205 related to a sidelink (SL) positioning reference signal (PRS) during the SL positioning session for positioning of the second terminal device from the first terminal device 102 in the radio access network using resources for control information 205 related to an SL PRS in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information related to the SL PRS.

[0108] In this way, the second terminal device 103 can obtain detailed information about the SL PRS from the control information related to the SL PRS after obtaining resource allocation of the control information 205 related to the SL PRS from the network device 101. This can avoid wasting resources and collisions in signal transmission.

[0109] The second terminal device 103 receives 1315 the SL PRS 1301 from the first terminal device 102 in accordance with the control information 205 .

[0110] 14 illustrates an example of a method 1400 implemented in a first terminal device 102 in some example embodiments of the present disclosure. In block 1401, the first terminal device transmits control information related to a sidelink (SL) positioning reference signal (PRS) to a second terminal device during an SL positioning session for positioning the second terminal device in a radio access network using resources of a physical sidelink feedback channel (PSFCH) symbol or at least one symbol dedicated for control information.

[0111] In some embodiments, the control information related to the SL PRS indicates resources for the SL PRS, the resources for the SL PRS indicating at least one of at least one demodulation reference signal (DMRS) symbol or at least one symbol dedicated to the SL PRS, an identifier of a resource pool comprising the resources for the SL PRS, and an offset indicating the number of slots in which the SL PRS is transmitted.

[0112] In some embodiments, the first terminal device 102 is further configured to receive, from a network device in the radio access network, configuration information related to an SL positioning session for positioning of at least one terminal device in the radio access network, and determine, based on the configuration information, resources for control information related to the SL PRS and resources for the SL PRS.

[0113] In some embodiments, the first terminal device is further configured to transmit control information related to the SL PRS to the second terminal device in at least one physical sidelink control channel (PSCCH) symbol using the resource of the control information related to the SL PRS. In some embodiments, the first terminal device is an anchor terminal device, and the first terminal device is further configured to determine the resource of the SL PRS based on at least one of the number of terminal devices in the radio access network in the SL positioning session, the importance of the SL positioning session in indicating positioning Quality of Service (QoS), and the availability of resources at the anchor terminal device.

[0114] In some embodiments, resources for the control information associated with the SL PRS and resources for the SL PRS are provided in a resource pool. In some embodiments, resources for the control information associated with the SL PRS and resources for the SL PRS are provided in different resource pools.

[0115] In some embodiments, the configuration information indicates at least one of: a number of slots for the SL positioning session, whether resources for control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information associated with the SL PRS, whether resources for control information associated with the SL PRS and resources for the SL PRS are in different resource pools, whether resources for the SL PRS are in at least one DRMS ​​symbol or at least one symbol dedicated to the SL PRS. In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0116] 15 illustrates an example of a method 1500 implemented in a second terminal device 103 in some example embodiments of the present disclosure. In block 1501, the second terminal device receives, from a first terminal device in a radio access network, control information related to a sidelink (SL) positioning reference signal (PRS) during an SL positioning session for positioning of the second terminal device, using resources for the control information related to the SL PRS in a physical sidelink feedback channel (PSFCH) symbol or at least one symbol dedicated to the control information.

[0117] In some embodiments, the control information related to the SL PRS indicates resources for the SL PRS, the resources for the SL PRS indicating at least one of at least one demodulation reference signal (DMRS) symbol or at least one symbol dedicated to the SL PRS, an identifier of a resource pool comprising the resources for the SL PRS, and an offset indicating a slot number in which the SL PRS is transmitted. In some embodiments, the second terminal device is further configured to receive, from a network device in the radio access network, configuration information related to an SL positioning session for positioning of at least one terminal device in the radio access network.

[0118] In some embodiments, the second terminal device receives control information associated with the SL PRS from the first terminal device using resources for the control information associated with the SL PRS in at least one physical sidelink control channel (PSCCH) symbol. In some embodiments, the resources for the control information associated with the SL PRS and the resources for the SL PRS are provided in a resource pool. In some embodiments, the resources for the control information associated with the SL PRS and the resources for the SL PRS are provided in different resource pools.

[0119] In some embodiments, the control information associated with the SL PRS is provided in sidelink control information (SCI). In some embodiments, the configuration information indicates at least one of a number of slots associated with the SL positioning session, whether the resources for the control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated for the control information associated with the SL PRS, and whether the resources for the control information associated with the SL PRS and the resources for the SL PRS are in different resource pools. In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0120] 16 illustrates an example of a method 1600 implemented in a network device 101 in some example embodiments of the present disclosure. In block 1601, the network device transmits configuration information related to a sidelink (SL) positioning session for positioning of at least one terminal device in the radio access network to at least one terminal device in the radio access network.

[0121] In some embodiments, the configuration information indicates at least one of: a number of slots for the SL positioning session; whether resources for the control information are in at least one of a Physical Sidelink Feedback Channel (PSFCH) symbol, at least one Physical Sidelink Control Channel (PSCCH) symbol, and at least one symbol dedicated to control information; whether resources for the control information associated with the SL PRS and resources for the SL PRS are in different resource pools; whether resources for the SL PRS are in at least one Demodulation Reference Signal (DMRS) symbol or in at least one symbol dedicated to the SL PRS.

[0122] In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0123] In some embodiments, an apparatus capable of performing method 1400 (e.g., first terminal device 102) may comprise means for performing each step of method 1400. The means may be implemented in any suitable form. For example, the means may be implemented in a circuit or a software module.

[0124] In some embodiments, an apparatus capable of performing method 1400 (e.g., a first terminal device 102 in a radio access network) may comprise means for transmitting control information related to a sidelink (SL) positioning reference signal (PRS) to a second terminal device in the radio access network during an SL positioning session for positioning of the second terminal device using resources for control information related to an SL PRS in a physical sidelink feedback channel (PSFCH) symbol or at least one symbol dedicated to control information related to the SL PRS.

[0125] In some embodiments, the control information related to the SL PRS indicates resources for the SL PRS, the resources for the SL PRS indicating at least one of at least one demodulation reference signal (DMRS) symbol or at least one symbol dedicated to the SL PRS, an identifier of a resource pool comprising the resources for the SL PRS, and an offset indicating the number of slots in which the SL PRS is transmitted.

[0126] In some embodiments, the apparatus further comprises means for receiving, from a network device in the radio access network, configuration information related to an SL positioning session for positioning of at least one terminal device in the radio access network, and means for determining, based on the configuration information, resources for control information related to the SL PRS and resources for the SL PRS.

[0127] In some embodiments, the apparatus further comprises means for transmitting control information associated with the SL PRS to a second terminal device in at least one physical sidelink control channel (PSCCH) symbol using resources for the control information associated with the SL PRS.

[0128] In some embodiments, the apparatus is an anchor terminal device, and the apparatus further comprises means for determining resources for the SL PRS based on at least one of the number of terminal devices in the radio access network in the SL positioning session, the importance of the SL positioning session in terms of indicating a quality of service (QoS) for the positioning, and the availability of resources at the anchor terminal device.

[0129] In some embodiments, resources for control information associated with the SL PRS and resources for the SL PRS are provided in a resource pool. In some embodiments, resources for control information associated with the SL PRS and resources for the SL PRS are provided in different resource pools. In some embodiments, control information associated with the SL PRS is provided in sidelink control information (SCI).

[0130] In some embodiments, the configuration information indicates at least one of: a number of slots for the SL positioning session, whether resources for control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information associated with the SL PRS, whether resources for control information associated with the SL PRS and resources for the SL PRS are in different resource pools, and whether resources for the SL PRS are in at least one DRMS ​​symbol or at least one symbol dedicated to the SL PRS. In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0131] In some embodiments, the apparatus further comprises means for performing other steps in some embodiments of method 1400. In some embodiments, the means comprises at least one processor and at least one memory containing computer program code, the at least one memory and the computer program code configured, together with the at least one processor, to cause execution of the apparatus.

[0132] In some embodiments, an apparatus capable of performing method 1500 (e.g., second terminal device 103) may comprise means for performing each step of method 1500. The means may be implemented in any suitable form. For example, the means may be implemented in a circuit or a software module.

[0133] In some embodiments, an apparatus capable of performing method 1500 (e.g., a second terminal device 103 in a radio access network) may comprise means for receiving, at the second terminal device in the radio access network, control information related to a sidelink (SL) positioning reference signal (PRS) from a first terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, using resources for control information related to an SL PRS in physical sidelink feedback channel (PSFCH) symbols or at least one symbol dedicated for control information related to the SL PRS.

[0134] In some embodiments, the control information related to the SL PRS indicates resources for the SL PRS, the resources for the SL PRS indicating at least one of at least one demodulation reference signal (DMRS) symbol or at least one symbol dedicated to the SL PRS, an identifier of a resource pool comprising the resources for the SL PRS, and an offset indicating the number of slots in which the SL PRS is transmitted.

[0135] In some embodiments, the apparatus further comprises means for receiving, from a network device in the radio access network, configuration information providing for an SL positioning session for positioning of at least one terminal device in the radio access network. In some embodiments, the apparatus further comprises means for receiving, from a first terminal device, control information related to the SL PRS using resources for the control information related to the SL PRS in at least one Physical Sidelink Control Channel (PSCCH) symbol.

[0136] In some embodiments, resources for control information associated with the SL PRS and resources for the SL PRS are comprised in a resource pool. In some embodiments, resources for control information associated with the SL PRS and resources for the SL PRS are comprised in different resource pools. In some embodiments, control information associated with the SL PRS is comprised in sidelink control information (SCI).

[0137] In some embodiments, the configuration information associated with the SL PRS indicates at least one of a number of slots associated with the SL positioning session, whether resources for control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information, and whether resources for the control information associated with the SL PRS and resources for the SL PRS are in different resource pools. In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0138] In some embodiments, the apparatus further comprises means for performing other steps in some embodiments of method 1500. In some embodiments, the means comprises at least one processor and at least one memory containing computer program code, the at least one memory and the computer program code configured, together with the at least one processor, to cause execution of the apparatus.

[0139] In some embodiments, an apparatus (e.g., network device 101) capable of performing method 1600 may comprise means for performing each step of method 1600. The means may be implemented in any suitable form. For example, the means may be implemented in a circuit or a software module.

[0140] In some embodiments, an apparatus (e.g., network device 101) capable of performing method 1600 may comprise means for performing each step of method 1600. The means may be implemented in any suitable form. For example, the means may be implemented in a circuit or a software module.

[0141] In some embodiments, an apparatus capable of performing method 1600 (e.g., a network device 101 in a radio access network) may comprise means for transmitting, to at least one terminal device in the radio access network, configuration information related to a sidelink (SL) positioning session for positioning of at least one terminal device in the radio access network.

[0142] In some embodiments, the configuration information indicates at least one of: a number of slots for the SL positioning session; whether resources for control information are in at least one of a Physical Sidelink Feedback Channel (PSFCH) symbol, at least one Physical Sidelink Control Channel (PSCCH) symbol, at least one symbol dedicated to control information, where the control information is associated with an SL Positioning Reference Signal (SL PRS) during sidelink positioning for positioning of the at least one terminal; whether resources for the control information associated with the SL PRS and resources for the SL PRS are in different resource pools; and whether resources for the SL PRS are in at least one Demodulation Reference Signal (DMRS) symbol or in at least one symbol dedicated to the SL PRS.

[0143] In some embodiments, the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

[0144] In some embodiments, the apparatus further comprises means for performing other steps in some embodiments of method 1600. In some embodiments, the means comprises at least one processor and at least one memory containing computer program code, the at least one memory and the computer program code configured, together with the at least one processor, to cause execution of the apparatus.

[0145] 17 shows a simplified block diagram of a device 1700 suitable for implementing some example embodiments of the present disclosure. The device 1700 may be provided to implement a communicator, such as the network device 101, the first terminal device 102, or the second terminal device 103 shown in FIG. 1 or FIG. 2. As shown, the device 1700 includes one or more processors 1710, one or more memories 1720 coupled to the processor 1710, and one or more communication modules 1740 coupled to the processor 1710.

[0146] The communication module 1740 is for two-way communication. The communication module 1740 has at least one antenna to facilitate communication. The communication interface may represent any interface necessary for communication with other network elements.

[0147] Processor 1710 may be of any type suitable for a local technology network, including, by way of non-limiting example, one or more of a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture. Device 1700 may have multiple processors, such as application specific integrated circuit chips, time-slaved to a clock that synchronizes a main processor.

[0148] Memory 1720 may include one or more nonvolatile memories and one or more volatile memories. Examples of nonvolatile memory include, but are not limited to, read-only memory (ROM) 1724, electrically programmable read-only memory (EPROM), flash memory, hard disks, compact discs (CDs), digital video discs (DVDs), and other magnetic and / or optical storage mechanisms. Examples of volatile memory include, but are not limited to, random access memory (RAM) 1722 and other volatile memories that do not persist through power-down durations.

[0149] The computer program 1730 includes computer-executable instructions that are executed by the associated processor 1710. The program 1730 may be stored in the ROM 1724. The processor 1710 can load the program 1730 into the RAM 1722 to perform any appropriate operations and processes.

[0150] The embodiments of the present disclosure may be implemented by a program 1730 such that the device 1700 performs any of the processes of the present disclosure, as described with reference to Figures 2 to 16. The embodiments of the present disclosure may also be implemented by hardware or a combination of software and hardware.

[0151] In some demonstrative embodiments, program 1730 may be tangibly contained in a computer-readable medium, which may be included in device 1700 (such as in memory 1720) or other storage device accessible by device 1700. Device 1700 may load program 1730 from the computer-readable medium into RAM 1722 and execute it. The computer-readable medium may include any type of tangible non-volatile storage, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc.

[0152] 18 illustrates a block diagram of an example of a computer-readable medium 1800 according to some exemplary embodiments of the present disclosure. The computer-readable medium 1800 has stored thereon a program 1730. It should be noted that although the computer-readable medium 1800 is depicted in FIG. 17 in the form of a CD or DVD, the computer-readable medium 1800 may be in any other form suitable for carrying or retaining the program 1730.

[0153] In general, various embodiments of the present disclosure may be implemented in hardware or special purpose circuits, software, logic, or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device. While various aspects of embodiments of the present disclosure are illustrated and described using block diagrams, flowcharts, or other pictorial representations, it should be understood that the blocks, apparatus, systems, techniques, or methods described herein may be implemented in, by way of non-limiting example, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller, or other computing device, or any combination thereof.

[0154] The present disclosure also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as those included in program modules, that execute on a target real or virtual processor device to perform the method 1400, 1500, or 1600 described above with reference to FIG. 14, FIG. 15, or FIG. 16. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The functionality of the program modules may be combined or split among program modules as desired in various embodiments. The machine-executable instructions of the program modules may be executed in local or distributed devices. In distributed devices, the program modules may be located in both local and remote storage media.

[0155] Program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus such that, when executed by the processor or controller, the functions / acts specified in the flowcharts and / or block diagrams are performed. The program code can run entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of the present disclosure, computer program code or associated data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations as described above. Examples of carriers include signals, computer-readable media, and the like.

[0157] The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable medium includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0158] Furthermore, although operations are depicted in a particular order, this should not be understood as requiring such operations to be performed in the particular order shown, or sequentially, or that all of the operations depicted be performed, to achieve desirable results. In certain situations, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the disclosure, but rather as descriptions of features that may be specific to particular embodiments. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

[0159] Although the present disclosure has been described in language specific to structural features and / or methodological acts, it is to be understood that the present disclosure as defined by the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims. [Explanation of symbols]

[0160] 101 Network Devices 102 First Terminal Device 103 Secondary Terminal Device 201 Setting Information 205 Control Information

Claims

1. A first terminal device in a radio access network, comprising: at least one processor; at least one memory containing computer program code; Equipped with The at least one memory and the computer program code transmitting control information related to a side link (SL) positioning reference signal (PRS) to a second terminal device during an SL positioning session for positioning of the second terminal device in the radio access network using resources of the control information related to the SL PRS in at least one symbol dedicated for the control information related to the SL PRS; and causing the first terminal device, together with the at least one processor, to: The control information related to the SL PRS is: a resource for the SL PRS provided in at least one symbol dedicated to the SL PRS; an offset indicating the number of slots until the SL PRS is transmitted; a first terminal device indicating at least one of:

2. The first terminal device further comprises: receiving, from a network device in the radio access network, configuration information related to an SL positioning session for positioning of at least one terminal device in the radio access network; and determining the resources of the control information associated with the SL PRS and the resources of the SL PRS based on the configuration information; The first terminal device of claim 1 , wherein the first terminal device performs the following:

3. The first terminal device further comprises: transmitting the control information related to the SL PRS to the second terminal device in the at least one Physical Sidelink Control Channel (PSCCH) symbol using the resources for the control information related to the SL PRS; The first terminal device according to claim 1 or 2, wherein the first terminal device according to claim 2 causes the following:

4. The first terminal device is an anchor terminal device, and the first terminal device further comprises: the number of terminal devices in the radio access network in the SL positioning session; The importance of the SL positioning session as indicated in the positioning QoS (Quality of Service), and availability of resources at the anchor terminal device; 2. The terminal device of claim 1, wherein the terminal device determines the resources for the SL PRS based on at least one of:

5. The first terminal device according to claim 1 , wherein the resources of the control information associated with the SL PRS and the resources of the SL PRS are comprised in a resource pool.

6. The first terminal device according to claim 1 , wherein the resources of the control information associated with the SL PRS and the resources of the SL PRS are provided in different resource pools.

7. The first terminal device of claim 1 , wherein the control information related to the SL PRS is comprised in sidelink control information (SCI).

8. The setting information is A plurality of slots for an SL positioning session; whether the resources for control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information; whether the resources of the control information associated with the SL PRS and the resources of the SL PRS are in different resource pools; and whether the resources of the SL PRS are in at least one DRMS ​​symbol or in the at least one symbol dedicated to the SL PRS; The first terminal device of claim 2 , exhibiting at least one of:

9. The first terminal device of claim 8 , wherein the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

10. a second terminal device in a radio access network, at least one processor; at least one memory containing computer program code; Equipped with The at least one memory and the computer program code receiving control information related to a side link (SL) positioning reference signal (PRS) from a first terminal device in the radio access network during an SL positioning session for positioning of the second terminal device, using resources for the control information related to the SL PRS in at least one symbol dedicated for the control information related to the SL PRS; and causing the second terminal device, together with the at least one processor, to: The control information related to the SL PRS is: a resource for the SL PRS provided in at least one symbol dedicated to the SL PRS; an offset indicating the number of slots until the SL PRS is transmitted; a second terminal device indicating at least one of:

11. The second terminal device further comprises: receiving, from a network device in a radio access network, configuration information related to an SL positioning session for positioning of at least one terminal device in the radio access network; The second terminal device of claim 10,

12. The second terminal device further comprises: receiving, from the first terminal device, in at least one Physical Sidelink Control Channel (PSCCH) symbol, the control information using the resource of the control information associated with the SL PRS; The second terminal device of claim 10,

13. The second terminal device of claim 10 , wherein the resources of the control information associated with the SL PRS and the resources of the SL PRS are comprised in a resource pool.

14. The second terminal device according to claim 10 , wherein the resources of the control information associated with the SL PRS and the resources of the SL PRS are comprised in different resource pools.

15. The second terminal device of claim 10 , wherein the control information related to the SL PRS is comprised in sidelink control information (SCI).

16. The setting information related to the SL PRS is: a plurality of slots associated with the SL positioning session; whether the resources of the control information associated with the SL PRS are in at least one PSFCH symbol, at least one PSCCH symbol, and at least one symbol dedicated to control information associated with the SL PRS; whether the resources of the control information related to the SL PRS and the resources of the SL PRS are in different resource pools; The second terminal device according to any one of claims 11 to 15, exhibiting at least one of:

17. 17. The second terminal device of claim 16, wherein the configuration information is provided in a broadcast downlink (DL) radio resource control (RRC) system information block (SIB) message.

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