Communication method and related device

Abstract

An embodiment of the present application discloses a communication method and a related device. The method in the embodiment of the present application includes: a first terminal device transmitting a first request to a second terminal device; and the first terminal device receiving a first positioning reference signal from the second terminal device. Here, the first request is used to request the second terminal device to transmit the first positioning reference signal. The first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal. The second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. And the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal.

Description

[Technical Field]

[0001] TECHNICAL FIELD This application relates to the field of communications technology, and more particularly to communications methods and related devices. [Background technology]

[0002] This application claims priority to Chinese Patent Application No. 202211145040.6, filed with the State Intellectual Property Office of China on September 20, 2022, entitled "Communication Method and Related Apparatus," which is incorporated herein by reference in its entirety.

[0003] Terminal devices are connected to each other through an adjacent communication 5 (ProSe communication 5, PC5) interface and may communicate with each other by using a sidelink (SL). For example, a first terminal device may transmit a positioning reference signal to a second terminal device by using the sidelink, so that the first terminal device performs sidelink positioning between the first terminal device and / or the second terminal device. However, in the sidelink positioning process, how the first terminal device triggers the second terminal device to transmit a positioning reference signal is an issue that needs to be considered. Summary of the Invention

[0004] The present application provides a communication method and related apparatus, whereby a first terminal device transmits a first request to the second terminal device, the first request being used to request the second terminal device to transmit a first positioning reference signal, and activates the second terminal device to transmit the first positioning reference signal to the first terminal device based on the first request, which facilitates sidelink positioning between the first terminal device and the second terminal device.

[0005] A first aspect of the present application provides a method of communication, comprising: A first terminal device transmits a first request to a second terminal device, where the first request is used to request the second terminal device to transmit a first positioning reference signal. The first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information instructs the first terminal device to request the second terminal device to transmit the first positioning reference signal. The second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. And, the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal. Then, the first terminal device receives the first positioning reference signal from the second terminal device.

[0006] As can be seen from the above technical solution, a first terminal device may send a first request to a second terminal device, the first request being used to request the second terminal device to transmit a first positioning reference signal, thereby activating the second terminal device to transmit the first positioning reference signal to the first terminal device, thereby performing sidelink positioning between the first terminal device and the second terminal device. Furthermore, the first request includes at least one of first information, second information, third information, fourth information, or fifth information. The first information instructs the first terminal device to request the second terminal device to transmit the first positioning reference signal. The second information indicates time-domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. The fifth information indicates frequency-domain characteristics that need to be satisfied by the first positioning reference signal. In this way, the second terminal device transmits a first positioning reference signal based on this information, which supports the first terminal device in performing sidelink positioning, thereby improving positioning accuracy.

[0007] A second aspect of the present application provides a method of communication, comprising: The second terminal device receives a first request from the first terminal device. Here, the first request is used to request the second terminal device to transmit a first positioning reference signal. The first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal. The second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. And, the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal. Then, the second terminal device transmits the first positioning reference signal to the first terminal device based on the first request.

[0008] As can be seen from the above technical solution, the second terminal device receives a first request from the first terminal device, and then transmits a first positioning reference signal to the first terminal device based on the first request. This facilitates sidelink positioning between the first terminal device and the second terminal device. Furthermore, the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal. The second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. The fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal. The second terminal device transmits a first positioning reference signal based on this information, thereby supporting the first terminal device in performing sidelink positioning, thereby improving positioning accuracy.

[0009] According to the first or second aspect, in a possible implementation, the time-domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time-domain symbol level; the first positioning reference signal occupies at least one slot or at least one time-domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time-domain symbol includes multiple time-domain symbols, the multiple time-domain symbols include consecutive time-domain symbols and / or non-consecutive time-domain symbols.

[0010] In this implementation, some specific details of the time domain characteristics are shown. For example, the first positioning reference signal is transmitted at the slot level, subslot level, or time domain symbol level, so that the first terminal device requests the second terminal device to transmit a first positioning reference signal that satisfies the time domain characteristics based on actual requirements. This allows the first terminal device to use the first positioning reference signal to accurately position the first terminal device and / or the second terminal device, thereby improving positioning accuracy.

[0011] According to the first or second aspect, in a possible implementation, the frequency domain characteristics include at least one of the following: a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0012] In this implementation, some specific details of the frequency domain characteristics are shown, such as the transmission bandwidth of the first positioning reference signal, because the transmission bandwidth of the positioning reference signal affects the positioning accuracy. The first terminal device can request the second terminal device to transmit the first positioning reference signal of the corresponding bandwidth based on the actual requirements, thereby improving the positioning accuracy.

[0013] According to the first or second aspect, in a possible implementation, the positioning method includes any one of the following: a round trip time (RTT) positioning method, an angle of arrival (AOA) positioning method, an angle of departure (AOD) positioning method, or a time difference of arrival (TDOA) positioning method.

[0014] In this implementation, several possible positioning methods are shown, whereby the first terminal device selects an appropriate positioning method based on actual requirements, the capabilities of the first terminal device, and the capabilities of the second terminal device, so that the first terminal device can be supported in positioning the first terminal device and / or the second terminal device by using the corresponding positioning method.

[0015] Based on the first or second aspect, in a possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, where the sixth information indicates an AOD angle positioning mode used for the first positioning reference signal.

[0016] In this implementation, if the positioning method is the AOD positioning method, the first terminal device may further instruct the second terminal device on the AOD angle positioning mode to be used for the first positioning reference signal. In this way, the second terminal device transmits the first positioning reference signal using the AOD angle positioning mode instructed by the first terminal device. Therefore, the first terminal device is supported when performing positioning using the AOD positioning method.

[0017] Based on the first or second aspect, in a possible implementation, the third information indicates an AOD angle positioning mode used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is an AOD positioning method.

[0018] In this implementation, the first terminal device may indicate the AOD angle positioning mode by using the third information to indirectly indicate to the first terminal device that it will use the AOD positioning method, thereby reducing instruction overhead. Furthermore, the second terminal device transmits the first positioning reference signal by using the AOD angle positioning mode indicated by the first terminal device. Therefore, the first terminal device is supported in performing positioning by using the AOD positioning method.

[0019] Based on the first or second aspect, in a possible implementation, the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, where the first mode includes the second terminal device transmitting the first positioning reference signal in a beam switching manner, and the second mode includes the second terminal device transmitting the first positioning reference signal in an antenna switching manner.

[0020] In this implementation, two possible modes of the AOD angle positioning mode are shown. The first mode includes the second terminal device transmitting the first positioning reference signal in a beam switching manner. The second mode includes the second terminal device transmitting the first positioning reference signal in an antenna switching manner. In this way, the first terminal device indicates the corresponding mode to the second terminal device to support the first terminal device in performing positioning by using the AOD positioning method.

[0021] According to the first or second aspect, in a possible implementation, the first information further indicates whether the first terminal device transmits a second positioning reference signal to the second terminal device. In this way, the first terminal device effectively indicates whether the first terminal device transmits a positioning reference signal and instructs the second terminal device to transmit the positioning reference signal, thereby reducing communication overhead.

[0022] According to the first or second aspect, in a possible implementation, the first information is instruction information, and when the value of the instruction information is a first value, it indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal and that the first terminal device transmits the second positioning reference signal to the second terminal device, or when the value of the instruction information is a second value, it indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal and that the first terminal device does not transmit the second positioning reference signal to the second terminal device.

[0023] According to the first or second aspect, in a possible implementation, the first information is carried in sidelink control information (SCI), and at least one of the second information, the third information, the fourth information, and the fifth information is carried in a sidelink control information media access control element (SL MAC CE).

[0024] In this implementation, the first information may be carried in the SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE. Both the SCI and the SL MAC CE are signaling below Layer 2. This contributes to reducing the delay in analyzing the first information to the fifth information by the second terminal device, thereby allowing the first terminal device to perform positioning efficiently.

[0025] According to the first or second aspect, in a possible implementation, the first request is carried in an SCI or SL MAC CE, which contributes to reducing the delay in analyzing the first request by the second terminal device, and thereby the first terminal device efficiently performs positioning.

[0026] According to the first aspect, in a possible implementation, the method further includes: a first terminal device acquires a first measurement result, where the first measurement result is acquired by the first terminal device through a measurement based on a first positioning reference signal, and the first terminal device positions the first terminal device and / or the second terminal device based on the first measurement result.

[0027] In this implementation, the first terminal device may obtain a first measurement result based on the first positioning reference signal and position the first terminal device and / or the second terminal device based on the first measurement result.

[0028] According to the first aspect, in a possible implementation, after the first terminal device sends the first request to the second terminal device and before the first terminal device receives the first positioning reference signal from the second terminal device, the method further includes: The first terminal device transmits a second positioning reference signal to the second terminal device. In this implementation, the first terminal device may further transmit a second positioning reference signal to the second terminal device, thereby supporting the first terminal device in performing round-trip time positioning.

[0029] Based on the first aspect, in a possible implementation, the method further includes: a first terminal device acquiring a first measurement result, where the first measurement result is acquired by the first terminal device through measurement based on a first positioning reference signal; a first terminal device receiving a second measurement result from a second terminal device, where the second measurement result is acquired by the second terminal device through measurement based on a second positioning reference signal; and the first terminal device positioning the first terminal device and / or the second terminal device based on the first measurement result and the second measurement result. In this implementation, the first terminal device positions the first terminal device and / or the second terminal device based on the first measurement result and the second measurement result, thereby supporting the first terminal device in performing round-trip time positioning.

[0030] According to the second aspect, in a possible implementation, after the second terminal device receives the first request from the first terminal device and before the second terminal device transmits the first positioning reference signal to the first terminal device based on the first request, the method further includes: the second terminal device receives the second positioning reference signal from the first terminal device.

[0031] In this implementation, the second terminal device receives the second positioning reference signal from the first terminal device, and thus obtains a reception-transmission time difference between the reception time of the second positioning reference signal and the transmission time of the first positioning reference signal, thereby supporting the first terminal device in performing round-trip time positioning.

[0032] According to the second aspect, in a possible implementation, the method further includes: the second terminal device acquires a second measurement result through measurement based on the second positioning reference signal; and the second terminal device transmits the second measurement result to the first terminal device. In this way, the first terminal device positions the first terminal device and / or the second terminal device based on the second measurement result.

[0033] Based on the first aspect, in a possible implementation, the method further includes: the first terminal device receiving a second request from the second terminal device, where the second request is used to request the first terminal device to transmit a third positioning reference signal; after the first terminal device receives the first positioning reference signal from the second terminal device, the method further includes: the first terminal device transmitting the third positioning reference signal to the second terminal device.

[0034] In this implementation, the first terminal device receives a second request from the second terminal device and activates the first terminal device to transmit a third positioning reference signal to the second terminal device, which helps the second terminal device to obtain corresponding measurement results by using the first and third positioning reference signals and feed back the measurement results to the first terminal device, thereby positioning the first terminal device and / or the second terminal device based on the measurement results.

[0035] Based on the first aspect, in a possible implementation, the method further includes: the first terminal device transmitting a third request to the second terminal device, where the third request is used to request the second terminal device to transmit a fourth positioning reference signal; after the first terminal device transmits the third positioning reference signal to the second terminal device, the method further includes: the first terminal device receiving the fourth positioning reference signal from the second terminal device.

[0036] In this implementation, the first terminal device may further send a third request to the second terminal device. The first terminal device then receives a fourth positioning reference signal from the second terminal device. In this manner, the first terminal device positions the first terminal device and / or the second terminal device by using the first and fourth positioning reference signals.

[0037] According to the second aspect, in a possible implementation, the method further includes: the second terminal device transmitting a second request to the first terminal device, where the second request is used to request the first terminal device to transmit a third positioning reference signal. After the second terminal device transmits the first positioning reference signal to the first terminal device based on the first request, the method further includes: the second terminal device receiving the third positioning reference signal from the first terminal device. In this way, the second terminal device obtains corresponding measurement results by using the first and third positioning reference signals and feeds the measurement results back to the first terminal device. In this way, the first terminal device positions the first and / or second terminal devices based on the measurement results.

[0038] Based on the second aspect, in a possible implementation, the method further includes: the second terminal device receiving a third request from the first terminal device, where the third request is used to request the second terminal device to transmit a fourth positioning reference signal. After the second terminal device receives the third positioning reference signal from the first terminal device, the method further includes: the second terminal device transmitting a fourth positioning reference signal to the first terminal device. In this way, the first terminal device positions the first terminal device and / or the second terminal device by using the first positioning reference signal and the fourth positioning reference signal.

[0039] According to the first aspect, in a possible implementation, the method further includes the following: the first terminal device transmits a fourth request to a third terminal device, where the fourth request is used to request the third terminal device to transmit a fifth positioning reference signal; and the first terminal device receives the fifth positioning reference signal from the third terminal device. In this way, the first terminal device positions at least one of the first terminal device, the second terminal device, and the third terminal device based on the first positioning reference signal and the fifth positioning reference signal.

[0040] Based on the first aspect, in a possible implementation, before the first terminal device transmits the first request to the second terminal device, the method further includes: the first terminal device receiving seventh information from the second terminal device, where the seventh information indicates whether the second terminal device accepts the first request initiated by the first terminal device for the second terminal device. In this implementation, the first terminal device receives the seventh information from the second terminal device, indicating whether the second terminal device accepts the first request initiated by the first terminal device for the second terminal device. In this way, the first terminal device determines whether the second terminal device supports transmission of the first positioning reference signal to the first terminal device, and thereby the first terminal device selects an appropriate terminal device to assist the first terminal device in positioning.

[0041] According to the second aspect, in a possible implementation, before the first terminal device transmits the first request to the second terminal device, the method further includes: the second terminal device transmits seventh information to the first terminal device, where the seventh information indicates whether the second terminal device accepts the first request initiated by the first terminal device for the second terminal device. In this way, the first terminal device determines whether the second terminal device supports transmission of the first positioning reference signal to the first terminal device, and thereby the first terminal device selects an appropriate terminal device to assist the first terminal device in positioning.

[0042] A third aspect of the present application provides a communications device, comprising: A transceiver module configured to: transmit a first request to a second terminal device, where the first request is used to request the second terminal device to transmit a first positioning reference signal; the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information; the first information instructs a communication device to request the second terminal device to transmit the first positioning reference signal; the second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal; the third information indicates a positioning method used to position the communication device and / or the second terminal device; the fourth information indicates a transmission priority of the first positioning reference signal; and the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal; and receive the first positioning reference signal from the second terminal device.

[0043] According to the third aspect, in a possible implementation, the time-domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time-domain symbol level; the first positioning reference signal occupies at least one slot or at least one time-domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time-domain symbol includes multiple time-domain symbols, the multiple time-domain symbols include consecutive time-domain symbols and / or non-consecutive time-domain symbols.

[0044] According to the third aspect, in a possible implementation, the frequency domain characteristics include at least one of the following: a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0045] According to the third aspect, in a possible implementation, the positioning method includes any one of the following: an RTT positioning method, an AOA positioning method, an AOD positioning method, or a TDOA positioning method.

[0046] Based on the third aspect, in a possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, which indicates an AOD angle positioning mode used for the first positioning reference signal.

[0047] Based on the third aspect, in a possible implementation, the third information indicates an AOD angle positioning mode to be used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is an AOD positioning method.

[0048] Based on the third aspect, in a possible implementation, the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, where the first mode includes the second terminal device transmitting the first positioning reference signal in a beam switching manner, and the second mode includes the second terminal device transmitting the first positioning reference signal in an antenna switching manner.

[0049] According to the third aspect, in a possible implementation, the first information further indicates whether the communication device transmits a second positioning reference signal to the second terminal device.

[0050] According to the third aspect, in a possible implementation, the first information is instruction information. When the value of the instruction information is a first value, it indicates that the communication device requests the second terminal device to transmit the first positioning reference signal and that the communication device transmits the second positioning reference signal to the second terminal device. Or, when the value of the instruction information is a second value, it indicates that the communication device requests the second terminal device to transmit the first positioning reference signal and that the communication device does not transmit the second positioning reference signal to the second terminal device.

[0051] Based on the third aspect, in a possible implementation, the first information is carried in the SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE.

[0052] According to the third aspect, in a possible implementation, the first request is carried in the SCI or SL MAC CE.

[0053] According to the third aspect, in a possible implementation, the communication device further includes a processing module, the processing module being further configured to: Obtaining a first measurement result, where the first measurement result is obtained by the communication device through measurement based on the first positioning reference signal, and the communication device positions the communication device and / or the second terminal device based on the first measurement result.

[0054] According to the third aspect, in a possible implementation, the transceiver module is further configured to transmit a second positioning reference signal to a second terminal device.

[0055] According to the third aspect, in a possible implementation, the communication device further includes a processing module, the processing module being further configured to: Obtaining a first measurement result, where the first measurement result is obtained by the communication device through a measurement based on the first positioning reference signal.

[0056] The transceiver module is further configured to: receiving a second measurement result from a second terminal device, where the second measurement result is obtained by the second terminal device through a measurement based on a second positioning reference signal;

[0057] Furthermore, the processing module is configured to: Positioning the communication device and / or the second terminal device based on the first measurement result and the second measurement result.

[0058] According to the third aspect, in a possible implementation, the transceiver module is further configured to: receiving a second request from a second terminal device, where the second request is used to request the communication device to transmit a third positioning reference signal; and transmitting the third positioning reference signal to the second terminal device.

[0059] According to the third aspect, in a possible implementation, the transceiver module is further configured to: transmitting a third request to a second terminal device, where the third request is used to request the second terminal device to transmit a fourth positioning reference signal; and receiving the fourth positioning reference signal from the second terminal device.

[0060] According to the third aspect, in a possible implementation, the transceiver module is further configured to: sending a fourth request to a third terminal device, where the fourth request is used to request the third terminal device to transmit a fifth positioning reference signal; and receiving the fifth positioning reference signal from the third terminal device.

[0061] According to the third aspect, in a possible implementation, the transceiver module is further configured to: receiving seventh information from the second terminal device, where the seventh information indicates whether the second terminal device accepts the first request to the second terminal device initiated by the communication device;

[0062] A fourth aspect of the present application provides a communication device, comprising: A transceiver module configured to: receive a first request from a first terminal device, where the first request is used to request a communication device to transmit a first positioning reference signal; the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information; the first information instructs the first terminal device to request the communication device to transmit the first positioning reference signal; the second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal; the third information indicates a positioning method used to position the first terminal device and / or the communication device; the fourth information indicates a transmission priority of the first positioning reference signal; and the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal; and transmit the first positioning reference signal to the first terminal device based on the first request.

[0063] According to the fourth aspect, in a possible implementation, the time-domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time-domain symbol level; the first positioning reference signal occupies at least one slot or at least one time-domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time-domain symbol includes multiple time-domain symbols, the multiple time-domain symbols include consecutive time-domain symbols and / or non-consecutive time-domain symbols.

[0064] According to the fourth aspect, in a possible implementation, the frequency domain characteristics include at least one of the following: a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0065] According to the fourth aspect, in a possible implementation, the positioning method includes any one of the following: an RTT positioning method, an AOA positioning method, an AOD positioning method, or a TDOA positioning method.

[0066] Based on the fourth aspect, in a possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, which indicates the AOD angle positioning mode used for the first positioning reference signal.

[0067] Based on the fourth aspect, in a possible implementation, the third information indicates an AOD angle positioning mode to be used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is an AOD positioning method.

[0068] Based on the fourth aspect, in a possible implementation, the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, where the first mode includes the communication device transmitting the first positioning reference signal in a beam switching manner, and the second mode includes the communication device transmitting the first positioning reference signal in an antenna switching manner.

[0069] According to the fourth aspect, in a possible implementation, the first information further indicates whether the first terminal device transmits a second positioning reference signal to the communication device.

[0070] According to the fourth aspect, in a possible implementation, the first information is instruction information. When the value of the instruction information is a first value, it indicates that the first terminal device requests the communication device to transmit the first positioning reference signal and that the first terminal device transmits the second positioning reference signal to the communication device. Alternatively, when the value of the instruction information is a second value, it indicates that the first terminal device requests the communication device to transmit the first positioning reference signal and that the first terminal device does not transmit the second positioning reference signal to the communication device.

[0071] Based on the fourth aspect, in a possible implementation, the first information is carried in the SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE.

[0072] According to the fourth aspect, in a possible implementation, the first request is carried in the SCI or SL MAC CE.

[0073] According to the fourth aspect, in a possible implementation, the transceiver module is further configured to: Receiving a second positioning reference signal from the first terminal device.

[0074] According to the fourth aspect, in a possible implementation, the communication device further includes a processing module.

[0075] The processing module is configured to obtain a second measurement result through a measurement based on a second positioning reference signal.

[0076] The transceiver module is configured to transmit the second measurement result to the first terminal device.

[0077] According to the fourth aspect, in a possible implementation, the transceiver module is further configured to: transmitting a second request to the first terminal device, where the second request is used to request the first terminal device to transmit a third positioning reference signal; and receiving the third positioning reference signal from the first terminal device.

[0078] According to the fourth aspect, in a possible implementation, the transceiver module is further configured to: receiving a third request from the first terminal device, where the third request is used to request the communication device to transmit a fourth positioning reference signal; and transmitting the fourth positioning reference signal to the first terminal device.

[0079] According to the fourth aspect, in a possible implementation, the transceiver module is further configured to: sending seventh information to the first terminal device, where the seventh information indicates whether the communication device will accept a first request to the communication device initiated by the first terminal device.

[0080] A fifth aspect of the present application provides a communications device, the communications device including a processor configured to invoke a computer program or computer instructions stored in a memory, such that the processor performs one of the implementations of the first or second aspect.

[0081] Optionally, the communications device further comprises a transceiver, wherein the processor is configured to control the transceiver to perform any one of the implementations of the first aspect or the second aspect.

[0082] Optionally, the communication device further comprises a memory, which stores computer programs or computer instructions.

[0083] Optionally, the processor and memory are integrated together.

[0084] A sixth aspect of an embodiment of the present application provides a computer program product comprising computer instructions, which when run on a computer, enable the computer to perform any one of the implementations of the first or second aspect.

[0085] A seventh aspect of an embodiment of the present application provides a computer-readable storage medium containing computer instructions that, when executed on a computer, enable the computer to perform any one of the implementations in the first or second aspect.

[0086] An eighth aspect of an embodiment of the present application provides a chip device including a processor configured to invoke a computer program or computer instructions in a memory, thereby causing the processor to perform any one of the implementations in the first or second aspect.

[0087] Optionally, the processor is coupled to the memory via an interface.

[0088] According to the above technical solutions, it can be seen that the embodiments of the present application have the following advantages: As can be seen from the above technical solution, a first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. The first terminal device then receives the first positioning reference signal from the second terminal device. The first terminal device may transmit the first request to the second terminal device, which is used to request the second terminal device to transmit the first positioning reference signal, to activate the second terminal device to transmit the first positioning reference signal to the first terminal device, thereby performing sidelink positioning between the first terminal device and the second terminal device. Furthermore, the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information instructs the first terminal device to request the second terminal device to transmit the first positioning reference signal. The second information indicates time-domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. The fifth information indicates frequency domain characteristics that must be satisfied by the first positioning reference signal. In this way, the second terminal device transmits the first positioning reference signal based on these information, thereby supporting the first terminal device in performing sidelink positioning and thereby improving positioning accuracy. [Brief explanation of the drawings]

[0089] [Figure 1] 1 is a first diagram illustrating a communication system to which an embodiment of the present application is applied; [Figure 2] FIG. 2 is a second diagram illustrating a communication system to which an embodiment of the present application is applied. [Figure 3] FIG. 3 is a third diagram illustrating a communication system to which an embodiment of the present application is applied. [Figure 4] FIG. 2 is a first diagram illustrating protocol stacks of a first terminal device and a second terminal device according to an embodiment of the present application; [Figure 5] FIG. 2 is a second diagram illustrating protocol stacks of a first terminal device and a second terminal device according to an embodiment of the present application. [Figure 6] FIG. 10 is a third diagram illustrating protocol stacks of a first terminal device and a second terminal device according to an embodiment of the present application. [Figure 7] FIG. 1 illustrates a first embodiment of a communication method according to an embodiment of the present application. [Figure 8] FIG. 2 illustrates a second embodiment of a communication method according to an embodiment of the present application. [Figure 9] FIG. 10 illustrates a third embodiment of a communication method according to an embodiment of the present application. [Figure 10] FIG. 10 illustrates a fourth embodiment of a communication method according to an embodiment of the present application. [Figure 11] FIG. 10 illustrates a fifth embodiment of a communication method according to an embodiment of the present application. [Figure 12] FIG. 1 illustrates a first configuration of a communication device according to an embodiment of the present application. [Figure 13] FIG. 2 illustrates a second configuration of a communication device according to an embodiment of the present application. [Figure 14] FIG. 2 is a diagram illustrating the configuration of a terminal device according to an embodiment of the present application. [Figure 15] FIG. 10 illustrates a third configuration of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0090] An embodiment of the present application provides a communication method and related apparatus, whereby a first terminal device transmits a first request to the second terminal device, the first request being used to request the second terminal device to transmit a first positioning reference signal, and activates the second terminal device to transmit the first positioning reference signal to the first terminal device based on the first request, which facilitates sidelink positioning between the first terminal device and the second terminal device.

[0091] The technical solutions in the embodiments of the present application are described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0092] References in this application to "one embodiment," "some embodiments," or the like indicate that one or more embodiments of the application include a particular feature, structure, or characteristic described with reference to the embodiment. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in different places in this specification are not necessarily meant to refer to the same embodiment. Instead, these phrases mean "one or more, but not all, of the embodiments," unless specifically emphasized otherwise. The terms "including," "containing," "having," and their derivatives all mean "including, but not limited to," unless specifically emphasized otherwise.

[0093] In the description of this application, unless otherwise specified, " / " means "or." For example, A / B can mean A or B. The term "and / or" in this specification describes only the associative relationship between related objects and indicates that three relationships may exist. For example, A and / or B can represent the following three cases: when only A is present, when both A and B are present, and when only B is present. Also, "at least one" means one or more, and "more than one" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of singular items or multiple items. For example, at least one of a, b, or c can represent a, b, c, a and b, a and c, b and c, or a, b, and c. a, b, and c may be singular or plural.

[0094] The technical solutions in the embodiments of the present application may be applied to a sidelink communication system, such as an Internet of Things system, specifically, an Internet of Vehicles system, an Industrial Internet of Things system, a smart home system, or the like, such as a public safety system, a smart city system, a traffic security system, an industrial control system, an unmanned driving system, or an industrial robot system.

[0095] 1 is a first diagram illustrating a communication system to which an embodiment of the present application is applied. Please refer to FIG. 1. The communication system includes: a terminal device 101, a terminal device 102, a terminal device 103, an access network device 104, an access and mobility management function (AMF) 105, and a location management function (LMF) 106.

[0096] Optionally, the terminal equipment 101, the terminal equipment 102, and the terminal equipment 103 may be connected via an interface. The access network equipment 104 and the AMF 105 may be connected via an interface. The AMF 105 and the LMF 106 may be connected via an interface.

[0097] For example, terminal equipment 101 and terminal equipment 102 may be connected via a PC5 interface. Terminal equipment 101 and terminal equipment 103 may be connected via a PC5 interface. Terminal equipment 101 and terminal equipment 103 may be connected via a PC5 interface. Terminal equipment 101 and terminal equipment 102 are separately connected to access network equipment 104 via an NR-Uu interface. Access network equipment 104 and AMF 105 are connected via an NG-C interface. AMF 105 and LMF 106 are connected via an NL1 interface. The NR-Uu interface is a communication interface between the terminal equipment and the access network equipment. The NG-C interface is a control plane interface between the access network and the core network. The NL1 interface is a communication interface between the AMF and the LMF.

[0098] 1 only shows an example in which a communication system includes a terminal device 101, a terminal device 102, a terminal device 103, and an access network device 104. However, in practical applications, the communication system may include at least two terminal devices and at least one access network device, which is not particularly limited in this application.

[0099] Some devices and network elements in this application are described below.

[0100] The terminal equipment may be a wireless terminal equipment capable of receiving scheduling information and instruction information from the access network equipment. The wireless terminal equipment may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or another processing device connected to a wireless modem.

[0101] The terminal equipment is also called user equipment (UE), mobile station (MS), mobile terminal (MT), roadside unit (RSU), or positioning reference unit (PRU). An RSU is a roadside unit installed on the roadside that supports sidelink communication and positioning-related protocols and can provide wireless communication capabilities to user equipment. The RSU can be a roadside station, access point, sidelink equipment, or the like in various forms. A PRU can be terminal equipment deployed at a fixed location and configured to correct network errors. The terminal equipment is a device that includes wireless communication capabilities (providing voice / data connections to users), such as a handheld device, an in-vehicle device, or a machine-type communication (MTC) terminal with wireless connectivity. Currently, terminal devices may include mobile phones, tablet computers, notebook computers, palmtop computers, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, or the like. For example, a wireless terminal in the Internet of Vehicles may be an in-vehicle device, an entire vehicle device, or an in-vehicle module, or a vehicle. A wireless terminal in industrial control may be a robot or the like.

[0102] The access network device 104 is a device located in a wireless access network that provides wireless communication capabilities to terminal devices. The access network device may be a radio access network (RAN) node that enables terminal devices to access the wireless network.

[0103] The access network equipment may include, but is not limited to, an evolved NodeB (eNB), a radio network controller (RNC), a NodeB (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., home evolved NodeB or home NodeB, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), a transmission and reception point (TRP), or the like. Alternatively, the access network equipment may be a 5th generation (5G) or 6th generation (5G) system. thThe access network equipment may be a network device in a 5G (5G) mobile communication system, such as a next generation NodeB (gNB), a transmission reception point (TRP) or a transmission point (TP) in a new radio (NR) system, or one or a group (including multiple antenna panels) of antenna panels of a base station in a 5G mobile communication system. Alternatively, the access network equipment may be a network node forming a gNB, or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU).

[0104] In some deployments, a gNB may include a central unit (CU) and a DU. The gNB may further include an active antenna unit (AAU). The CU implements some of the functions of the gNB, and the DU implements some of the functions of the gNB.

[0105] For example, the CU is responsible for processing non-real-time protocols and services and implements the functions of the radio resource control (RRC) protocol layer and the packet data convergence protocol (PDCP) layer. The DU is responsible for processing physical layer protocols and real-time services and implements the functions of the radio link control (RLC) protocol layer, the media access control (MAC) protocol layer, and the physical (PHY) protocol layer. The AAU implements some physical layer processing functions, radio frequency processing, and functions related to active antennas. Information at the RRC protocol layer is ultimately converted to or from information at the PHY protocol layer. Therefore, in this architecture, higher layer signaling (e.g., RRC protocol layer signaling) can be considered to be transmitted by the DU or by the DU and the AAU.

[0106] It may be understood that the access network equipment may be a device including one or more of a CU node, a DU node, and an AAU node. Furthermore, the CU may be classified as a network equipment in an access network (radio access network, RAN), or the CU may be classified as a network equipment in a core network (CN), which is not limited in this application.

[0107] The AMF is responsible for access control for terminal devices to access the network, registration management, service management, mobility management, and the like.

[0108] The LMF is configured to perform positioning calculations and management regarding the location of the terminal equipment.

[0109] In this application, the name of AMF may be changed with the development of communication systems. In current or future communication systems, a functional network element having a different name and a function similar to that of AMF may be understood as AMF in this application and is applicable to the methods provided in the embodiments of this application.

[0110] In this application, LMF is a name in the current communication system. In future communication systems, the name of LMF may change with the development of the communication system. Therefore, LMF is referred to as location management equipment in this specification to describe the technical solution in this application. The location management equipment is configured to perform positioning calculations on the location of a terminal device. In the current communication system or the future communication system, a functional network element with a different name and a function similar to that of the location management equipment can be understood as location management equipment in this application and is applicable to the method provided in this application.

[0111] With reference to FIGS. 2 and 3, two application scenarios of the method provided in this application are described below.

[0112] 2 is a second diagram showing a communication system to which an embodiment of the present application is applied. Please refer to FIG. 2. The communication system includes a UE 201 and a UE 202. The UE 201 and the UE 202 communicate with each other via a PC5 interface. The UE 201 can position the UE 201 and / or the UE 202 by using the technical solution in the present application.

[0113] Figure 3 is a third diagram illustrating a communication system to which an embodiment of the present application is applied. Please refer to Figure 3. The communication system includes a UE 301, roadside units RSU 302, RSU 303, and RSU 304. As shown in Figure 3, the UE 301 and the RSUs communicate with each other via a PC5 interface. The UE 301 can be positioned between the UE 301 and the RSUs by using the technical solution in the present application.

[0114] It should be noted that in the communication system shown in FIG. 3, the form of the RSU is merely an example and does not specifically constitute any limitation on the RSU in this application.

[0115] A communication system to which the technical solutions provided in the present application are applicable includes a first terminal device and a second terminal device, and the first terminal device and the second terminal device can communicate with each other by using a sidelink.

[0116] The protocol stack structures of the first terminal device and the second terminal device will be described below with reference to FIGS.

[0117] 4 is a first diagram illustrating the protocol stacks of the first terminal device and the second terminal device according to an embodiment of the present application. Please refer to FIG. 4. The first terminal device and the second terminal device respectively have the following protocol layers: PHY Protocol Layer: Primarily used to define multiple access, physical layer channels and modulation, channel coding, physical layer procedures (e.g., cell search, power control, synchronization, random access, hybrid automatic repeat request (HARQ), beam management and channel state information (CSI) reporting, and shared spectrum channel access), physical layer measurements, and the like. MAC protocol layer: Used for mapping between logical channels and transmission channels, multiplexing one or more MAC data packets onto a logical channel, scheduling information reporting, HARQ error correction, prioritization between different terminal devices during dynamic scheduling, prioritization between different logical channels of the same terminal device, padding, and the like. RLC protocol layer: used for upper layer data transmission, data packet sequence numbering, automatic repeat request (ARQ) error correction, RLC data segmentation and reassembly, redundancy detection, data packet discarding, RLC re-establishment, and protocol error detection. PDCP layer: used for upper layer data transmission, PDCP sequence number maintenance, data packet header compression, uplink PDCP packet compression and decompression, encryption and decryption, integrity protection and checking, timer-based data discard, routing on individual bearers, PDCP repetition, reordering and in-order delivery, out-of-order delivery, and repeat discard; and PC5 signaling protocol (PC5-S) layer: Used to transmit PC5-S signaling between a first terminal device and a second terminal device.

[0118] 5 is a second diagram showing protocol stacks of a first terminal device and a second terminal device according to an embodiment of the present application. Please refer to FIG. 5. The first terminal device and the second terminal device respectively have the following protocol layers: a PHY protocol layer, a MAC protocol layer, an RLC protocol layer, a PDCP layer, and an RRC protocol layer.

[0119] For the PHY protocol layer, MAC protocol layer, RLC protocol layer, and PDCP layer, please refer to the related descriptions above. The RRC protocol layer is used to transmit PC5 RRC messages between the first terminal device and the second terminal device.

[0120] 6 is a third block diagram showing protocol stacks of a first terminal device and a second terminal device according to an embodiment of the present application. Please refer to FIG. 6. The first terminal device and the second terminal device respectively have the following protocol layers: a PHY protocol layer, a MAC protocol layer, an RLC protocol layer, a PDCP layer, and a ranging / sidelink positioning protocol (RSPP) layer.

[0121] For the PHY protocol layer, MAC protocol layer, RLC protocol layer, and PDCP layer, please refer to the related descriptions above. The RSPP layer is used to control positioning service procedures between terminal devices, such as requesting and providing assistance data, requesting and providing positioning capabilities, and requesting and providing location information.

[0122] It should be noted that the PC5-S protocol layer shown in Figure 4 is the protocol layer above the PDCP layer. The RRC protocol layer shown in Figure 5 is the protocol layer above the PDCP layer. The RSPP layer shown in Figure 6 is the protocol layer above the PDCP layer. Above the PDCP layer of the terminal equipment, the protocol stack of the terminal equipment may include at least one of a PCS-5 protocol layer, an RRC protocol layer, and a PDCP layer. The terminal equipment may select an appropriate protocol layer based on actual requirements to transmit corresponding signaling and data.

[0123] The technical solutions in this application are described below with reference to specific embodiments.

[0124] 7 is a diagram illustrating a first embodiment of a communication method according to an embodiment of the present application. Please refer to FIG. 7. The method includes the following steps:

[0125] 701: A first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. In response, the second terminal device receives the first request from the first terminal device.

[0126] The first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information instructs the first terminal device to request the second terminal device to transmit a first positioning reference signal. The second information indicates time domain characteristics that must be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. The fifth information indicates frequency domain characteristics that must be satisfied by the first positioning reference signal.

[0127] The information contained in the first request is described below.

[0128] 1. The first information instructs the first terminal device to request the second terminal device to transmit a first positioning reference signal. For example, the first information is instruction information, and the instruction information includes 1 bit. Specifically, as shown in Table 1, when the value of the instruction information is 1, it indicates that the first terminal device requests the second terminal device to transmit a first positioning reference signal.

[0129] [Table 1]

[0130] It should be noted that when the first terminal device does not request the second terminal device to transmit the first positioning reference signal, the first terminal device transmits to the second terminal device indication information indicating that the second terminal device is not requested to transmit the first positioning reference signal. For example, if the value of the indication information is 0, it indicates that the first terminal device has not requested the second terminal device to transmit the first positioning reference signal.

[0131] It should be noted that Table 1 is merely an example. In actual applications, the various values ​​of the indication information and the meanings of the corresponding indications may be implemented differently. This is not particularly limited in the present application. For example, if the value of the indication information is 0, it indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal. If the value of the indication information is 1, it indicates that the first terminal device does not request the second terminal device to transmit the first positioning reference signal.

[0132] Optionally, the first information further indicates whether the first terminal device transmits a second positioning reference signal to the second terminal device. In this implementation, the first terminal device may use the first information to instruct the first terminal device to request the second terminal device to transmit the first positioning reference signal, and may indicate whether the first terminal device transmits the second positioning reference signal to the second terminal device.

[0133] Optionally, the first information is instruction information. When the value of the instruction information is a first value, it indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal, and the first terminal device transmits the second positioning reference signal to the second terminal device. Or, when the value of the instruction information is a second value, it indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal, and the first terminal device does not transmit the second positioning reference signal to the second terminal device.

[0134] For example, the first information is instruction information, and the instruction information includes multiple bits, which jointly indicate whether the first terminal device requests the second terminal device to transmit the first positioning reference signal and whether the first terminal device transmits the second positioning reference signal to the second terminal device. As shown in Table 2, when the value of the instruction information is 10, it indicates that the first terminal device transmits the second positioning reference signal to the second terminal device and requests the second terminal device to transmit the first positioning reference signal. When the value of the instruction information is 11, it indicates that the first terminal device does not transmit the second positioning reference signal to the second terminal device and requests the second terminal device to transmit the first positioning reference signal.

[0135] [Table 2]

[0136] It should be noted that if the first terminal device does not request the second terminal device to transmit the first positioning reference signal, the first terminal device may send indication information to the second terminal device. The indication information indicates that the second terminal device is not requested to transmit the first positioning reference signal and indicates whether the first terminal device will transmit the second positioning reference signal to the second terminal device. For example, if the value of the indication information is 00, it indicates that the first terminal device has not requested the second terminal device to transmit the first positioning reference signal and has not transmitted the second positioning reference signal to the second terminal device. If the value of the indication information is 01, it indicates that the first terminal device has not requested the second terminal device to transmit the first positioning reference signal and has transmitted the second positioning reference signal to the second terminal device.

[0137] It should be noted that the values ​​of the indication information and the corresponding meanings shown in Table 2 are merely examples. In actual applications, the values ​​of the indication information and the corresponding meanings may be in other implementation forms, which are not particularly limited in this application. For example, see Table 3.

[0138] [Table 3]

[0139] It should be noted that, optionally, Table 2 or Table 3 may be pre-configured in the first terminal device and the second terminal device before distribution, or may be configured for the first terminal device and the second terminal device by a network device. In this way, the second terminal device determines the meaning indicated by the first information.

[0140] Optionally, the first information instructs the first terminal device to transmit a second positioning reference signal to the second terminal device, indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal, and further indicates a configuration of the second positioning reference signal.

[0141] For example, the first information is instruction information. When the value of the instruction information is 10, it indicates that the first terminal device transmits a second positioning reference signal to the second terminal device and requests the second terminal device to transmit the first positioning reference signal. Furthermore, the configuration of the second positioning reference signal is SL PRS#2.

[0142] [Table 4]

[0143] It should be noted that if the first terminal device does not request the second terminal device to transmit the first positioning reference signal, the first terminal device may transmit instruction information to the second terminal device. The instruction information indicates that the second terminal device is not requested to transmit the first positioning reference signal and indicates whether the first terminal device will transmit the second positioning reference signal to the second terminal device. If the instruction information instructs the first terminal device to transmit the second positioning reference signal to the second terminal device, the instruction information further indicates the configuration of the second positioning reference signal. For example, as shown in Table 4, if the value of the instruction information is 01, it indicates that the first terminal device will transmit the second positioning reference signal to the second terminal device and has not requested the second terminal device to transmit the first positioning reference signal. Furthermore, the configuration of the second positioning reference signal is SL PRS#1.

[0144] It should be noted that, optionally, Table 4 may be pre-configured in the first and second terminal devices before distribution, or may be configured by a network device for the first and second terminal devices. In this way, the second terminal device determines the meaning indicated by the first information. Also, the positioning reference signals configured as SL PRS#1 and SL PRS#2 may be pre-configured in the first and second terminal devices. In this way, the second terminal device determines the configuration used for the second positioning reference signal, which helps the second terminal device receive the second positioning reference signal.

[0145] 2. The second information indicates a time domain characteristic that must be satisfied by the first positioning reference signal.

[0146] Optionally, the time domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time domain symbol level; and the first positioning reference signal occupies at least one slot or at least one time domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; if the at least one time domain symbol includes multiple time domain symbols, the multiple time domain symbols include consecutive time domain symbols and / or non-consecutive time domain symbols.

[0147] Specifically, the first terminal device may request that the first positioning reference signal transmitted by the second terminal device occupy an entire slot or only some time-domain symbols within a slot. The first terminal device may request that the first positioning reference signal occupy multiple slots or multiple time-domain symbols. In this manner, the second terminal device transmits the first positioning reference signal multiple times. This supports the first terminal device in correspondingly positioning the first terminal device and / or the second terminal device, thereby improving positioning accuracy. For example, if the first terminal device uses an AOA positioning method or an AOD positioning method, the first terminal device needs to receive the first positioning reference signal transmitted by the second terminal device multiple times. This allows the first terminal device to obtain the angle of arrival, angle of emission, or the like of the first positioning reference signal through measurements, thereby facilitating positioning of the first terminal device and / or the second terminal device.

[0148] It should be noted that in this application, slots can be understood as physical slots or logical slots used for the sidelink. Physical slots are slots numbered in the order defined by the NR air interface, and logical slots are slots renumbered according to the order, included in the SL resource pool, and available for SL transmission. For example, if the SL resource pool includes physical slots 1, 3, 5, 7, and 9 that can be used for SL transmission, logical slots 0, 1, 2, 3, and 4 correspond to physical slots 1, 3, 5, 7, and 9, respectively. In other words, physical slots 1, 3, and 5 are consecutive logical slots.

[0149] 3. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device.

[0150] The positioning method includes any one of the following: RTT positioning method, AOA positioning method, AOD positioning method, or TDOA positioning method.

[0151] In a possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, which indicates the AOD angle positioning mode used for the first positioning reference signal.

[0152] The AOD angle positioning mode includes a first mode and a second mode. The first mode includes the second terminal device transmitting the first positioning reference signal in a beam switching manner. The second mode includes the second terminal device transmitting the first positioning reference signal in an antenna switching manner.

[0153] In this implementation, when the first terminal device performs positioning using the AOD positioning method, the mode used by the second terminal device to transmit the first positioning reference signal affects the measurement method of the first terminal device. For example, when the second terminal device transmits the first positioning reference signal in the first mode, the first terminal device needs to measure the received power difference between the positioning reference signals on different transmission beams from the second terminal device. When the second terminal device transmits the first positioning reference signal in the second mode, the first terminal device needs to measure the phase difference between the positioning reference signals on different transmission antennas from the second terminal device. Therefore, the first terminal device can transmit sixth information to the second terminal device to instruct the second terminal device on the AOD angle positioning mode to be used for the first positioning reference signal, so that the first terminal device performs AOD positioning.

[0154] In another possible implementation, the third information indicates the AOD angle positioning mode used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is the AOD positioning method.

[0155] In this implementation, the first terminal device uses the third information to indicate the AOD angle positioning mode used for the first positioning reference signal, thereby indirectly indicating that the positioning method used by the first terminal device is the AOD positioning method. For the AOD angle positioning mode, please refer to the related description above. Details will not be described again in this specification.

[0156] 4. The fourth information indicates the transmission priority of the first positioning reference signal.

[0157] Specifically, the first terminal device may use the fourth information to indicate the transmission priority that the first terminal device expects for the first positioning reference signal. In this way, when the second terminal device receives positioning reference signal transmission requests from multiple terminal devices, if the second terminal device has limited capabilities and resources, the second terminal device may preferentially transmit positioning reference signals with higher transmission priorities.

[0158] Optionally, the first terminal device may determine the transmission priority of the first positioning reference signal with reference to the service requirements and service urgency of the first terminal device.

[0159] 5. The fifth information indicates frequency domain characteristics that must be satisfied by the first positioning reference signal.

[0160] Optionally, the frequency domain characteristics include at least one of a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0161] For example, the first terminal device may expect to implement high-precision positioning and the second terminal device may support transmission of a wide-bandwidth positioning reference signal, in which case the first terminal device may request the second terminal device to transmit the wide-bandwidth positioning reference signal by using the fifth information.

[0162] In a possible implementation, the first information is carried in the first SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE.

[0163] The first SCI may be a first-level SCI or a second-level SCI sent by the first terminal device. This is not particularly limited in the present application. Optionally, if the first request further includes sixth information, the sixth information may be carried in the SL MAC CE. For the sixth information, please refer to the related description above.

[0164] In another possible implementation, the first request is carried in the first SCI or SL MAC CE, and in this implementation, all content included in the first request is included in the first SCI or SL MAC CE.

[0165] As shown above, all content included in the first request can be carried in the first SCI and / or SL MAC CE, thereby helping the first terminal device efficiently request the second terminal device to transmit a first positioning reference signal. This reduces processing delay and improves positioning efficiency. Furthermore, the first request further includes related information, such as time-domain and frequency-domain characteristics that need to be satisfied by the first positioning reference signal, as well as transmission priority. In this way, the second terminal device transmits the first positioning reference signal based on this information, thereby supporting the first terminal device in performing sidelink positioning and thereby improving positioning accuracy.

[0166] Optionally, the first terminal device may send the first request to the second terminal device by using a PHY protocol layer or a MAC protocol layer.

[0167] 7 further includes step 701a, which may be performed before step 701.

[0168] 701a: The second terminal device transmits seventh information to the first terminal device. The seventh information indicates whether the second terminal device accepts the first request to the second terminal device initiated by the first terminal device. In response, the first terminal device receives sixth information from the second terminal device.

[0169] Optionally, the seventh information may be considered as the capability of the second terminal device and indicates whether the second terminal device will accept the first request and transmit the first positioning reference signal to the first terminal device.

[0170] Optionally, the second terminal equipment may send the seventh information to the first terminal equipment by using the PC5-S protocol layer, the RRC protocol layer, or the RSPP layer.

[0171] In this embodiment, the technical solution in this application is described using an example in which the seventh information indicates that the second terminal device accepts the first request to the second terminal device initiated by the first terminal device.

[0172] 702: The second terminal device transmits a first positioning reference signal to the first terminal device based on the first request, and in response, the first terminal device receives the first positioning reference signal from the second terminal device.

[0173] Specifically, the second terminal device may determine a configuration to be used for transmitting the first positioning reference signal based on the first request. The configuration of the first positioning reference signal may satisfy requirements indicated in the first request that need to be satisfied by the first positioning reference signal. Alternatively, the second terminal device may determine a configuration to be used for transmitting the first positioning reference signal by referring to the first request. In other words, when determining the configuration of the first positioning reference signal, the second terminal device may take into account requirements indicated in the first request that need to be satisfied by the first positioning reference signal. The configuration of the second positioning reference signal may not match the requirements indicated in the first request that need to be satisfied by the first positioning reference signal. For example, the first positioning reference signal may occupy a relatively small amount of time-frequency resources and may not necessarily occupy multiple slots. Alternatively, if the available bandwidth is limited, the transmission bandwidth occupied by the first positioning reference signal may be relatively small and may not match the transmission bandwidth of the first positioning reference signal requested in the first request. Thereafter, the second terminal device transmits the first positioning reference signal to the first terminal device based on the configuration of the first positioning reference signal.

[0174] In a possible implementation, the configuration of the first positioning reference signal may be pre-configured, and the first terminal device may receive the first positioning reference signal on the corresponding time-frequency resource by using the first positioning reference signal configuration.

[0175] 7 may further include step 702a, which may be performed before step 702 and after step 701.

[0176] 702a: The second terminal device transmits the second SCI to the first terminal device, and in response, the first terminal device receives the second SCI from the second terminal device.

[0177] The second SCI indicates a first positioning reference signal configuration to be transmitted by the second terminal device. For example, multiple positioning reference signal configurations are pre-configured in the first terminal device and the second terminal device, and each positioning reference signal configuration has a corresponding index. The second SCI carries an index of the first positioning reference signal configuration. The first terminal device can determine the first positioning reference signal configuration by using the index. The first terminal device can receive the first positioning reference signal on the corresponding time-frequency resource by using the first positioning reference signal configuration.

[0178] Optionally, the embodiment shown in Figure 7 further includes step 703 and step 704. Step 703 and step 704 may be performed after step 702.

[0179] 703: The first terminal device obtains a first measurement result.

[0180] The first measurement result is obtained by the first terminal device through a measurement based on the first positioning reference signal.

[0181] For example, the first terminal device may use an AOA positioning method, measure a first positioning reference signal, and obtain an arrival angle at which the first positioning reference signal arrives at the first terminal device, that is, the first measurement result includes an arrival angle at which the first positioning reference signal arrives at the first terminal device.

[0182] For example, the first terminal device may use an AOD positioning method, measure the first positioning reference signal, and obtain the radiation angle at which the first positioning reference signal is emitted from the second terminal device, that is, the first measurement result includes the radiation angle at which the first positioning reference signal is emitted from the second terminal device.

[0183] 704: The first terminal device positions the first terminal device and / or the second terminal device based on the first measurement result.

[0184] Optionally, the first terminal device may determine at least one of the following based on the first measurement result: a relative position of the first terminal device and the second terminal device, an absolute position of the first terminal device, an absolute position of the second terminal device, or a distance between the first terminal device and the second terminal device.

[0185] In this embodiment of the present application, a first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. The first terminal device then receives the first positioning reference signal from the second terminal device. The first terminal device may transmit the first request to the second terminal device, which is used to request the second terminal device to transmit the first positioning reference signal, to activate the second terminal device to transmit the first positioning reference signal to the first terminal device, thereby performing sidelink positioning between the first terminal device and the second terminal device. Furthermore, the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information. The first information instructs the first terminal device to request the second terminal device to transmit the first positioning reference signal. The second information indicates time-domain characteristics that need to be satisfied by the first positioning reference signal. The third information indicates a positioning method used to position the first terminal device and / or the second terminal device. The fourth information indicates a transmission priority of the first positioning reference signal. The fifth information indicates frequency domain characteristics that must be satisfied by the first positioning reference signal. In this way, the second terminal device transmits the first positioning reference signal based on these information, thereby supporting the first terminal device in performing sidelink positioning and thereby improving positioning accuracy.

[0186] With reference to the embodiments shown in FIGS. 8 to 11, some specific implementation solutions of the present application are described below.

[0187] 8 is a diagram illustrating a second embodiment of a communication method according to an embodiment of the present application. Please refer to FIG. 8. The method includes the following steps:

[0188] 801: A first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. In response, the second terminal device receives the first request from the first terminal device.

[0189] Step 801 is the same as step 701 in the embodiment shown in Figure 7. For details, please refer to the related description of step 701 in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0190] 802: A first terminal device transmits a second positioning reference signal to a second terminal device, and in response, the second terminal device receives the second positioning reference signal from the first terminal device.

[0191] Optionally, before step 802, the first terminal device may transmit a first SCI to the second terminal device. The first SCI is used to schedule the first terminal device to transmit a second positioning reference signal to the second terminal device. As described in step 701 in the embodiment shown in Figure 7, some or all of the information included in the first request may be carried in the first SCI. Optionally, the first SCI further indicates the configuration of the second positioning reference signal, helping the second terminal device to receive the second positioning reference signal.

[0192] It should be noted that there is no fixed execution order between step 801 and step 802. Depending on the situation, step 801 may be executed before step 802, or step 802 may be executed before step 801, or step 801 and step 802 may be executed simultaneously, which is not particularly limited in the present application.

[0193] 803: The second terminal device transmits a first positioning reference signal to the first terminal device, and in response, the first terminal device receives the first positioning reference signal from the second terminal device.

[0194] Step 803 is similar to step 702 in the embodiment shown in Figure 7. For details, please refer to the related description of step 702 in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0195] 8 further includes step 803a, which may be performed before step 803 and after step 801.

[0196] 803a: The second terminal device transmits a second SCI to the first terminal device, and in response, the first terminal device receives the second SCI from the second terminal device.

[0197] Step 803a is similar to step 702a in the embodiment shown in Figure 7. For details, please refer to the related description of step 702a in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0198] Optionally, the embodiment shown in Figure 8 further includes steps 804 to 807. Steps 804 to 807 may be performed after step 803.

[0199] 804: The second terminal device obtains a second measurement result through measurement based on the second positioning reference signal.

[0200] For example, the second terminal device determines a receive-transmit time difference Rx1-Tx1 between a receive time Rx1 at which the second terminal device receives the second positioning reference signal and a transmit time Tx1 at which the second terminal device transmits the first positioning reference signal, i.e., the second measurement result includes the receive-transmit time difference Rx1-Tx1.

[0201] 805: The second terminal device transmits the second measurement result to the first terminal device, and in response, the first terminal device receives the second measurement result from the second terminal device.

[0202] Optionally, the second terminal device may transmit the second measurement result to the first terminal device via the RSPP layer, and in response, the first terminal device receives the second measurement result transmitted by the second terminal device via the RSPP layer.

[0203] Optionally, the second SCI may be further used to schedule a PSSCH of the second terminal device, and the second measurement result may be carried on the PSSCH of the second terminal device.

[0204] 806: The first terminal device obtains a first measurement result.

[0205] For example, the first terminal device determines a receive-transmit time difference Rx2-Tx2 between a receive time Rx2 at which the first terminal device receives a first positioning reference signal and a transmit time Tx2 at which the first terminal device transmits a second positioning reference signal, i.e., the first measurement result includes the receive-transmit time difference Rx2-Tx2.

[0206] 807: The first terminal device locates the first terminal device and / or the second terminal device based on the first measurement result and the second measurement result.

[0207] For example, the first measurement result includes a receive-transmit time difference Rx2-Tx2, and the second measurement result includes a receive-transmit time difference Rx1-Tx1. The first terminal device determines a round trip time RTT between the first terminal device and the second terminal device based on the first measurement result and the second measurement result. That is, the round trip time RTT = Rx2-Tx2 + Rx1-Tx1. Therefore, the first terminal device may determine that the distance between the first terminal device and the second terminal device is obtained by dividing the round trip time by 2. Optionally, the first terminal device may further determine the angle, phase position, and the like of the first terminal device relative to the second terminal device by referring to other measurement quantities of the first positioning reference signal and the second positioning reference signal.

[0208] In the embodiment shown in FIG. 8, a first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. The first terminal device then transmits a second positioning reference signal to the second terminal device. The second terminal device then transmits the first positioning reference signal to the first terminal device. In this manner, the second terminal device determines a receive-transmit time difference Rx1-Tx1 between a receive time Rx1 at which the second terminal device receives the second positioning reference signal and a transmit time Tx1 at which the second terminal device transmits the first positioning reference signal. The second terminal device transmits the receive-transmit time difference Rx1-Tx1 to the first terminal device. In this manner, the first terminal device can position the first terminal device and / or the second terminal device by using the round trip time with reference to the receive-transmit time difference Rx1-Tx1.

[0209] 9 is a diagram illustrating a third embodiment of a communication method according to an embodiment of the present application. Please refer to FIG. 9. The method includes the following steps:

[0210] 901: A first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. In response, the second terminal device receives the first request from the first terminal device.

[0211] Step 901 is similar to step 701 in the embodiment shown in Figure 7. For details, please refer to the related description of step 701 in the embodiment shown in Figure 7.

[0212] Optionally, the embodiment shown in Figure 9 further includes step 901a. Step 901a may be performed before step 901.

[0213] 901a: The second terminal device transmits seventh information to the first terminal device. The seventh information indicates whether the second terminal device accepts the first request to the second terminal device initiated by the first terminal device. In response, the first terminal device receives the seventh information from the second terminal device.

[0214] Step 901a is similar to step 701a in the embodiment shown in Figure 7. For details, please refer to the related description of step 701a in the embodiment shown in Figure 7.

[0215] 902: The first terminal device transmits a second positioning reference signal to the second terminal device, and in response, the second terminal device receives the second positioning reference signal from the first terminal device.

[0216] Step 902 is similar to step 802 in the embodiment shown in Figure 8. For details, please refer to the related description of step 802 in the embodiment shown in Figure 8.

[0217] It should be noted that there is no fixed execution order between step 901 and step 902. Depending on the situation, step 901 may be executed before step 902, or step 902 may be executed before step 901, or step 901 and step 902 may be performed simultaneously, which is not particularly limited in the present application.

[0218] 903: The second terminal device transmits a second request to the first terminal device. The second request is used to request the first terminal device to transmit a third positioning reference signal. In response, the first terminal device receives the second request from the second terminal device.

[0219] The second request is similar to the first request in step 701 in the embodiment shown in Figure 7. For details, please refer to the related description of the first request.

[0220] 904: The second terminal device transmits a first positioning reference signal to the first terminal device, and in response, the first terminal device receives the first positioning reference signal from the second terminal device.

[0221] Step 904 is similar to step 702 in the embodiment shown in Figure 7. For details, please refer to the related description of step 702 in the embodiment shown in Figure 7.

[0222] It should be noted that there is no fixed execution order between step 903 and step 904. Depending on the situation, step 903 may be executed before step 904, or step 904 may be executed before step 903, or step 903 and step 904 may be executed simultaneously, which is not particularly limited in the present application.

[0223] 9 further includes step 904a, which may be performed before step 904.

[0224] 904a: The second terminal device transmits a second SCI to the first terminal device, and in response, the first terminal device receives the second SCI from the second terminal device.

[0225] Step 904a is similar to step 702a in the embodiment shown in Figure 7. For details, please refer to the related description of step 702a in the embodiment shown in Figure 7.

[0226] 905: The first terminal device transmits a third positioning reference signal to the second terminal device, and in response, the second terminal device receives the third positioning reference signal from the first terminal device.

[0227] Specifically, the first terminal device may determine a configuration to be used for transmitting the third positioning reference signal based on the second request. For example, the configuration of the third positioning reference signal may include time-frequency resources occupied by the third positioning reference signal, a transmission periodicity, and the like.

[0228] In a possible implementation, the configuration of the third positioning reference signal may be pre-configured, and the second terminal device may receive the third positioning reference signal on the corresponding time-frequency resource by using the configuration of the third positioning reference signal.

[0229] 9 may further include step 905a, which may be performed before step 905 and after step 904.

[0230] 9 further includes step 905a, which may be performed before step 905.

[0231] 905a: The first terminal device transmits a third SCI to the second terminal device, and in response, the second terminal device receives the third SCI from the first terminal device.

[0232] The third SCI indicates a configuration of a third positioning reference signal to be transmitted by the first terminal device. For example, multiple positioning reference signal configurations are pre-configured in the first terminal device and the second terminal device. Each positioning reference signal configuration has a corresponding index. The third SCI carries an index of the third positioning reference signal configuration. The second terminal device can determine the third positioning reference signal configuration by using the index. The second terminal device can receive the third positioning reference signal on the corresponding time-frequency resource by using the third positioning reference signal configuration.

[0233] Optionally, the embodiment shown in Figure 9 further includes steps 906 to 909. Steps 906 to 909 may be performed after step 905.

[0234] 906: The second terminal device obtains a third measurement result through measurements based on the second positioning reference signal and the third positioning reference signal.

[0235] For example, the first terminal device transmits a second positioning reference signal at time u1, and the second terminal device receives the second positioning reference signal at time v1. The second terminal device transmits a first positioning reference signal at time v2, and the first terminal device receives the first positioning reference signal at time u2. The first terminal device transmits a third positioning reference signal at time u3, and the second terminal device receives the third positioning reference signal at time v3. The second terminal device determines that the receive-transmit time difference between the receive time at which the second terminal device receives the second positioning reference signal and the transmit time at which the second terminal device transmits the first positioning reference signal is v1-v2. The second terminal device determines that the receive-transmit time difference between the receive time at which the second terminal device receives the third positioning reference signal and the transmit time at which the second terminal device transmits the first positioning reference signal is v3-v2. That is, the third measurement result includes the receive-transmit time difference v1-v2 and the receive-transmit time difference v3-v2.

[0236] 907: The second terminal device transmits the third measurement result to the first terminal device, and in response, the first terminal device receives the third measurement result from the second terminal device.

[0237] Optionally, the second terminal device may transmit a third measurement result to the first terminal device via the RSPP layer, and in response, the first terminal device receives the third measurement result transmitted by the second terminal device via the RSPP layer.

[0238] Optionally, the second SCI may be further used to schedule a PSSCH of the second terminal device, and the third measurement result may be carried on the PSSCH of the second terminal device.

[0239] 908: The first terminal device obtains a first measurement result.

[0240] For example, the first terminal device transmits a second positioning reference signal at time u1, and the second terminal device receives the second positioning reference signal at time v1. The second terminal device transmits a first positioning reference signal at time v2, and the first terminal device receives the first positioning reference signal at time u2. The first terminal device transmits a third positioning reference signal at time u3, and the second terminal device receives the third positioning reference signal at time v3. The first terminal device determines that the receive-transmit time difference between the receive time at which the first terminal device receives the first positioning reference signal and the transmit time at which the first terminal device transmits the second positioning reference signal is u2-u1. The first terminal device determines that the receive-transmit time difference between the receive time at which the first terminal device receives the first positioning reference signal and the transmit time at which the first terminal device transmits the third positioning reference signal is u2-u3. That is, the first measurement result includes the receive-transmit time difference u2-u1 and the receive-transmit time difference u2-u3.

[0241] 909: The first terminal device locates the first terminal device and / or the second terminal device based on the first measurement result and the third measurement result.

[0242] For example, referring to the implementation in steps 906 and 908, the third measurement result includes a receive-transmit time difference v1-v2 and a receive-transmit time difference v3-v2, and the first measurement result includes a receive-transmit time difference u2-u1 and a receive-transmit time difference u2-u3. If there is no clock drift deviation between the first terminal device and the second terminal device, theoretically, the following equation should hold: u2-u1+v1-v2=v3-v2+u2-u3=RTT. However, in reality, due to the existence of clock drift deviation, u2-u1+v1-v2 is not equal to v3-v2+u2-u3. When the clock drift model is linearized, u=(1+a0)*t+k0 and v=(1+a1)*t+k1. Here, t is the standard time, and k0 and k1 are fixed constants corresponding to the initial deviation between the first terminal device and the second terminal device and the standard time. a0 and a1 are very small numbers, typically around 10 -7 a0 can be understood as the clock drift deviation of the first terminal equipment relative to standard time. a1 can be understood as the clock drift deviation of the second terminal equipment relative to standard time. For example, a0=0.0000001 indicates that 1 second has passed in standard time, and 1.0000001 seconds has been observed by the first terminal equipment. For example, a1=-0.0000001 indicates that 1 second has passed in standard time, and 0.9999999 seconds has been observed by the second terminal equipment. In this specification, removing the clock drift deviation actually means calculating the ratio of 1+a0 to 1+a1, and the clock rates of the two terminal equipments are unified to the same clock rate (e.g., unified to the first terminal equipment). The corrected round trip time RTT between the first terminal equipment and the second terminal equipment can be calculated by using the following equation 1, i.e., RTT=((u2-u1)×(v3-v2)-(v1-v2)×(u2-u3)) / ((u2-u1)+(v3-v2)) Equation 1 is.

[0243] Therefore, the first terminal device may determine that the distance between the first terminal device and the second terminal device is obtained by dividing the round-trip time by 2. Optionally, the first terminal device may further determine the angle, phase position, and the like of the first terminal device with respect to the second terminal device by referring to other measurement quantities of the first positioning reference signal, the second positioning reference signal, and the third positioning reference signal.

[0244] In the embodiment shown in FIG. 9, the second terminal device may determine a plurality of receive-transmit time differences by using the first positioning reference signal, the second positioning reference signal, and the third positioning reference signal. In this way, the clock drift deviation between the first terminal device and the second terminal device can be determined, and the first terminal device or the second terminal device may compensate for the plurality of receive-transmit time differences by using the clock drift deviation. Thereafter, the first terminal device may position the first terminal device and / or the second terminal device by using the round-trip time by referring to the plurality of receive-transmit time differences. Therefore, the influence caused by the clock drift deviation between the first terminal device and the second terminal device is eliminated, thereby improving the positioning accuracy.

[0245] FIG. 10 is a diagram showing a fourth embodiment of a communication method according to an embodiment of the present application. Refer to FIG. 10. The method includes the following steps.

[0246] 1001: The first terminal device transmits a first request to the second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. In response, the second terminal device receives the first request from the first terminal device.

[0247] Step 1001 is the same as step 701 in the embodiment shown in FIG. 7. For details, refer to the related description of step 701 in the embodiment shown in FIG. 7.

[0248] Optionally, the embodiment shown in Figure 10 further includes step 1001a. Step 1001a may be performed before step 1001.

[0249] 1001a: The second terminal device transmits seventh information to the first terminal device. The seventh information indicates whether the second terminal device accepts the first request to the second terminal device initiated by the first terminal device. In response, the first terminal device receives the seventh information from the second terminal device.

[0250] Step 1001a is similar to step 701a in the embodiment shown in Figure 7. For details, please refer to the related description of step 701a in the embodiment shown in Figure 7.

[0251] 1002: The second terminal device transmits a second request to the first terminal device. The second request is used to request the first terminal device to transmit a third positioning reference signal. In response, the first terminal device receives the second request from the second terminal device.

[0252] The second request is similar to the first request in step 701 in the embodiment shown in Figure 7. For details, please refer to the related description of the first request.

[0253] 1003: The second terminal device transmits a first positioning reference signal to the first terminal device, and in response, the first terminal device receives the first positioning reference signal from the second terminal device.

[0254] Step 1003 is similar to step 702 in the embodiment shown in Figure 7. For details, please refer to the related description of step 702 in the embodiment shown in Figure 7.

[0255] It should be noted that there is no fixed execution order between step 1002 and step 1003. Depending on the situation, step 1002 may be executed before step 1003, or step 1003 may be executed before step 1002, or step 1002 and step 1003 may be executed simultaneously, which is not particularly limited in the present application.

[0256] Optionally, the embodiment shown in Figure 10 further includes step 1003a, which may be performed before step 1003.

[0257] 1003a: The second terminal device transmits a second SCI to the first terminal device, and in response, the first terminal device receives the second SCI from the second terminal device.

[0258] Step 1003a is similar to step 702a in the embodiment shown in Figure 7. For details, please refer to the related description of step 702a in the embodiment shown in Figure 7.

[0259] 1004: The first terminal device transmits a third request to the second terminal device. The third request is used to request the second terminal device to transmit a fourth positioning reference signal. In response, the second terminal device receives the third request from the first terminal device.

[0260] The third request is similar to the first request. For details, please refer to the relevant description of the first request in step 701 in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0261] 1005: The first terminal device transmits a third positioning reference signal to the second terminal device, and in response, the second terminal device receives the third positioning reference signal from the first terminal device.

[0262] Step 1005 is the same as step 905 in the embodiment shown in Figure 9. For details, please refer to the related description of step 905 in the embodiment shown in Figure 9. The details will not be described again in this specification.

[0263] It should be noted that there is no fixed execution order between step 1004 and step 1005. Depending on the situation, step 1004 may be executed before step 1005, or step 1005 may be executed before step 1004, or step 1004 and step 1005 may be executed simultaneously, which is not particularly limited in the present application.

[0264] Optionally, the embodiment shown in Figure 10 further includes step 1005a, which may be performed before step 1005.

[0265] 1005a: The second terminal device transmits a third SCI to the first terminal device, and in response, the first terminal device receives the third SCI from the second terminal device.

[0266] Step 1005a is similar to step 905a in the embodiment shown in Figure 9. For details, please refer to the related description of step 905a in the embodiment shown in Figure 9.

[0267] 1006: The second terminal device transmits a fourth positioning reference signal to the first terminal device, and in response, the first terminal device receives the fourth positioning reference signal from the second terminal device.

[0268] Specifically, the second terminal device determines a configuration to be used for transmitting the fourth positioning reference signal based on the third request. For example, the configuration of the fourth positioning reference signal includes time-frequency resources occupied by the fourth positioning reference signal, a transmission periodicity, and the like.

[0269] In a possible implementation, the configuration of the fourth positioning reference signal may be pre-configured, and the first terminal device may receive the fourth positioning reference signal on a corresponding time-frequency resource by using the configuration of the fourth positioning reference signal.

[0270] 10 may further include step 1006a, which may be performed before step 1006.

[0271] 1006a: The second terminal device transmits a fourth SCI to the first terminal device, and in response, the first terminal device receives the fourth SCI from the second terminal device.

[0272] The fourth SCI indicates a configuration of a fourth positioning reference signal to be transmitted by the second terminal device. For example, multiple positioning reference signal configurations are pre-configured in the first terminal device and the second terminal device. Each positioning reference signal configuration has a corresponding index. The fourth SCI carries an index of the fourth positioning reference signal configuration. The first terminal device can determine the fourth positioning reference signal configuration by using the index. The first terminal device can receive the fourth positioning reference signal on the corresponding time-frequency resource by using the fourth positioning reference signal configuration.

[0273] Optionally, the embodiment shown in Figure 10 further includes steps 1007 to 1010. Steps 1007 to 1010 may be performed after step 1006.

[0274] 1007: The second terminal device obtains a fourth measurement result through measurement based on the third positioning reference signal.

[0275] For example, the second terminal device transmits a first positioning reference signal at time v1, and the first terminal device receives the first positioning reference signal at time u1. The first terminal device transmits a third positioning reference signal at time u2, and the second terminal device receives the third positioning reference signal at time v2. The second terminal device transmits a fourth positioning reference signal at time v3, and the first terminal device receives the fourth positioning reference signal at time u3. The second terminal device determines that the receive-transmit time difference between the receive time at which the second terminal device receives the third positioning reference signal and the transmit time at which the second terminal device transmits the first positioning reference signal is v2-v1. The second terminal device determines that the receive-transmit time difference between the receive time at which the second terminal device receives the third positioning reference signal and the transmit time at which the second terminal device transmits the fourth positioning reference signal is v2-v3. That is, the fourth measurement result includes the receive-transmit time difference v2-v1 and the receive-transmit time difference v2-v3.

[0276] 1008: The second terminal device transmits the fourth measurement result to the first terminal device, and in response, the first terminal device receives the fourth measurement result from the second terminal device.

[0277] Optionally, the second terminal device may transmit a fourth measurement result to the first terminal device via the RSPP layer, and in response, the first terminal device receives the fourth measurement result transmitted by the second terminal device via the RSPP layer.

[0278] Optionally, the fourth SCI may be further used to schedule a PSCCH of the second terminal device, and the fourth measurement result may be carried on the PSCCH of the second terminal device.

[0279] 1009: The first terminal device acquires a fifth measurement result.

[0280] The fifth measurement result is obtained by the first terminal device through measurements based on the first positioning reference signal and the fourth positioning reference signal.

[0281] Specifically, the second terminal device transmits a first positioning reference signal at time v1, and the first terminal device receives the first positioning reference signal at time u1. The first terminal device transmits a third positioning reference signal at time u2, and the second terminal device receives the third positioning reference signal at time v2. The second terminal device transmits a fourth positioning reference signal at time v3, and the first terminal device receives the fourth positioning reference signal at time u3. The first terminal device determines that the receive-transmit time difference between the receive time at which the first terminal device receives the first positioning reference signal and the transmit time at which the first terminal device transmits the third positioning reference signal is u1-u2. The first terminal device determines that the receive-transmit time difference between the receive time at which the first terminal device receives the fourth positioning reference signal and the transmit time at which the first terminal device transmits the third positioning reference signal is u3-u2. That is, the fifth measurement result includes the receive-transmit time difference u1-u2 and the receive-transmit time difference u3-u2.

[0282] 1010: The first terminal device locates the first terminal device and / or the second terminal device based on the fourth measurement result and the fifth measurement result.

[0283] For example, referring to the examples of steps 1007 and 1009 described above, it can be seen that the fourth measurement result includes the receive-transmit time difference v2-v1 and the receive-transmit time difference v2-v3, and the fifth measurement result includes the receive-transmit time difference u1-u2 and the receive-transmit time difference u3-u2.

[0284] If there is no clock drift deviation between the first terminal device and the second terminal device, theoretically, the following equation should hold: v2-v1+u1-u2=u3-u2+v2-v3=RTT. However, in reality, these two are not equal due to the existence of clock drift deviation. When the clock drift model is linearized, u=(1+a0)*t+k0 and v=(1+a1)*t+k1. Here, t is the standard time, and k0 and k1 are fixed constants, which correspond to the initial deviation between the first terminal device and the second terminal device, and the standard time. a0 and a1 are very small numbers, usually around 10 -7 a0 can be understood as the clock drift deviation of the first terminal equipment relative to standard time. a1 can be understood as the clock drift deviation of the second terminal equipment relative to standard time. For example, a0=0.0000001 indicates that 1 second has passed in standard time, and 1.0000001 seconds has been observed by the first terminal equipment. For example, a1=-0.0000001 indicates that 1 second has passed in standard time, and 0.9999999 seconds has been observed by the second terminal equipment. Here, removing the clock drift deviation actually means calculating the ratio of 1+a0 to 1+a1, and the clock rates of the two terminal equipments are unified to the same clock rate (e.g., unified to the first terminal equipment). The corrected round trip time RTT between the first terminal equipment and the second terminal equipment can be calculated by using the following equation 2, i.e., RTT=((v2-v1)×(u3-u2)-(v2-v3)×(u1-u2)) / ((v2-v1)+(u3-u2)) Equation 2 is.

[0285] Therefore, the first terminal device may determine that the distance between the first terminal device and the second terminal device is obtained by dividing the round trip time by 2. Optionally, the first terminal device may further determine an angle, phase position, and the like of the first terminal device relative to the second terminal device with reference to other measurements of the first positioning reference signal, the third positioning reference signal, and the fourth positioning reference signal.

[0286] In the embodiment shown in FIG. 10, the first terminal device may determine multiple receive-transmit time differences by using the first positioning reference signal, the third positioning reference signal, and the fourth positioning reference signal. In this manner, the clock drift deviation between the first terminal device and the second terminal device can be determined, and the receive-transmit time difference is compensated for by using this clock drift deviation. The first terminal device then positions the first terminal device and / or the second terminal device by using the round trip time with reference to the multiple receive-transmit time differences. This eliminates the influence caused by the clock drift deviation between the first terminal device and the second terminal device, thereby improving positioning accuracy.

[0287] The present application further provides another embodiment. This embodiment is similar to the embodiment shown in FIG. 10 except that the first request in step 1001 is used to request the second terminal device to transmit the first positioning reference signal and the fourth positioning reference signal. This embodiment does not include step 1004. That is, the first terminal device requests the second terminal device to transmit the positioning reference signal multiple times by using the first request. In this manner, the first terminal device can obtain multiple reception and transmission time differences through measurements. In this manner, the clock drift deviation between the first terminal device and the second terminal device can be determined, and the reception-transmission time difference is compensated for by using this clock drift deviation. Then, the first terminal device positions the first terminal device and / or the second terminal device by using the round trip time with reference to the multiple reception-transmission time differences. Therefore, the influence caused by the clock drift deviation between the first terminal device and the second terminal device is eliminated, thereby improving the positioning accuracy.

[0288] 11 is a diagram illustrating a fifth embodiment of a communication method according to an embodiment of the present application. Please refer to FIG. 11. The method includes the following steps:

[0289] 1101: A first terminal device transmits a first request to a second terminal device. The first request is used to request the second terminal device to transmit a first positioning reference signal. In response, the second terminal device receives the first request from the first terminal device.

[0290] Step 1101 is similar to step 701 in the embodiment shown in Figure 7. For details, please refer to the related description of step 701 in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0291] It should be noted that optionally, the first request is used to request the second terminal device to transmit the first positioning reference signal multiple times.

[0292] 1102: The first terminal device transmits a fourth request to a third terminal device. The fourth request is used to request the third terminal device to transmit a fifth positioning reference signal. In response, the third terminal device receives the fourth request from the first terminal device.

[0293] The fourth request is similar to the first request. For details, please refer to the relevant description of step 701 in the embodiment shown in Figure 7. The details will not be described again in this specification.

[0294] It should be noted that optionally, the fourth request is used to request the third terminal device to transmit the fifth positioning reference signal multiple times.

[0295] It should be noted that there is no fixed execution order between step 1101 and step 1102. Based on the situation, step 1101 can be executed before step 1102, or step 1102 is performed before step 1101, or step 1101 and step 1102 are performed simultaneously, which is not particularly limited in the present application.

[0296] 1103: The second terminal device transmits a first positioning reference signal to the first terminal device, and in response, the first terminal device receives the first positioning reference signal from the second terminal device.

[0297] Step 1103 is similar to step 702 in the embodiment shown in Figure 7. For details, please refer to the related description of step 702 in the embodiment shown in Figure 7.

[0298] Optionally, the second terminal device transmits the first positioning reference signal to the second terminal device multiple times based on the first request.

[0299] Optionally, the embodiment shown in Figure 11 further includes step 1103a, which may be performed before step 1103.

[0300] 1103a: The second terminal device transmits a second SCI to the first terminal device, and in response, the first terminal device receives the second SCI from the second terminal device.

[0301] Step 1103a is similar to step 702a in the embodiment shown in Figure 7. For details, please refer to the related description of step 702a in the embodiment shown in Figure 7.

[0302] 1104: The third terminal device transmits a fourth positioning reference signal to the first terminal device, and in response, the first terminal device receives the fourth positioning reference signal from the third terminal device.

[0303] Step 1104 is similar to step 702 in the embodiment shown in Figure 7. For details, please refer to the related description of step 702 in the embodiment shown in Figure 7.

[0304] Optionally, the third terminal device transmits the fourth positioning reference signal to the first terminal device multiple times based on the fourth request.

[0305] 11 further includes step 1104a, which may be performed before step 1104.

[0306] 1104a: The third terminal device transmits a fifth SCI to the first terminal device, and in response, the first terminal device receives the fifth SCI from the third terminal device.

[0307] Step 1104a is similar to step 702a in the embodiment shown in Figure 7. For details, please refer to the related description of step 702a in the embodiment shown in Figure 7.

[0308] It should be noted that there is no fixed execution order between step 1103 and step 1104. Depending on the situation, step 1103 may be executed before step 1104, or step 1104 may be executed before step 1103, or step 1103 and step 1104 may be executed simultaneously, which is not particularly limited in the present application.

[0309] It should be noted that there is no fixed execution order between step 1103a and step 1104a. Depending on the situation, step 1103a may be executed before step 1104a, or step 1104a may be executed before step 1103a, or step 1103a and step 1104a may be executed simultaneously. This is not particularly limited in the present application.

[0310] Optionally, the embodiment shown in Figure 11 further includes step 1105 and step 1106. Step 1105 and step 1106 may be performed after step 1104.

[0311] 1105: The first terminal device obtains a first measurement result through measurement based on the first positioning reference signal and the fourth positioning reference signal.

[0312] In a possible implementation, the first terminal device measures the first positioning reference signal and the fourth positioning reference signal to obtain a time difference in arrival between the time when the first positioning reference signal arrives at the first terminal device and the time when the fourth positioning reference signal arrives at the first terminal device. In other words, the first measurement result includes a time difference in arrival between the time when the first positioning reference signal arrives at the first terminal device and the time when the fourth positioning reference signal arrives at the first terminal device.

[0313] In another possible implementation, the first terminal device instructs the second terminal device to transmit a first positioning reference signal in the first mode by using a first request. The first terminal device instructs the third terminal device to transmit a fifth positioning reference signal in the first mode by using a fourth request. The second terminal device transmits the first positioning reference signal in the first mode, and the third terminal device transmits the fifth positioning reference signal in the first mode. For the first mode, see the related description above. The first terminal device measures the received power difference between the first positioning reference signals transmitted by the second terminal device and also measures the power difference between the fifth positioning reference signals transmitted by the third terminal device on the multiple transmission beams by using multiple transmission beams. Specifically, the first measurement result includes a received power difference obtained through measurement by a first terminal device, the received power difference being between first positioning reference signals transmitted by a second terminal device on multiple transmission beams, and a received power difference obtained through measurement by the first terminal device, the received power difference being between fifth positioning reference signals transmitted by a third terminal device on multiple transmission beams.

[0314] In yet another possible implementation, the first terminal device instructs the second terminal device to transmit a first positioning reference signal in the second mode by using a first request. The first terminal device instructs the third terminal device to transmit a fifth positioning reference signal in the second mode by using a fourth request. The second terminal device transmits the first positioning reference signal in the second mode, and the third terminal device transmits the fifth positioning reference signal in the second mode. For the second mode, see the related description above. The second terminal device transmits the first positioning reference signal in the second mode. The third terminal device transmits the fifth positioning reference signal in the second mode. The first terminal device measures a reception phase difference between the first positioning reference signals transmitted by the second terminal device via multiple transmit antennas, and also measures a reception phase difference between the fifth positioning reference signals transmitted by the third terminal device via multiple transmit antennas. In other words, the first measurement result includes a reception phase difference obtained by the first terminal device through measurement, which is a reception phase difference between first positioning reference signals transmitted by the second terminal device on multiple transmitting antennas, and a reception phase difference obtained by the first terminal device through measurement, which is a reception phase difference between fifth positioning reference signals transmitted by the third terminal device on multiple transmitting antennas.

[0315] 1106: The first terminal device locates at least one of the first terminal device, the second terminal device, and the third terminal device based on the first measurement result.

[0316] For example, the first measurement result includes a time difference between the arrival time of the first positioning reference signal and the arrival time of the fourth positioning reference signal at the first terminal device. The first terminal device determines its absolute position. Based on the time difference, the first terminal device can determine the relative positions of the first terminal device and the second terminal device, the relative positions of the first terminal device and the third terminal device, the distance between the first terminal device and the second terminal device, the distance between the first terminal device and the third terminal device, the absolute position of the second terminal device, the absolute position of the third terminal device, and the like.

[0317] For example, the first measurement result includes a received power difference obtained through measurement by the first terminal device, the received power difference being between first positioning reference signals transmitted by the second terminal device on multiple transmission beams, and a received power difference obtained through measurement by the first terminal device, the received power difference being between fifth positioning reference signals transmitted by the third terminal device on multiple transmission beams. The first terminal device grasps the absolute position of the first terminal device. Based on the first measurement result, the first terminal device can determine the relative positions of the first terminal device and the second terminal device, the relative positions of the first terminal device and the third terminal device, the distance between the first terminal device and the second terminal device, the distance between the first terminal device and the third terminal device, the absolute position of the second terminal device, the absolute position of the third terminal device, and the like.

[0318] For example, the first measurement result includes a receive phase difference obtained by the first terminal device through measurement, the receive phase difference being between first positioning reference signals transmitted by the second terminal device on multiple transmit antennas, and a receive phase difference obtained by the first terminal device through measurement, the receive phase difference being between fifth positioning reference signals transmitted by the third terminal device on multiple transmit antennas. The first terminal device determines the absolute position of the first terminal device. Based on the first measurement result, the first terminal device can determine the relative positions of the first terminal device and the second terminal device, the relative positions of the first terminal device and the third terminal device, the distance between the first terminal device and the second terminal device, the distance between the first terminal device and the third terminal device, the absolute position of the second terminal device, the absolute position of the third terminal device, and the like.

[0319] In the embodiment shown in Figure 11, the first terminal device may obtain a first measurement result through measurement using the first positioning reference signal and the fifth positioning reference signal. For example, the first measurement result may include an arrival time difference between the arrival time of the first positioning reference signal at the first terminal device and the arrival time of the fourth positioning reference signal at the first terminal device. Alternatively, the first measurement result may include a received power difference obtained through measurement by the first terminal device, the received power difference being between the first positioning reference signal transmitted by the second terminal device on multiple transmission beams, and a received power difference obtained through measurement by the first terminal device, the received power difference being between the fifth positioning reference signal transmitted by the third terminal device on multiple transmission beams. Alternatively, the first measurement result includes a reception phase difference obtained by the first terminal device through measurement, the reception phase difference being between first positioning reference signals transmitted by the second terminal device on multiple transmit antennas, and a reception phase difference obtained by the first terminal device through measurement, the reception phase difference being between fifth positioning reference signals transmitted by the third terminal device on multiple transmit antennas. The first terminal device can then position the first terminal device and / or the second terminal device by referring to the first measurement result. Specifically, the positioning can be AOD positioning, time difference of arrival positioning, angle of arrival positioning, or the like, thereby improving positioning accuracy.

[0320] It should be noted that in the embodiment shown in Figure 11, the technical solution in this application is described by using an example in which a first terminal device requests a second terminal device and a third terminal device to initiate requests to transmit positioning reference signals. In actual application, the first terminal device may further initiate requests to transmit positioning reference signals to more terminal devices and receive positioning reference signals transmitted by more terminal devices. In this way, the first terminal device positions more terminal devices, or the positioning reference signals of more terminal devices help the first terminal device to position the second terminal device.

[0321] The above-mentioned method embodiments may be implemented separately or in combination. The terms and related technologies in the embodiments should be cross-referenced. In other words, technical solutions that are not mutually contradictory or logically inconsistent in different embodiments may be combined with each other. This is not particularly limited in the present application.

[0322] A communication device provided in the present application will be described below. Fig. 12 is a diagram illustrating a first configuration of a communication device according to an embodiment of the present application. Please refer to Fig. 12. The communication device 1200 includes a transceiver module 1201. Furthermore, the communication device 1200 includes a processing module 1202.

[0323] Optionally, when the communication device 1200 includes a first terminal device or a chip in the first terminal device, the communication device 1200 may be configured to perform all or part of the steps performed by the first terminal device in the embodiments shown in Figures 7 to 11. For details, please refer to the related descriptions in the method embodiments shown in Figures 7 to 11.

[0324] The transceiver module 1201 is configured to: transmit a first request to a second terminal device, where the first request is used to request the second terminal device to transmit a first positioning reference signal; the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information; the first information instructs the communications device 1200 to request the second terminal device to transmit the first positioning reference signal; the second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal; the third information indicates a positioning method used to position the communications device 1200 and / or the second terminal device; the fourth information indicates a transmission priority of the first positioning reference signal; and the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal; and receive the first positioning reference signal from the second terminal device.

[0325] In a possible implementation, the time-domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time-domain symbol level; the first positioning reference signal occupies at least one slot or at least one time-domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time-domain symbol includes multiple time-domain symbols, the multiple time-domain symbols include consecutive time-domain symbols and / or non-consecutive time-domain symbols.

[0326] In another possible implementation, the frequency domain characteristics include at least one of the following: a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0327] In another possible implementation, the positioning method includes any one of the following: an RTT positioning method, an AOA positioning method, an AOD positioning method, or a TDOA positioning method.

[0328] In a possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, which indicates the AOD angle positioning mode used for the first positioning reference signal.

[0329] In another possible implementation, the third information indicates an AOD angle positioning mode to be used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is an AOD positioning method.

[0330] In another possible implementation, the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, where the first mode includes the second terminal device transmitting the first positioning reference signal in a beam switching manner, and the second mode includes the second terminal device transmitting the first positioning reference signal in an antenna switching manner.

[0331] In another possible implementation, the first information further indicates whether the communications device 1200 transmits a second positioning reference signal to a second terminal device.

[0332] In another possible implementation, the first information is instruction information. When the value of the instruction information is a first value, it indicates that the communication device 1200 requests the second terminal device to transmit the first positioning reference signal and that the communication device 1200 transmits the second positioning reference signal to the second terminal device. Alternatively, when the value of the instruction information is a second value, it indicates that the communication device 1200 requests the second terminal device to transmit the first positioning reference signal and that the communication device 1200 does not transmit the second positioning reference signal to the second terminal device.

[0333] In another possible implementation, the first information is carried in the SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE.

[0334] In another possible implementation, the first request is carried in the SCI or SL MAC CE.

[0335] In another possible implementation, the processing module 1202 is further configured to: obtain a first measurement result, where the first measurement result is obtained by the communication device 1200 through a measurement based on a first positioning reference signal; and position the communication device 1200 and / or a second terminal device based on the first measurement result.

[0336] In another possible implementation, the transceiver module 1201 is further configured to transmit a second positioning reference signal to a second terminal device.

[0337] In another possible implementation, the processing module 1202 is further configured to acquire a first measurement result, where the first measurement result is acquired by the communication device 1200 through measurement based on a first positioning reference signal. The transceiver module 1201 is further configured to receive a second measurement result from a second terminal device, where the second measurement result is acquired by the second terminal device through measurement based on a second positioning reference signal. And the processing module 1202 is further configured to position the communication device 1200 and / or the second terminal device based on the first measurement result and the second measurement result.

[0338] In another possible implementation, the transceiver module 1201 is further configured to: receive a second request from a second terminal device, where the second request is used to request the communication device 1200 to transmit a third positioning reference signal; and transmit the third positioning reference signal to the second terminal device.

[0339] In another possible implementation, the transceiver module 1201 is further configured to: send a third request to the second terminal device, where the third request is used to request the second terminal device to send a fourth positioning reference signal; and receive the fourth positioning reference signal from the second terminal device.

[0340] In another possible implementation, the transceiver module 1201 is further configured to: send a fourth request to a third terminal device, where the fourth request is used to request the third terminal device to send a fifth positioning reference signal; and receive the fifth positioning reference signal from the third terminal device.

[0341] In another possible implementation, the transceiver module 1201 is further configured to receive seventh information from the second terminal device, where the seventh information indicates whether the second terminal device accepts the first request to the second terminal device initiated by the communication device 1200.

[0342] The communication device provided in the present application will be described below. Figure 13 is a diagram illustrating a second configuration of the communication device according to an embodiment of the present application. Please refer to Figure 13. The communication device 1300 includes a transceiver module 1301. Furthermore, the communication device 1300 includes a processing module 1302.

[0343] Optionally, if the communication device 1300 includes a second terminal device or a chip in the second terminal device, the communication device 1300 may be configured to perform all or part of the steps performed by the second terminal device in the embodiments shown in Figures 7 to 11. For details, please refer to the related descriptions in the method embodiments shown in Figures 7 to 11.

[0344] The transceiver module 1301 is configured to: receive a first request from a first terminal device, where the first request is used to request the communication device 1300 to transmit a first positioning reference signal; the first request includes at least one of the following: first information, second information, third information, fourth information, or fifth information; the first information instructs the first terminal device to request the communication device 1300 to transmit the first positioning reference signal; the second information indicates time domain characteristics that need to be satisfied by the first positioning reference signal; the third information indicates a positioning method used to position the first terminal device and / or the communication device 1300; the fourth information indicates a transmission priority of the first positioning reference signal; and the fifth information indicates frequency domain characteristics that need to be satisfied by the first positioning reference signal; and transmit the first positioning reference signal to the first terminal device based on the first request.

[0345] In a possible implementation, the time-domain characteristics include at least one of the following: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time-domain symbol level; the first positioning reference signal occupies at least one slot or at least one time-domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time-domain symbol includes multiple time-domain symbols, the multiple time-domain symbols include consecutive time-domain symbols and / or non-consecutive time-domain symbols.

[0346] In another possible implementation, the frequency domain characteristics include at least one of the following: a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

[0347] In another possible implementation, the positioning method includes any one of the following: an RTT positioning method, an AOA positioning method, an AOD positioning method, or a TDOA positioning method.

[0348] In another possible implementation, if the positioning method is an AOD positioning method, the first request further includes sixth information, which indicates the AOD angle positioning mode used for the first positioning reference signal.

[0349] In another possible implementation, the third information indicates an AOD angle positioning mode to be used for the first positioning reference signal, and by using the AOD angle positioning mode indicated by the third information, it is indicated that the positioning method is an AOD positioning method.

[0350] In another possible implementation, the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, where the first mode includes the communication device 1300 transmitting the first positioning reference signal in a beam switching manner, and the second mode includes the communication device 1300 transmitting the first positioning reference signal in an antenna switching manner.

[0351] In another possible implementation, the first information further indicates whether the first terminal device transmits a second positioning reference signal to the communication device 1300 .

[0352] In another possible implementation, the first information is instruction information. When the value of the instruction information is a first value, it indicates that the first terminal device requests communication device 1300 to transmit a first positioning reference signal and that the first terminal device transmits a second positioning reference signal to communication device 1300. Alternatively, when the value of the instruction information is a second value, it indicates that the first terminal device requests communication device 1300 to transmit a first positioning reference signal and that the first terminal device does not transmit a second positioning reference signal to communication device 1300.

[0353] In another possible implementation, the first information is carried in the SCI, and at least one of the second information, the third information, the fourth information, and the fifth information is carried in the SL MAC CE.

[0354] In another possible implementation, the first request is carried in the SCI or SL MAC CE.

[0355] In another possible implementation, the transceiver module 1301 is further configured to receive a second positioning reference signal from the first terminal device.

[0356] In another possible implementation, the processing module 1302 is further configured to obtain a second measurement result through a measurement based on a second positioning reference signal, and the transceiver module 1301 is configured to transmit the second measurement result to the first terminal equipment.

[0357] In another possible implementation, the transceiver module 1301 is further configured to: send a second request to the first terminal device, where the second request is used to request the first terminal device to transmit a third positioning reference signal; and receive the third positioning reference signal from the first terminal device.

[0358] In another possible implementation, the transceiver module 1301 is further configured to: receive a third request from the first terminal device, where the third request is used to request the communication device 1300 to transmit a fourth positioning reference signal; and transmit the fourth positioning reference signal to the first terminal device.

[0359] In another possible implementation, the transceiver module 1301 is further configured to transmit seventh information to the first terminal device, where the seventh information indicates whether the communication device 1300 accepts a first request for the communication device 1300 initiated by the first terminal device.

[0360] FIG. 14 below shows a possible configuration of the terminal equipment.

[0361] Figure 14 is a simplified diagram showing the configuration of a terminal device. For ease of understanding and illustration, an example in which the terminal device is a mobile phone is used in Figure 14. As shown in Figure 14, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input / output device.

[0362] The processor is mainly configured to: process communication protocols and communication data, control terminal equipment, execute software programs, and process data of software programs, etc.

[0363] The memory is mainly configured to store software programs and data, and the radio frequency circuit is mainly configured to perform conversion between baseband signals and radio frequency signals, and to process radio frequency signals.

[0364] An antenna is primarily configured to receive and transmit radio frequency signals in the form of electromagnetic waves. An input / output device, such as a touchscreen, display, or keyboard, is primarily configured to receive data entered by a user and output data to a user.

[0365] It should be noted that some types of terminal equipment may not have input / output devices.

[0366] When data needs to be transmitted, the processor performs baseband processing on the data to be transmitted and then outputs the baseband signal to the radio frequency circuit. The radio frequency circuit then performs radio frequency processing on the baseband signal and then transmits the radio frequency signal to the outside in the form of electromagnetic waves via an antenna. When data needs to be transmitted to a terminal device, the radio frequency circuit receives the radio frequency signal via the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For ease of explanation, FIG. 14 shows only one memory and one processor. In an actual terminal device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium, a storage device, or the like. The memory may be arranged independently of the processor or integrated with the processor. This is not limited to this embodiment of the present application.

[0367] In this embodiment of the present application, the antenna and radio frequency circuit having the transceiver function may be considered as a transceiver unit of the terminal equipment, and the processor having the processing function may be considered as a processing unit of the terminal equipment. As shown in FIG. 14, the terminal equipment includes a transceiver unit 1410 and a processing unit 1420. The transceiver unit may also be referred to as a transceiver, a transceiver machine, a transceiver device, or the like. The processing unit may also be referred to as a processor, a processing board, a processing module, a processing device, or the like. Optionally, a component configured to implement a receiving function in the transceiver unit 1410 may be considered as a receiving unit, and a component configured to implement a transmitting function in the transceiver unit 1410 may be considered as a transmitting unit. In other words, the transceiver unit 1410 includes a receiving unit and a transmitting unit. The transceiver unit may also be referred to as a transceiver main, a transceiver, a transceiver circuit, or the like. A receiving unit may sometimes be referred to as a receiving machine, receiver, receiving circuitry, or the like. A transmitting unit may sometimes be referred to as a transmitting machine, transmitter, transmitting circuitry, or the like.

[0368] It should be understood that the transceiver unit 1410 is configured to perform transmission and reception operations of the first terminal device, the second terminal device, or the third terminal device in the above-mentioned method embodiments, and the processing unit 1420 is configured to perform other operations other than the transmission and reception operations of the first terminal device, the second terminal device, or the third terminal device in the above-mentioned method embodiments.

[0369] When the terminal equipment is a chip, the chip includes a transceiver unit and a processing unit. The transceiver unit may be an input / output circuit or a communication interface. The processing unit is a processor, a microprocessor, an integrated circuit, or a logic circuit integrated on the chip. In the above-mentioned method embodiments, the transmitting operation corresponds to the output of the input / output circuit, and the receiving operation corresponds to the input of the input / output circuit.

[0370] The present application further provides a communication device. Figure 15 is a diagram illustrating a third configuration of a communication device according to an embodiment of the present application. Please refer to Figure 15. The communication device 1500 includes a processor 1501. Optionally, the communication device 1500 further includes a memory 1502 and a transceiver 1503.

[0371] The processor 1501, memory 1502, and transceiver 1503 are individually connected via a bus, and the memory stores computer instructions.

[0372] If the communication device 1500 includes a terminal device or a chip in a terminal device, the communication device 1500 may be configured to perform the steps performed by the first terminal device, the second terminal device, or the third terminal device in the embodiments shown in Figures 7 to 11. For details, please refer to the related descriptions in the above-mentioned method embodiments.

[0373] When the communication device 1500 is configured to perform the steps performed by the first terminal device in the embodiments shown in Figures 7 to 11, the transceiver module 1201 shown in Figure 12 may specifically be a transceiver 1503. Therefore, a specific implementation of the transceiver 1503 will not be described again. The processing module 1202 shown in Figure 12 may specifically be a processor 1501. Therefore, a specific implementation of the processor 1501 will not be described again.

[0374] When the communication device 1500 is configured to perform the steps performed by the second terminal device in the embodiments shown in Figures 7 to 11, the transceiver module 1301 shown in Figure 13 may specifically be a transceiver 1503. Therefore, a specific implementation of the transceiver 1503 will not be described again. The processing module 1302 shown in Figure 13 may specifically be a processor 1501. Therefore, a specific implementation of the processor 1501 will not be described again.

[0375] An embodiment of the present application further provides a communication system. The communication system includes a first terminal device and a second terminal device. The first terminal device is configured to perform all or part of the steps performed by the first terminal device in the embodiments shown in Figures 7 to 11. The second terminal device is configured to perform all or part of the steps performed by the second terminal device in the embodiments shown in Figures 7 to 11.

[0376] Optionally, the communication system further includes a third terminal device, which is configured to perform all or part of the steps performed by the third terminal device in the embodiment shown in FIG.

[0377] An embodiment of the present application further provides a computer program product including computer instructions, which, when run on a computer, enable the computer to perform the communication method in the embodiments shown in Figures 7 to 11.

[0378] An embodiment of the present application further provides a computer-readable storage medium containing computer instructions, which, when executed on a computer, enable the computer to perform the communication method in the embodiments shown in Figures 7 to 11.

[0379] An embodiment of the present application further provides a chip device including a processor configured to call a computer program or computer instructions stored in a memory, whereby the processor executes the communication method in the embodiments shown in Figures 7 to 11.

[0380] Optionally, the processor is coupled to the memory via an interface.

[0381] Optionally, the chip device further comprises a memory, the memory storing computer programs or computer instructions.

[0382] The processor referred to anywhere above may be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to control program execution of the communication methods in the embodiments shown in Figures 7 through 11. The memory referred to anywhere above may be read-only memory (ROM), another type of static storage device capable of storing static information and instructions, random access memory (RAM), or the like.

[0383] Those skilled in the art can clearly understand that for convenient and concise description, the relevant content description and beneficial effects of any one of the communication devices provided above can be referred to the corresponding method embodiments provided above, and the details will not be described again in this specification.

[0384] In some embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the device embodiments described above are merely examples. For example, the division into units is merely a logical division of function, and in actual implementation, other divisions may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. Furthermore, shown or described mutual couplings, or direct couplings, or communication connections may be implemented through some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0385] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one location or distributed over multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of the embodiments.

[0386] Furthermore, the functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0387] When implemented in the form of a software functional unit and sold and used as an independent product, the integrated unit may be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present application, or a portion that contributes to the current technology, or all or part of the technical solution, may be implemented in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method described in the embodiments of the present application. The above-mentioned storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk drive, a ROM, a RAM, a magnetic disk, or an optical disk.

[0388] As described above, the above-described embodiments are merely intended to illustrate the technical solutions of the present application, and are not intended to limit the present application. Although the present application has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that, without departing from the scope of the technical solutions of the embodiments of the present application, they may make changes to the technical solutions described in the above-described embodiments, or replace some technical features thereof with equivalents.

Claims

1. 1. A communication method comprising: transmitting, by a first terminal device, a first request to a second terminal device, the first request being used to request the second terminal device to transmit a first positioning reference signal, the first request including at least one of first information, second information, third information, fourth information, or fifth information, the first information indicating that the first terminal device requests the second terminal device to transmit the first positioning reference signal, the second information indicating time domain characteristics that need to be satisfied by the first positioning reference signal, the third information indicating a positioning method used to position the first terminal device and / or the second terminal device, the fourth information indicating a transmission priority of the first positioning reference signal, and the fifth information indicating frequency domain characteristics that need to be satisfied by the first positioning reference signal; receiving, by the first terminal device, the first positioning reference signal from the second terminal device; A method comprising:

2. 1. A communication method comprising: receiving, by a second terminal device, a first request from a first terminal device, the first request being used to request the second terminal device to transmit a first positioning reference signal, the first request including at least one of first information, second information, third information, fourth information, or fifth information, the first information indicating that the first terminal device requests the second terminal device to transmit the first positioning reference signal, the second information indicating time domain characteristics that need to be satisfied by the first positioning reference signal, the third information indicating a positioning method used to position the first terminal device and / or the second terminal device, the fourth information indicating the first positioning reference signal, and the fifth information indicating frequency domain characteristics that need to be satisfied by the first positioning reference signal; transmitting, by the second terminal device, the first positioning reference signal to the first terminal device based on the first request; A method comprising:

3. 3. The method of claim 1, wherein the time domain characteristics include at least one of: the first positioning reference signal is transmitted at a slot level, a subslot level, or a time domain symbol level; the first positioning reference signal occupies at least one slot or at least one time domain symbol; if the at least one slot includes multiple slots, the multiple slots include consecutive slots and / or non-consecutive slots; or if the at least one time domain symbol includes multiple time domain symbols, the multiple time domain symbols include consecutive time domain symbols and / or non-contiguous time domain symbols.

4. 4. The method of claim 1, wherein the frequency domain characteristics include at least one of a transmission bandwidth of the first positioning reference signal, a resource pool in which the transmission bandwidth is located, or a frequency occupied by the first positioning reference signal.

5. The method according to claim 1 , wherein the positioning method includes any one of a round trip time (RTT) positioning method, an angle of arrival (AOA) positioning method, an angle of departure (AOD) positioning method, or a time difference of arrival (TDOA) positioning method.

6. 6. The method of claim 5, wherein, when the positioning method is the AOD positioning method, the first request further includes sixth information, the sixth information indicating an AOD angle positioning mode used for the first positioning reference signal.

7. 6. A method according to any one of claims 1 to 5, wherein the third information indicates an AOD angle positioning mode used for the first positioning reference signal, such that using the AOD angle positioning mode indicated by the third information indicates that the positioning method is an AOD positioning method.

8. The method according to claim 6 or 7, wherein the AOD angle positioning mode used for the first positioning reference signal includes a first mode or a second mode, the first mode including the second terminal device transmitting the first positioning reference signal in a beam switching manner, and the second mode including the second terminal device transmitting the first positioning reference signal in an antenna switching manner.

9. The method according to claim 1 , wherein the first information further indicates whether the first terminal device transmits a second positioning reference signal to the second terminal device.

10. the first information is instruction information, If the value of the indication information is a first value, the first value indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal, and the first terminal device transmits the second positioning reference signal to the second terminal device; or When the value of the instruction information is a second value, the second value indicates that the first terminal device requests the second terminal device to transmit the first positioning reference signal, and that the first terminal device does not transmit the second positioning reference signal to the second terminal device.

10. The method of claim 9.

11. 11. The method according to claim 1, wherein the first information is carried in a Sidelink Control Information (SCI) and at least one of the second information, the third information, the fourth information, and the fifth information is carried in a Sidelink Media Access Control Element (SL MAC CE).

12. The method of claim 1 , wherein the first request is carried in an SCI or an SL MAC CE.

13. acquiring, by the first terminal device, a first measurement result, the first measurement result being acquired by the first terminal device through a measurement based on the first positioning reference signal; positioning the first terminal device and / or the second terminal device based on the first measurement result by the first terminal device; 13. The method of any one of claims 1 and 3-12, further comprising:

14. after the step of transmitting the first request to a second terminal device by a first terminal device and before the step of receiving the first positioning reference signal from the second terminal device by the first terminal device; transmitting, by the first terminal device, the second positioning reference signal to the second terminal device; 14. The method of any one of claims 1 and 3-13, further comprising:

15. acquiring, by the first terminal device, the first measurement result, the first measurement result being acquired by the first terminal device through a measurement based on the first positioning reference signal; receiving, by the first terminal device, a second measurement result from the second terminal device, the second measurement result being obtained by the second terminal device through a measurement based on a second positioning reference signal; positioning the first terminal device and / or the second terminal device based on the first measurement result and the second measurement result by the first terminal device; The method of claim 14 further comprising:

16. after the step of receiving, by a second terminal device, a first request from a first terminal device, and before transmitting, by the second terminal device, the first positioning reference signal to the first terminal device based on the first request; receiving, by the second terminal device, the second positioning reference signal from the first terminal device; 13. The method of any one of claims 2 to 12, further comprising:

17. obtaining, by the second terminal device, a second measurement result through measurement based on the second positioning reference signal; transmitting, by the second terminal device, the second measurement result to the first terminal device; 17. The method of claim 16, further comprising:

18. receiving, by the first terminal device, a second request from the second terminal device, the second request being used to request the first terminal device to transmit a third positioning reference signal; Furthermore, after the step of receiving, by the first terminal device, the first positioning reference signal from the second terminal device; transmitting, by the first terminal device, the third positioning reference signal to the second terminal device; 16. The method of any one of claims 1 and 3-15, further comprising:

19. transmitting, by the first terminal device, a third request to the second terminal device, the third request being used to request the second terminal device to transmit a fourth positioning reference signal; Furthermore, after the step of transmitting the third positioning reference signal by the first terminal device to the second terminal device, receiving, by the first terminal device, a fourth positioning reference signal from the second terminal device; 20. The method of claim 18, further comprising:

20. transmitting, by the second terminal device, a second request to the first terminal device, the second request being used to request the first terminal device to transmit a third positioning reference signal; Furthermore, after the step of transmitting, by the second terminal device, the first positioning reference signal to the first terminal device based on the first request; receiving, by the second terminal device, the third positioning reference signal from the first terminal device; 18. The method of any one of claims 2 to 12, 16, and 17, further comprising:

21. receiving, by the second terminal device, a third request from the first terminal device, the third request being used to request the second terminal device to transmit a fourth positioning reference signal; Furthermore, after the step of receiving, by the second terminal device, the third positioning reference signal from the first terminal device; transmitting, by the second terminal device, the fourth positioning reference signal to the first terminal device; 21. The method of claim 20, further comprising:

22. transmitting, by the first terminal device, a fourth request to a third terminal device, the fourth request being used to request the third terminal device to transmit a fifth positioning reference signal; receiving, by the first terminal device, the fifth positioning reference signal from the third terminal device; 13. The method of any one of claims 1 and 3-12, further comprising:

23. before the step of transmitting the first request by the first terminal device to the second terminal device; receiving, by the first terminal device, seventh information from the second terminal device, the seventh information indicating whether the second terminal device will accept the first request initiated by the first terminal device to the second terminal device; 23. The method of any one of claims 1, 3-15, 18, 19, and 22, further comprising:

24. before the step of transmitting the first request by the first terminal device to the second terminal device; transmitting, by the second terminal device, seventh information to the first terminal device, the seventh information indicating whether the second terminal device will accept the first request initiated by the first terminal device to the second terminal device; 22. The method of any one of claims 2 to 12, 16, 17, 20, and 21, further comprising:

25. A communication device, the communication device comprising a transceiver module, the transceiver module configured to perform the transmitting and receiving operations of any one of claims 1, 3 to 15, 18, 19, 22 and 23.

26. 26. The communication device of claim 25, further comprising a processing module, the processing module configured to perform the processing operations of any one of claims 1, 3 to 15, 18, 19, 22, and 23.

27. A communication device, said communication device comprising a transceiver module, said transceiver module being configured to perform transmitting and receiving operations according to any one of claims 2 to 12, 16, 17, 20, 21 and 24.

28. 28. The communication device of claim 27, further comprising a processing module, the processing module configured to perform the processing operations of any one of claims 2 to 12, 16, 17, 20, 21, and 24.

29. A communications device, the communications device comprising a processor, the processor configured to execute a computer program or computer instructions in a memory in order to perform a method according to any one of claims 1, 3 to 15, 18, 19, 22 and 23 or a method according to any one of claims 2 to 12, 16, 17, 20, 21 and 24.

30. 30. The communication device of claim 29, further comprising the memory.

31. 23. A computer-readable storage medium storing a computer program that, when executed by a communication device, enables the communication device to perform a method according to any one of claims 1, 3 to 15, 18, 19, 22, and 23, or enables the communication device to perform a method according to any one of claims 2 to 12, 16, 17, 20, 21, and 24.

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