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

Abstract

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

Description

[Technical Field]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0020] According to a sixteenth aspect, there is provided a positioning system, the positioning system including a terminal, a positioning server, and radio access network equipment, wherein the terminal may be used to perform steps of the sidelink positioning method described in the first aspect, the positioning server may be used to perform steps of the sidelink positioning method described in the second aspect, and the radio access network equipment may be used to perform steps of the sidelink positioning method described in the third aspect. [Effects of the Invention]

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

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

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

[0024] The terms "first," "second," etc. in the specification and claims of this application are intended to distinguish between similar objects and are not intended to describe a particular order or sequence. It should be understood that terms used in this manner are interchangeable where appropriate, so that embodiments of this application may be performed in orders other than those illustrated or described herein, and that objects distinguished by "first" and "second" are generally of the same type and do not limit the number of objects; for example, a first object may be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the related objects.

[0025] It should be noted that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be applied to other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-Carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in the embodiments of the present application are always used interchangeably, and the described techniques may be used in the above-mentioned systems and radio technologies as well as other systems and radio technologies. Although the following description describes a New Radio (NR) system for illustrative purposes and uses NR terminology in most of the following description, these techniques may be applied to applications other than NR system applications, such as 6th Generation (6G) communication systems.

[0026] 1 shows a block diagram of a wireless communication system to which an embodiment of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12. Here, the terminal 11 may be a mobile phone, a tablet personal computer, a laptop computer (also called a notebook computer), a personal digital assistant (PDA), a palmtop computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, a vehicle user equipment (VUE), a pedestrian user equipment (PUE), a road side unit (RSU), a smart home (home devices with wireless communication capabilities, such as a refrigerator, a television, a washing machine, or furniture), a game console, a personal computer, a The terminal 11 may be a terminal-side device such as a smart phone, a personal computer (PC), a teller machine, or a self-service machine, and the wearable device may be a smart watch, a smart wristband, a smart earphone, a smart eyeglasses, a smart accessory (a smart bracelet, a smart hand chain, a smart ring, a smart necklace, a smart ankle bracelet, a smart anklet, a smart helmet, a smart joystick, etc.), a smart band, a smart clothing, etc. It should be noted that the terminal 11 in the embodiments of the present application is not limited to a specific type.

[0027] In an embodiment of the present application, sidelink (SL) transmission can be performed between terminals 11, that is, data transmission is performed directly on the physical layer between terminals 11. SL transmission between terminals 11 can be broadcast, unicast, multicast, groupcast, or the like. Terminals in SL transmission can be either all online or all offline, or some devices can be online and some offline.

[0028] The network side equipment 12 may include radio access network equipment and core network equipment, where the radio access network equipment may be referred to as a Radio Access Network (RAN), a radio access network function or a radio access network unit. The radio access network equipment may include a base station, a Wireless Local Area Network (WLAN) access point, or a Wireless Fidelity (WiFi) node, and the base station may be called a Node B, an Evolved Node B (eNB), an access point, a Base Transceiver Station (BTS), a radio base station, a radio transceiver, a Basic Service Set (BSS), an Extended Service Set (ESS), a home B node, a home evolved B node, a Transmitting Receiving Point (TRP), or any other appropriate term in the art. As long as the same technical effect is achieved, the base station is not limited to a specific technical term. It should be noted that the embodiments of this application only take the base station in an NR system as an example, and do not limit the specific type of base station.

[0029] Core network devices include core network nodes, core network functions, mobility management entities (MMEs), access and mobility management functions (AMFs), session management functions (SMFs), user plane functions (UPFs), policy control functions (PCFs), policy and charging rules functions (PCRFs), edge application server discovery functions (EASDFs), unified data management (UDMs), unified data repository (UDRs), home subscriber servers (HSSs), centralized network configuration (CNCs), network repository functions (NRFs), network exposure functions (NEFs), local NEFs (or L-NEFs), binding support functions (BSFs), and application functions (Application Node Functions). Function (AF), Network Data Analytics Function (NWDAF), Location Management Function (LMF), etc. It should be noted that the embodiments of the present application only take core network equipment in an NR system as an example, and do not limit the specific type of core network equipment.

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

[0031] In some embodiments, SL transmission may include two resource allocation modes: mode 1, in which resources are scheduled for the network side device, and mode 2, in which the terminal itself decides which resources to use for transmission. Here, resource information may be from a broadcast message of the network side device or pre-configured information. The terminal may employ resources in mode 1 and / or mode 2 when operating within range of the network side device and having a Radio Resource Control (RRC) connection with the network side device. The terminal may operate in mode 2 when operating within range of the network side device but not having an RRC connection with the network side device. When the terminal is out of range of the network side device, it may operate in mode 2 and perform SL transmission based on pre-configured information.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0046] Steps 203 The first terminal transmits an SL positioning reference signal based on the target SL positioning reference signal configuration.

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

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

[0049] In the embodiment of the present application, by realizing the support of SL positioning by the terminal through the above steps, the terminal positioning performance can be improved, and terminal positioning can be realized in scenarios where there is no mobile network coverage.

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

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

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

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

[0054] Here, the activation message may be transmitted by a Media Access Control (MAC) Control Element (CE) or Downlink Control Information (DCI), and thus transmission of the SL positioning reference signal can be realized by activating the MAC CE or DCI. Specifically, the activation message may be activating a target SL positioning reference signal configuration or activating transmission resources associated with the SL positioning reference signal. For example, activating transmission resources associated with the target SL positioning reference signal configuration means activating transmission of the SL positioning reference signal corresponding to the target SL positioning reference signal configuration.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0068] In this embodiment, the first terminal can achieve positioning of the first terminal by transmitting an SL positioning reference signal, thereby avoiding the problem of first terminal positioning failing because there is no terminal in the vicinity of the first terminal that can transmit an SL positioning reference signal.

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

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

[0071] Referring to FIG. 3, FIG. 3 is a flowchart of another sidelink positioning method according to an embodiment of the present application, which includes the following steps, as shown in FIG. 3:

[0072] Step 301: The positioning server receives a SL positioning request.

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

[0074] the above of, SL Positioning Request To receive is a SL positioning request sent by an application server or other device of Reception To do SL positioning request sent by the positioning server internal module may be of Reception To do , that is, the SL positioning request may be spontaneously triggered by the positioning server.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0091] Optionally, before the positioning server receives the second message transmitted by the radio access network equipment, the method further comprises: The method further includes the positioning server sending a third message to the radio access network device, the third message including: one or more sets of positioning reference signal characteristic information; one or more sets of Quality of Service (QoS) information; and at least one of a set or a plurality of sets of constituent numbers; The positioning server sending the third message to the radio access network device may include sending the third message to one or more radio access network devices.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0109] Referring to FIG. 4, FIG. 4 is a flowchart of another sidelink positioning method according to an embodiment of the present application, which includes the following steps, as shown in FIG. 4:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0131] The first message may be a message associated with a UE, where the base station determines a corresponding SL PRS configuration for the associated UE; The first message may be a message not related to a UE, in which the base station selects some UEs, for example RSUs, and determines corresponding SL PRS configurations for them.

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

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

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

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

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

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

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

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

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

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

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

[0143] If the resource determined to be used in step 3 is a configured grant type 1 resource in mode 1, steps 7, 8, 9 and 11 may be skipped.

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

[0145] Step 9: The base station sends a MAC CE or DCI to the anchor UE to activate SL PRS transmission or to activate transmission resources associated with the SL PRS, where the MAC CE or DCI may carry the SL PRS configuration index or the index of the resource associated therewith. Optionally, if the transmission resource in step 3 is a configured grant type 2 resource of mode 1, the MAC CE or DCI may further carry time-frequency resource information of the configured grant type 2 resource. Activation by a MAC CE or DCI can reduce delay compared to an RRC message.

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

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

[0148] Optionally, if the transmission resource in step 3 is a configured grant type 2 resource in mode 1, the response message may further carry time-frequency resource information of the transmission resource of the SL PRS.

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

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

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

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

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

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

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

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

[0157] The first message may be a message associated with a UE, where the base station determines a corresponding SL PRS configuration for the associated UE; The first message may be a message not related to a UE, in which the base station selects some UEs, for example RSUs, and determines corresponding SL PRS configurations for them.

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

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

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

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

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

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

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

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

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

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

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

[0169] If the resource determined to be used in step 3 is a configured grant type 1 resource in mode 1, steps 7, 8, 9 and 11 may be skipped.

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

[0171] Step 9: The base station sends a MAC CE or DCI to the target UE, where the MAC CE or DCI may carry an SL PRS configuration index or an index of a resource associated therewith to activate SL PRS transmission or activate a transmission resource associated with the SL PRS. Optionally, if the transmission resource in step 3 is a configured grant type 2 resource of mode 1, the MAC CE or DCI may further carry time-frequency resource information of the configured grant type 2 resource. Activation by a MAC CE or DCI can reduce delay compared to an RRC message.

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

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

[0174] Optionally, if the transmission resource in step 3 is a configured grant type 2 resource in mode 1, the response message may further carry time-frequency resource information of the transmission resource of the SL PRS.

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

[0176] Step 13: The LMF sends a Request Location Information message to the anchor UE to request it to perform SL positioning measurements. anchor Request to UE.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0204] The sidelink positioning device in the embodiments of the present application may be an electronic device, such as an electronic device with an operating system, or a component of an electronic device, such as an integrated circuit or chip. The electronic device may be a core network device or a server.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0220] Optionally, as shown in FIG. 10 , an embodiment of the present application further provides a communication device 1000, which includes a processor 1001 and a memory 1002. The memory 1002 stores a program or instruction operable on the processor 1001. For example, if the communication device 1000 is a terminal, the program or instruction executed by the processor 1001 can realize the steps of the first terminal-side sidelink positioning method and achieve the same technical effect. If the communication device 1000 is a positioning server, the program or instruction executed by the processor 1001 can realize the steps of the positioning server-side sidelink positioning method and achieve the same technical effect. If the communication device 1000 is a radio access network device, the program or instruction executed by the processor 1001 can realize the steps of the radio access network device-side sidelink positioning method and achieve the same technical effect. To avoid repetition, these steps will not be described further herein.

[0221] An embodiment of the present application further provides a terminal, the terminal including a processor and a communication interface, the communication interface being used to receive a configuration message from a radio access network device, the configuration message being used to configure N sets of sidelink SL positioning reference signal configurations, where N is a positive integer greater than 1, the processor or the communication interface being used to determine a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations, and the communication interface further transmitting an SL positioning reference signal based on the target SL positioning reference signal configuration. This terminal embodiment corresponds to the first terminal-side method embodiment, and the implementation processes and realization manners of the method embodiment can be applied to this terminal embodiment, and the same technical effects can be achieved. Specifically, Figure 11 is a schematic diagram of a hardware structure for implementing the terminal of the embodiment of the present application.

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

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

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

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

[0226] The memory 1109 may be used to store software programs or instructions and various data. The memory 1109 may include a first storage area that mainly stores programs or instructions and a second storage area that stores data. Here, the first storage area may store an operating system, an application program or instructions necessary for at least one function (e.g., an audio playback function, an image playback function, etc.), etc. The memory 1109 may include volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Here, the nonvolatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct Rambus random access memory (DRRAM). Memory 1109 in embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0270] Wherein, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0271] The embodiments of the present application further provide a chip, which includes a processor and a communication interface, and the communication interface is coupled to the processor. The processor runs a program or instruction to realize each process of the embodiments of the sidelink positioning method, and can achieve the same technical effects. To avoid repetition, no further description will be given here.

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

[0273] The embodiments of the present application further provide a computer program / program product, which is stored in a storage medium and can be executed by at least one processor to implement the processes of the above-mentioned embodiments of the sidelink positioning method and achieve the same technical effects. To avoid repetition, the computer program / program product will not be further described here.

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

[0275] It should be noted that, in this specification, the terms "comprise," "include," "includes," or any other variations thereof are intended to cover the non-exclusive "comprise," whereby a process, method, article, or apparatus comprising a set of elements not only includes those elements, but also other elements not expressly listed or inherent in such process, method, article, or apparatus. Absent further limitations, an element defined by the phrase "comprises one of" does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising that element. It should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may include performing functions in an essentially simultaneous manner or in the reverse order based on the functions involved. For example, the described method may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with reference to some examples may be combined in other examples.

[0276] As will be apparent to those skilled in the art from the above description of the embodiments, the methods of the above embodiments can be realized in the form of software and a necessary general-purpose hardware platform. Of course, they can also be realized in hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical proposal of the present application, in substance or in part contributing to the prior art, may be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes a number of instructions for causing a terminal (which may be a mobile phone, computer, server, air conditioner, network device, etc.) to execute the methods described in each embodiment of the present application.

[0277] Although the embodiments of the present application have been described above in conjunction with the drawings, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not limiting. Those skilled in the art can implement many forms under the guidance of the present application without departing from the spirit and scope of the claims, and all forms fall within the scope of protection of the present application.

Claims

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

2. The first terminal determining a target SL positioning reference signal configuration among the N sets of SL positioning reference signal configurations includes: The first terminal receives an activation message from the radio access network equipment, and determines the target SL positioning reference signal configuration based on the activation message; The method of claim 1 , wherein the activation message is used to activate transmission resources associated with the target SL positioning reference signal configuration.

3. The method of claim 2 , wherein the activation message is transmitted via downlink control information (DCI).

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

5. The configuration message further comprises: The method of claim 1 , used to configure transmission resources associated with the N sets of SL positioning reference signal configurations.

6. The transmission resource is: at least one of a first configuration permission type resource and a second configuration permission type resource; Wherein, the first configuration permission type resource is a transmission resource that the first terminal can directly transmit an SL positioning reference signal; The method of claim 5 , wherein the second configuration grant type resource is a transmission resource on which the first terminal transmits an SL positioning reference signal based on an activation command.

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

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

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

9. The method of claim 8, further comprising: the radio access network equipment sending a configuration message to the first terminal, the configuration message being used to configure N sets of SL positioning reference signal configurations, the target SL positioning reference signal configuration being a configuration among the N sets of SL positioning reference signal configurations, where N is a positive integer greater than 1.

10. The configuration message further comprises: The method of claim 9 , used to configure transmission resources associated with the N sets of SL positioning reference signal configurations.

11. The transmission resource is: at least one of a first configuration permission type resource and a second configuration permission type resource; Wherein, the first configuration permission type resource is a transmission resource that the first terminal can directly transmit an SL positioning reference signal; The method of claim 10 , wherein the second configuration grant type resource is a transmission resource on which the first terminal transmits an SL positioning reference signal based on an activation command.

12. the activation message is transmitted via downlink control information (DCI); The method of claim 8 , wherein the activation message includes an index of the target SL positioning reference signal configuration.

13. 8. A terminal including a processor and a memory, the memory storing a program or instructions operable to run on the processor, the program or instructions, when executed by the processor, implementing the steps of the sidelink positioning method according to claim 1.

14. 13. A radio access network device comprising a processor and a memory, the memory storing a program or instructions operable on the processor, the program or instructions, when executed by the processor, implementing the steps of the sidelink positioning method according to any one of claims 8 to 12.

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

16. A readable storage medium on which a program or instructions are stored, which, when executed by a processor, realizes the steps of a sidelink positioning method described in any one of claims 8 to 12.

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