Terminal and positioning method

Abstract

Provided is a terminal comprising a reception unit which receives a signal relating to positioning in inter-terminal direct communication from another terminal, a transmission unit which transmits a signal based on the signal relating to the positioning in the inter-terminal direct communication to the other terminal, and a control unit which carries out control of transmitting, by a certain time point, the signal based on the signal relating to the positioning in the inter-terminal direct communication to the other terminal.

Description

Technical Field

[0001] The present invention relates to a terminal and a positioning method in a wireless communication system.

Background Art

[0002] In LTE (Long Term Evolution) and subsequent systems of LTE (for example, LTE-A (LTE Advanced), NR (New Radio) (also referred to as 5G)), D2D (Device to Device) technology in which terminals communicate directly without going through a base station has been studied (for example, Non-Patent Document 1).

[0003] D2D reduces traffic between a terminal and a base station and enables communication between terminals even when the base station becomes incommunicable during a disaster or the like. In 3GPP (3rd Generation Partnership Project), D2D is referred to as "sidelink", but in this specification, the more general term D2D is used. However, sidelink is also used as necessary in the description of the embodiments described later.

[0004] D2D communication is roughly classified into D2D discovery (also referred to as D2D discovery, D2D discovery) for discovering other communicable terminals and D2D communication (also referred to as D2D direct communication, D2D communication, direct communication between terminals, etc.) for direct communication between terminals. Hereinafter, when D2D communication, D2D discovery, etc. are not particularly distinguished, it is simply referred to as D2D. Also, a signal transmitted and received by D2D is referred to as a D2D signal. Various use cases of services related to V2X (Vehicle to Everything) in NR have been studied (for example, Non-Patent Document 2).

Prior Art Documents

Non-Patent Documents

[0005]

Non-Patent Document 1

[0006] Location positioning is being considered in scenarios for direct terminal-to-terminal communication, such as within coverage, partial coverage, and outside coverage, as well as in V2X (Vehicle to Everything), public safety, commercial applications, and IIoT (Industrial Internet of Things). However, the methods for measuring and estimating the location information of the device itself have not been clearly defined.

[0007] This invention has been made in view of the above points, and aims to acquire location information of the device itself through direct communication between terminals. [Means for solving the problem]

[0008] According to the disclosure technology, The system includes a receiving unit that receives information from another terminal indicating the allowable delay of the positioning reference signal in terminal-to-terminal (D2D) communication, and a transmitting unit that transmits the positioning reference signal before the timing based on the allowable delay. A device will be provided. [Effects of the Invention]

[0009] According to the disclosed technology, the location information of the device can be obtained through direct communication between terminals.

Brief Description of the Drawings

[0010] [Figure 1] It is a diagram for explaining a wireless communication system. [Figure 2] It is a diagram for explaining V2X. [Figure 3] It is a diagram for explaining an example of communication in D2D. [Figure 4] It is a diagram showing an example (1) of position measurement. [Figure 5] It is a diagram showing an example of measuring DL-RSTD. [Figure 6] It is a diagram showing an example of measuring UL-RTOA. [Figure 7] It is a diagram showing an example (2) of position measurement. [Figure 8] It is a diagram showing an example of measuring RTT. [Figure 9] It is a flowchart for explaining an example (1) of position estimation according to an embodiment of the present invention. [Figure 10] It is a diagram for explaining an example (1) of position estimation according to an embodiment of the present invention. [Figure 11] It is a diagram showing an example of the arrangement of reference signals according to an embodiment of the present invention. [Figure 12] It is a flowchart for explaining an example (2) of position estimation according to an embodiment of the present invention. [Figure 13] It is a diagram for explaining an example (2) of position estimation according to an embodiment of the present invention. [Figure 14] It is a flowchart for explaining an example (3) of position estimation according to an embodiment of the present invention. [Figure 15] It is a diagram for explaining an example (3) of position estimation according to an embodiment of the present invention. [Figure 16] It is a flowchart for explaining an example (4) of position estimation according to an embodiment of the present invention. [Figure 17]This is a diagram for explaining an example (4) of position estimation according to an embodiment of the present invention. [Figure 18] This is a flowchart for explaining an example (5) of position estimation according to an embodiment of the present invention. [Figure 19] This is a diagram for explaining an example (5) of position estimation according to an embodiment of the present invention. [Figure 20] This is a diagram for explaining an example (1) of transmission / reception timing according to an embodiment of the present invention. [Figure 21] This is a diagram for explaining an example (2) of transmission / reception timing according to an embodiment of the present invention. [Figure 22] This is a diagram showing an example of the functional configuration of the base station 10 in an embodiment of the present invention. [Figure 23] This is a diagram showing an example of the functional configuration of the terminal 20 in an embodiment of the present invention. [Figure 24] This is a diagram showing an example of the hardware configuration of the base station 10 or the terminal 20 in an embodiment of the present invention. [Figure 25] This is a diagram showing an example of the configuration of the vehicle 2001 in an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below are examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.

[0012] In the operation of the wireless communication system according to the embodiment of the present invention, existing technologies are appropriately used. However, the existing technology is, for example, existing LTE, but is not limited to existing LTE. Further, the term "LTE" used in this specification shall have a broad meaning including LTE-Advanced, and systems after LTE-Advanced (e.g., NR), or wireless LAN (Local Area Network) unless otherwise specified.

[0013] Furthermore, in the embodiments of the present invention, the duplex method may be a TDD (Time Division Duplex) method, an FDD (Frequency Division Duplex) method, or any other method (for example, a Flexible Duplex).

[0014] Furthermore, in the embodiments of the present invention, "configuring" wireless parameters may mean that predetermined values ​​are pre-configured, or that wireless parameters notified from the base station 10 or terminal 20 are configured.

[0015] Figure 1 is a diagram illustrating a wireless communication system according to an embodiment of the present invention. The wireless communication system according to an embodiment of the present invention includes a base station 10 and a terminal 20, as shown in Figure 1. Although Figure 1 shows one base station 10 and one terminal 20, this is an example, and there may be multiple base stations 10 and terminals 20.

[0016] Base station 10 is a communication device that provides one or more cells and performs wireless communication with terminal 20. The physical resources of the wireless signal are defined in the time domain and the frequency domain. The time domain may be defined by the number of OFDM (Orthogonal Frequency Division Multiplexing) symbols, and the frequency domain may be defined by the number of subcarriers or resource blocks. In addition, the TTI (Transmission Time Interval) in the time domain may be a slot, or the TTI may be a subframe.

[0017] The base station 10 transmits synchronization signals and system information to the terminal 20. The synchronization signals are, for example, NR-PSS and NR-SSS. The system information is transmitted, for example, via NR-PBCH and is also called broadcast information. The synchronization signals and system information may also be called SSB (SS / PBCH block). As shown in Figure 1, the base station 10 transmits control signals or data to the terminal 20 via DL (Downlink) and receives control signals or data from the terminal 20 via UL (Uplink). Both the base station 10 and the terminal 20 are capable of transmitting and receiving signals using beamforming. Furthermore, both the base station 10 and the terminal 20 are capable of applying MIMO (Multiple Input Multiple Output) communication to DL or UL. In addition, both the base station 10 and the terminal 20 may communicate via secondary cells (SCell) and primary cells (PCell) using CA (Carrier Aggregation). Furthermore, terminal 20 may communicate via the primary cell of base station 10 and the primary secondary cell group cell (PSCell: Primary SCG Cell) of other base stations 10 using DC (Dual Connectivity).

[0018] Terminal 20 is a communication device equipped with wireless communication capabilities, such as a smartphone, mobile phone, tablet, wearable device, or M2M (Machine-to-Machine) communication module. As shown in Figure 1, Terminal 20 receives control signals or data from the base station 10 via DL and transmits control signals or data to the base station 10 via UL, thereby utilizing various communication services provided by the wireless communication system. Terminal 20 also receives various reference signals transmitted from the base station 10 and performs propagation path quality measurements based on the reception results of these reference signals. Terminal 20 may also be referred to as UE and base station 10 as gNB.

[0019] Furthermore, LTE and NR support carrier aggregation, a feature that uses broadband to secure data resources. Carrier aggregation allows for the securing of broadband data resources by bundling multiple component carriers. For example, by bundling multiple 20MHz bandwidths, a 100MHz bandwidth can be used.

[0020] Figure 2 is a diagram illustrating V2X. 3GPP is considering and working on specifications to realize V2X (Vehicle to Everything) or eV2X (enhanced V2X) by extending D2D functionality. As shown in Figure 1, V2X is a part of ITS (Intelligent Transport Systems) and is a general term encompassing V2V (Vehicle to Vehicle), which refers to communication between vehicles; V2I (Vehicle to Infrastructure), which refers to communication between vehicles and roadside units (RSUs) installed along the roadside; V2N (Vehicle to Network), which refers to communication between vehicles and ITS servers; and V2P (Vehicle to Pedestrian), which refers to communication between vehicles and mobile terminals carried by pedestrians.

[0021] Furthermore, 3GPP is considering V2X using LTE or NR cellular communication and terminal-to-terminal communication. V2X using cellular communication is also called cellular V2X. For NR V2X, research is underway to achieve high capacity, low latency, high reliability, and QoS (Quality of Service) control.

[0022] Regarding LTE or NR V2X, it is anticipated that future considerations will extend beyond 3GPP specifications. For example, it is expected that considerations will be given to ensuring interoperability, reducing costs through the implementation of higher layers, methods for using or switching between multiple RATs (Radio Access Technologies), compliance with regulations in various countries, and methods for data acquisition, distribution, database management, and utilization of LTE or NR V2X platforms.

[0023] While the embodiments of the present invention primarily envision a configuration in which the communication device is mounted on a vehicle, the embodiments of the present invention are not limited to this configuration. For example, the communication device may be a terminal held by a person, a device mounted on a drone or aircraft, or a base station, RSU, relay station (relay node), terminal with scheduling capabilities, etc.

[0024] Furthermore, SL (Sidelink) may be distinguished from UL (Uplink) or DL ​​(Downlink) based on any one or a combination of the following 1)-4). Also, SL may have other names. 1) Resource allocation in the time domain 2) Resource allocation in the frequency domain 3) Reference synchronization signals (including SLSS (Sidelink Synchronization Signal)) 4) Reference signal used for path loss measurement for transmit power control

[0025] Furthermore, with respect to SL or UL OFDM (Orthogonal Frequency Division Multiplexing), any of the following may be applied: CP-OFDM (Cyclic-Prefix OFDM), DFT-S-OFDM (Discrete Fourier Transform - Spread - OFDM), OFDM without transform precoding, or OFDM with transform precoding.

[0026] In LTE's Downlink Service Line (SL), Mode 3 and Mode 4 are defined for allocating SL resources to terminal 20. In Mode 3, transmission resources are dynamically allocated via DCI (Downlink Control Information) sent from base station 10 to terminal 20. Semi-Persistent Scheduling (SPS) is also possible in Mode 3. In Mode 4, terminal 20 autonomously selects transmission resources from the resource pool.

[0027] In the embodiments of the present invention, the term "slot" may be interpreted as a symbol, mini-slot, subframe, wireless frame, TTI (Transmission Time Interval), or time resource of a predetermined width. Furthermore, in the embodiments of the present invention, the term "cell" may be interpreted as a cell group, carrier component, BWP, resource pool, resource, RAT (Radio Access Technology), system (including wireless LAN), etc.

[0028] In the embodiments of the present invention, terminal 20 is not limited to a V2X terminal, but may be any type of terminal that performs D2D communication. For example, terminal 20 may be a user-owned terminal such as a smartphone, or it may be an IoT (Internet of Things) device such as a smart meter.

[0029] Figure 3 illustrates an example of communication in D2D. As shown in Figure 3, an environment is assumed in which multiple UEs, such as UE#A, UE#B, UE#C, and UE#D, communicate with each other. The resource pool used by each UE for sending and receiving is a set of resources in the time domain and frequency domain. The resource pool may be configured or preconfigured by the system or service provider. For example, in the resource pool, several time resources based on periodicity may be available for periodic traffic. Also, for example, in the resource pool, some frequency resources may be unavailable to reduce interference to the Uu interface (the wireless interface between UTRAN (Universal Terrestrial Radio Access Network) and UE (User Equipment)).

[0030] In the resource pool shown in Figure 3, subchannels are units of frequency domain scheduling. For example, {10,12,15,20,25,50,75,100}PRB may be set as one subchannel or pre-configured.

[0031] In the resource pool shown in Figure 3, slots represent the unit of time-domain scheduling. Symbol-based scheduling may be too complex if the UE (User Environment) autonomously selects resources. However, slot-based scheduling is not required.

[0032] As shown in Figure 3, the beginning of a slot transmitted from UE#A to UE#B is a transition period from the perspective of the transmitting UE. The transition period is the time required to adjust the transmitted power. On the other hand, the beginning of a slot transmitted from UE#A to UE#B is used for AGC (Auto Gain Control) from the perspective of the receiving UE. Received power differs significantly between links, and a predetermined period is required to adjust the power range. By scheduling on a slot-by-slot basis, an increase in AGC opportunities can be prevented.

[0033] As shown in Figure 3, the end of the slot transmitted from UE#A to UE#B is used for the transmit / receive switching period. A UE may transmit in slot n and then receive in slot n+1. The transmit / receive switching period is defined for each slot.

[0034] As shown in Figure 3, if the transmission from UE#C to UE#A and the transmission from UE#D to UE#C overlap in the same slot, UE#C cannot perform transmission and reception simultaneously, and therefore must drop one of them. In other words, D2D communication becomes half-double overlapping transmission.

[0035] Note that the default settings for locations outside the base station's coverage area may be pre-configured. The RRC connection / configuration between UEs performing unicast is referred to as the PC5-RRC connection / configuration.

[0036] Here, location positioning is considered in scenarios of direct communication between terminals, such as in-coverage, partial coverage, and out-of-coverage, or in V2X (Vehicle to Everything), public safety, commercial, and IOT (Industrial Internet of Things). In-coverage may mean that multiple UEs involved in location positioning are within the coverage of the Base Station (BS), partial coverage may mean that some of the multiple UEs involved in location positioning are within the coverage of the BS, and out-of-coverage may mean that the multiple UEs involved in location positioning are not within the coverage of the BS.

[0037] The positioning of terminal 20 by LMF (Location Management Function) in the Uu interface of 3GPP Release 16 or 17 is performed by the methods 1)-3) shown below (see Non-Patent Documents 3, 4 and 5).

[0038] 1) Method based on DL-TDOA (Time Difference of Arrival) 2) Method based on UL-TDOA 3) Method based on multi-RTT (Round Trip Time)

[0039] Figure 4 shows an example of positioning (1). As shown in Figure 4, the UE's position information may be calculated based on DL-TDOA. Alternatively, the UE's position may be estimated based on DL-RSTD (Received Signal Time Difference), which is measured by the UE using DL radio signals transmitted from multiple NR TRPs. The geographical location of the TRPs and the DL transmission timing at the TRPs may be used for this estimation. In addition to DL-RSTD, the UE's position may also be estimated based on the RSRP (Reference Signal Received Power) of the DL-PRS (Positioning Reference Signal).

[0040] In the DL-TDOA-based method, the location of the UE may be calculated using the following procedure. 1) The gNB sends DL-PRS from each TRP to the UE. 2) The UE reports the measurement result, DL-RSTD, to the GW and / or gNB and / or LMF via LPP (LTE Positioning Protocol). 3) The gNB reports timing information related to TRP to the LMF via NRPPa (NR Positioning Protocol A). 4) Based on the above information reported from the UE and gNB, the LMF calculates the UE location.

[0041] For example, as shown in Figure 4, the delay between the UE and TRP0, the delay between the UE and TRP1, and the delay between the UE and TRP2 may be measured, and the location of the UE may be calculated based on the geographical location of each TRP and the DL transmission timing.

[0042] Figure 5 shows an example of measuring DL-RSTD. Hereafter, "and / or" will also be written as " / ". As shown in Figure 5, DL-RSTD may refer to the time difference measured by the UE between the start of reception of the DL subframe of the reference TRP (TRP0 in Figure 5) and the start of reception of the DL subframe of another TRP. The start of a subframe may be determined by detecting DL-PRS.

[0043] The timing of each TRP transmission does not need to be uniform.

[0044] Regarding the calculation of UE location using DL-TDOA, the information shown in 1)-5) below may be reported from the UE to the GW / gNB / LMF.

[0045] 1) PCI (Physical Cell ID), GCI (Global Cell ID), and TRP-ID in each measurement. 2) DL-RSTD measurement results 3)DL-PRS-RSRP measurement results 4) Time of measurement (time stamp) 5) Each measurement quality Regarding the calculation of UE location using DL-TDOA, the information shown in 1)-6) below may be reported from gNB to LMF.

[0046] 1) PCI, GCI, and TRP-ID of TRP controlled by gNB 2) Timing information of TRP controlled by gNB 3) DL-PRS settings for TRP controlled by gNB 4) Information related to the SSB of the TRP controlled by the gNB, such as SSB time and frequency resources. 5) Information relating to the spatial direction of DL-PRS of TRP controlled by gNB 6) Information relating to the geographical coordinates of TRP controlled by gNB

[0047] DL-RSTD may be defined as the time difference measured by the UE between the start of reception of a DL subframe in a reference TRP and the start of reception of a DL subframe in another TRP. Multiple DL-PRS resources may be used to determine the start of reception of subframes.

[0048] As part of the timing information report related to the TRP controlled by the gNB, the TRP's SFN initialization time may also be reported. The SFN initialization time is the time when SFN0 is started.

[0049] As part of the report of information relating to the geographic coordinates of the TRP controlled by the gNB, a point on an ellipsoid with altitude and an ellipse indicating the range of error may be reported (see Non-Patent Literature 6). For example, latitude, longitude, altitude, direction of altitude, range of altitude error, etc., may be reported.

[0050] As shown in Figure 4, the UE's location information may be calculated based on UL-TDOA. Alternatively, the UE's location may be estimated based on UL-RTOA (Relative Time of Arrival), which is measured by the TRPs of multiple NRs (Non-Resonant Radios) on the UL radio signal transmitted from the UE. Other configuration information may be used in this estimation. In addition to UL-RTOA, the UE's location may also be estimated based on the RSRP of the UL-SRS (Sounding Reference Signal).

[0051] In the UL-TDOA-based method, the location of the UE may be calculated using the following procedure. 1) The UE sends SRS to multiple TRPs. 2) gNB reports the geographic coordinates of the measured UL-RTOA and TRP to LMF via NRPPa. 3) Based on the above information reported by gNB, LMF calculates the location of UE.

[0052] For example, as shown in Figure 4, the RTOA from UE to TRP0, the RTOA from UE to TRP1, and the RTOA from UE to TRP2 may be measured, and the UE's position may be calculated based on the geographical location of each TRP and the UL transmission timing.

[0053] Figure 6 shows an example of measuring UL-RTOA. As shown in Figure 6, UL-RTOA may refer to the time difference between the start of reception of the UL subframe containing the TRP's SRS and the RTOA reference time when the UL was transmitted.

[0054] Regarding the calculation of UE locations using UL-TDOA, the information shown in 1)-9) below may be reported from gNB to LMF.

[0055] 1) PCI, GCI, and TRP-ID of TRP controlled by gNB 2) Information related to the SSB of the TRP controlled by the gNB, such as SSB time and frequency resources. 3) Information relating to the geographic coordinates of TRP controlled by gNB 4) Measurement of NCGI (NR Cell Global Identifier) ​​and TRP-ID 5) UL-RTOA 6) UL-SRS RSRP 7) Time of measurement 8) Quality of each measurement 9) Information related to the beam of each measurement

[0056] UL-RTOA may be defined as the time difference between the start of reception of the UL subframe containing the SRS in the TRP and the RTOA reference time when the UL was transmitted. The gNB may report the geographic coordinates of the TRP to the LMF via NRPPa.

[0057] Figure 7 shows an example of positioning (2). As shown in Figure 7, the UE's position information may be calculated based on multiple RTTs. The UE's position may be estimated based on UE / gNB receive-transmit time difference measurements using DL-PRS and UL-SRS. DL-PRS-RSRP and UL-SRS-RSRP may be used for this estimation. The LMF may determine the RTT using UE / gNB receive-transmit time difference measurements.

[0058] In a multi-RTT-based method, the UE's position may be calculated using the following procedure. 1) The gNB sends DL-PRS from each TRP to the UE. 2) The UE sends SRS to multiple TRPs. 3) The UE reports the UE receive-transmit time difference to the GW and / or gNB and / or LMF via LPP. 4) The gNB reports the gNB receive-transmit time difference to the LMF via NRPPa. 5) Based on the above information reported by the UE and gNB, the LMF calculates the location of the UE.

[0059] For example, as shown in Figure 7, the RTT between UE and TRP0, the RTT between UE and TRP1, and the RTT between UE and TRP2 may be measured, and the location of UE may be calculated based on the geographical location of each TRP.

[0060] Figure 8 shows an example of measuring RTT. As shown in Figure 8, the UE receive-transmit time difference may refer to the time difference between when the TRP receives the DL subframe and when it transmits the UL subframe. Also, as shown in Figure 8, the gNB receive-transmit time difference may refer to the time difference between when the TRP receives the UL subframe and when the TRP transmits the DL subframe.

[0061] Regarding the calculation of UE location using multiple RTTs, the information shown in 1)-5) below may be reported from the UE to the GW / gNB / LMF.

[0062] 1) PCI, GCI, and TRP-ID in each measurement 2)DL-PRS-RSRP measurement results 3) UE reception-transmission time difference measurement results 4) Time of measurement 5) Each measurement quality

[0063] Regarding the calculation of UE location by RTT, the information shown in 1)-9) below may be reported from gNB to LMF.

[0064] 1) PCI, GCI, and TRP-ID of TRP controlled by gNB 2) Timing information of TRP controlled by gNB 3) DL-PRS settings for TRP controlled by gNB 4) Information related to the SSB of the TRP controlled by the gNB, such as SSB time and frequency resources. 5) Information relating to the spatial direction of DL-PRS of TRP controlled by gNB 6) Information relating to the geographical coordinates of TRP controlled by gNB 7) NCGI and TRP-ID measurements 8) gNB receive-transmit time difference 9) UL-SRS RSRP 10) UL-AoA (Angle of Arrival), e.g., azimuth angle and elevation angle 11) Time of measurement 12) Measurement Quality 13) Information related to the measurement beam

[0065] For definitions of UE receive-transmit time difference and gNB receive-transmit time difference, please refer to Non-Patent Document 7. Similar to DL-RSTD, the geographical coordinates of TRP may be reported.

[0066] As described above, positioning using the Uu interface employed positioning methods such as DL-TDOA, UL-TDOA, and multi-RTT, which utilize RSTD, RTOA, and the receive-transmit time difference, respectively, to indicate the propagation delay between the UE and TRP.

[0067] To perform position estimation using sidelink signals, it is necessary to consider position estimation algorithms for absolute or relative position estimation, definitions and transmission / reception procedures for the measurement sidelink signals used for position estimation, and procedures for reporting measurement results. However, position estimation algorithms for absolute or relative position estimation using signals from direct communication between terminals were not clearly defined.

[0068] Therefore, you may perform options 1) through 7) described below.

[0069] Option 1) For position estimation using side links, a terminal 20 (hereinafter referred to as "UE-X") that wants to acquire its own device's position information may transmit a predetermined signal to another terminal 20 (hereinafter referred to as "UE-Y") and receive a signal based on that signal (e.g., measurement result) from UE-Y.

[0070] Figure 9 is a flowchart illustrating an example (1) of position estimation according to an embodiment of the present invention. Figure 10 is a diagram illustrating an example (1) of position estimation according to an embodiment of the present invention.

[0071] As shown in Figures 9 and 10, in step S11, UE-X transmits a predetermined signal to UE-Y. In the following step S12, UE-Y measures a predetermined value based on the predetermined signal. Step S12 is optional. In the following step S13, UE-Y transmits a signal to UE-X based on the predetermined signal (for example, information including a measurement value and / or information based on the measurement value). In the following step S14, UE-X calculates its own position based on the information received from UE-Y.

[0072] For example, as shown in Figure 10, UE-Y1, UE-Y2, and UE-Y3, UE-Y may be one or more UEs. That is, UE-X may perform steps S11-S14 for one or more UEs.

[0073] For example, the specified signal may be an SL-PRS (SL Positioning RS) or any other SL signal. Also, the signal transmitted by UE-Y may be an SL-PRS or any other SL signal.

[0074] In the following, the signal used for position estimation will be referred to as SL-PRS, but it is not limited to this and may be named by other names. Note that position estimation and positioning may be interchangeable.

[0075] For example, SL-PRS may be multiplexed and transmitted with PSCCH and / or PSSCH transmissions. Alternatively, it may be transmitted using a dedicated resource for SL-PRS. Hereinafter, "PSCCH and / or PSSCH" will also be referred to as "PSCCH / PSSCH".

[0076] Figure 11 shows an example of the arrangement of reference signals in an embodiment of the present invention. The SL-PRS may be arranged as shown in 1)-3) below.

[0077] 1) SL-PRS does not need to be multiplexed in REs where 2nd stage SCI and / or DM-RS and / or PT-RS and / or CSI-RS are located. For example, overlap between 2nd stage SCI, DM-RS, PT-RS and CSI-RS and SL-PRS is not assumed. For example, if the mapping destination of SL-PRS is an RE where 2nd stage SCI, DM-RS, PT-RS or CSI-RS are located, the mapping of SL-PRS to that RE does not need to be performed.

[0078] 2) SL-PRS does not need to be multiplexed into the RE of PSCCH. For example, overlap between PSCCH and SL-PRS is not expected. For example, if the mapping destination of SL-PRS is the RE where PSCCH is located, PSCCH takes priority and the mapping of SL-PRS to that RE does not need to be performed.

[0079] 3) SL-PRS may or may not be frequency-division multiplexed to the same symbol as 2nd stage SCI and / or DM-RS and / or PT-RS and / or CSI-RS.

[0080] As described in 1) or 2) above, important signals can be prevented from being replaced by SL-PRS. Furthermore, as described in 3) above, mapping flexibility is improved when SL-PRS is frequency-division multiplexed, and UE operation can be simplified when SL-PRS is not frequency-division multiplexed. However, Figure 11 is an example of SL-PRS mapping and is not limited thereto.

[0081] For example, in step S14, the position of the device calculated by UE-X may be an absolute position or a relative position.

[0082] For example, option 1) may apply when UE-X and UE-Y are in an out-of-coverage (OoC) environment, or when UE-X and UE-Y are in a partial-coverage (PC) environment, or when UE-X and UE-Y are in an in-coverage (IC) environment.

[0083] As per option 1) above, terminal 20 can perform actions to acquire location information.

[0084] Option 2) For position estimation using sidelinks, a UE-X that wants to acquire its own position information may transmit a predetermined signal to UE-Y and / or base station 10 (hereinafter referred to as "BS-Y"), and receive a signal based on said signal (e.g., measurement result) from UE-Y and / or BS-Y.

[0085] Figure 12 is a flowchart illustrating an example (2) of position estimation according to an embodiment of the present invention. Figure 13 is a diagram illustrating an example (2) of position estimation according to an embodiment of the present invention.

[0086] As shown in Figures 12 and 13, in step S21, UE-X transmits a predetermined signal to UE-Y and / or BS-Y. In the following step S22, UE-Y and / or BS-Y measure a predetermined value based on the predetermined signal. Step S22 is optional. In the following step S23, UE-Y and / or BS-Y transmit a signal to UE-X based on the predetermined signal (for example, information including a measurement value and / or information based on a measurement value). In the following step S24, UE-X calculates its own position based on the information received from UE-Y and / or BS-Y.

[0087] For example, as shown in Figure 13, UE-Y may be one or more UEs, such as UE-Y1 and UE-Y2. That is, UE-X may perform steps S11-S14 for one or more UEs. Also, BS-Y may be one or more BSs.

[0088] For example, a predetermined signal for UE-Y may be SL-PRS or any other SL signal. For example, a predetermined signal for BS-Y may be SRS or any other UL signal. Also, the signal transmitted by UE-Y may be SL-PRS or any other SL signal. Also, the signal transmitted by BS-Y may be DL-PRS or any other DL signal.

[0089] For example, in step S24, the position of the device calculated by UE-X may be an absolute position or a relative position.

[0090] For example, option 2) may apply in the case of a partially covered environment or an in-coverage environment. However, a partially covered environment may be one in which UE-X is in an in-coverage environment and UE-Y is out-of-coverage environment.

[0091] As per option 2) above, terminal 20 is expected to be able to obtain more accurate location information by utilizing base station 10.

[0092] Option 3) The UE-X, having obtained its own position, may send a request to the BS to transmit position information. For example, only terminal 20 that supports positioning functionality via the Uu interface may execute option 3).

[0093] Figure 14 is a flowchart illustrating an example (3) of position estimation according to an embodiment of the present invention. Figure 15 is a diagram illustrating an example (3) of position estimation according to an embodiment of the present invention. As shown in Figures 14 and 15, in step S31, UE-X transmits a position information request to BS. In the following step S32, BS performs a position information acquisition operation. In the following step S33, BS transmits position information to UE-X.

[0094] For example, in step S32, the positioning function using the Uu interface described above may be applied.

[0095] For example, step S32 may be skipped. For example, if the BS already holds the position information of the UE-X, step S32 may not be performed. Also, for example, if the BS already holds the position information of the UE-X and the desired accuracy requirement is met, step S32 may not be performed. For example, step S33 may be skipped. For example, if in step S32 the DL-PRS is transmitted from multiple BS / TRPs to the UE-X and a position measurement is performed at the UE-X, step S33 may not be performed.

[0096] For example, the location information requested by UE-X may be an absolute position or a relative position.

[0097] For example, UE-X may receive a notification from BS that location information is unavailable instead of location information. After receiving such notification, UE-X may obtain location information by other means, such as option 1) or option 2) above.

[0098] As described in option 3), terminal 20 can perform actions to acquire location information. By using Uu positioning, more accurate location measurement can be expected.

[0099] Option 4) Which of the above options 1), 2), and 3) is to be implemented may be determined based on predetermined conditions.

[0100] For example, the specified conditions may be an out-of-coverage environment, a partially-covered environment, or an in-coverage environment.

[0101] For example, the specified condition may be an accuracy requirement. That is, the decision on which option to apply may be based on whether the accuracy requirement is higher or lower than a predetermined threshold.

[0102] For example, the predetermined condition may be to acquire either an absolute position or a relative position.

[0103] For example, the predetermined condition may be a predetermined priority set for each option. For example, option 3) may have the highest priority, option 2) the next highest priority, and option 3) the lowest priority. If the highest priority option cannot be executed, the process may be repeated to execute the next highest priority option.

[0104] For example, the specified conditions may be UE capabilities. That is, which options are supported may be defined as UE capabilities, and terminal 20 may execute the supported options.

[0105] For example, the specified conditions may be a UE implementation. That is, terminal 20 may decide which option to execute based on the UE implementation.

[0106] As per option 4) above, terminal 20 can decide which of the multiple location acquisition methods to perform if they are available.

[0107] Option 5) A terminal 20 (hereinafter referred to as "UE-A") that wants to obtain the location information of another terminal 20 (hereinafter referred to as "UE-B") may send a request to UE-B to transmit location information.

[0108] Figure 16 is a flowchart illustrating an example (4) of position estimation according to an embodiment of the present invention. Figure 17 is a diagram illustrating an example (4) of position estimation according to an embodiment of the present invention. As shown in Figures 16 and 17, in step S41, UE-A sends a position information request to UE-B. In the following step S42, UE-B performs a position information acquisition operation. In the following step S43, UE-B sends its own position information to UE-A.

[0109] For example, in step S42, option 1), option 2), or option 3) above may be executed. UE-B may be UE-X in option 1), option 2), or option 3). UE-A may or may not be included in UE-Y in option 1), option 2), or option 3). If UE-A is included in UE-Y in option 1), option 2), or option 3), one of the steps in option 1), option 2), or option 3) above for UE-A may be skipped without being executed.

[0110] For example, step S42 may be skipped. For example, if UE-B already has the location information of its own device, step S42 may not be performed. Also, for example, if UE-B already has the location information of its own device and the desired accuracy requirements are met, step S42 may not be performed.

[0111] For example, the location information requested by UE-A may be an absolute position or a relative position.

[0112] Option 5) described above enables support for use cases and services that require location information from other UEs. Furthermore, it allows for the unification of the operations for acquiring location information from other UEs and acquiring location information from one's own device.

[0113] Option 6) A terminal 20 (hereinafter referred to as "UE-A") that wants to obtain the location information of another terminal 20 (hereinafter referred to as "UE-B") may send a request to BS for the transmission of location information relating to UE-B.

[0114] Figure 18 is a flowchart illustrating an example (5) of position estimation according to an embodiment of the present invention. Figure 19 is a diagram illustrating an example (5) of position estimation according to an embodiment of the present invention. As shown in Figures 18 and 19, in step S51, UE-A transmits a request for position information relating to UE-B to BS. In the following step S52, BS performs a position information acquisition operation relating to UE-B. In the following step S53, BS transmits position information relating to UE-B to UE-A.

[0115] For example, in step S52, the Uu interface positioning function, such as the Uu interface positioning function described above, may be executed.

[0116] For example, in step S52, BS may instruct UE-B to perform the SL's positioning function, for example, option 1) or option 2) above. UE-B may perform the SL's positioning function, for example, option 1) or option 2) above, and report the acquired position information of its own device to BS.

[0117] For example, step S52 may be skipped. For example, if BS already has the location information of UE-B, step S52 may not be performed. Also, for example, if BS already has the location information of UE-B and the desired accuracy requirements are met, step S52 may not be performed.

[0118] For example, the location information requested by UE-A may be an absolute position or a relative position.

[0119] For example, UE-A may receive a notification from BS that location information for UE-B is unavailable, instead of location information. After receiving such notification, UE-A may obtain location information by other means, such as option 5) above.

[0120] As described in option 6), terminal 20 can perform actions to acquire location information. By using Uu positioning, more accurate location measurement can be expected.

[0121] Option 7) Whether to perform option 5) or option 6) above may be determined based on predetermined conditions.

[0122] For example, the specified conditions may be an out-of-coverage environment, a partially-covered environment, or an in-coverage environment.

[0123] For example, the specified conditions may be accuracy requirements.

[0124] For example, the predetermined condition may be to acquire either an absolute position or a relative position.

[0125] For example, the specified condition may be a predetermined priority set for each option. For example, option 6) may have a higher priority than option 5).

[0126] For example, the specified conditions may be UE capabilities. That is, which options are supported may be defined as UE capabilities, and terminal 20 may execute the supported options.

[0127] For example, the specified conditions may be a UE implementation. That is, terminal 20 may decide which option to execute based on the UE implementation.

[0128] As per option 7) above, terminal 20 can decide which of the multiple location acquisition methods to perform if they are available.

[0129] In sidelink communication, when transmitting and receiving signals related to position measurement, it is necessary to set a deadline for the completion of transmission and reception. If no deadline is set, transmission and reception may occur a considerable time after the trigger, potentially preventing the acquisition of position information by the required time.

[0130] Therefore, the transmission and reception of SL signals between UE-X, which wants to acquire its own position, and the recipient (UE-Y) that transmits the SL signal for position measurement, may be performed by a predetermined time. This operation may be applied to any of the position estimation procedures described above. UE-Y may be replaced with BS-Y. The SL signal may be replaced with a Uu signal (DL signal or UL signal).

[0131] Operation 1) Figure 20 is a diagram illustrating an example (1) of transmission and reception timing according to an embodiment of the present invention. As shown in Figure 20, when a measurement signal (hereinafter referred to as "SL-PRS") is transmitted from UE-X to UE-Y, and corresponding information is transmitted from UE-Y to UE-X, UE-Y may perform the transmission of said information by a predetermined time.

[0132] For example, the predetermined time point may be determined based on RRC parameters (e.g., sl-LatencyBound-Pos-Report). These RRC parameters may be provided through configuration or pre-configuration, or through PC5-RRC configuration. These RRC parameters may be provided for each predetermined condition. These predetermined conditions may be, for example, positioning requirements, SL-PRS settings, or priorities. UE-X may explicitly or implicitly notify UE-Y which of the predetermined conditions to use for which the RRC parameters are provided. This allows the latency limit to be set to an appropriate value for each use case.

[0133] For example, the predetermined time point may be notified from UE-X to UE-Y along with the SL-PRS transmission. This allows for flexible modification of the predetermined time point.

[0134] For example, the predetermined time may be defined as a point in time that has elapsed since the reception timing of the SL-PRS. For example, the predetermined time may be measured starting from the reception timing of the SL-PRS. The reception timing may be defined, for example, by the slot containing the SL-PRS, by the final symbol of the SL-PRS, or by the final symbol of the slot containing the SL-PRS.

[0135] For example, a timer to complete the operation by the predetermined time may be defined and used in a higher layer (e.g., the MAC layer).

[0136] For example, UE-Y may perform operations related to determining the transmission resource so as to complete the operation by the predetermined time. For example, when autonomously selecting a resource, the end of the resource selection window may be set to the predetermined time or earlier. For example, when a resource is scheduled from base station 10, the resource request and transmission deadline for the information transmission may be notified to base station 10 via SR (scheduling request) or BSR (Buffer status report).

[0137] For example, if UE-Y has not completed the transmission of the information by the predetermined time, it may cancel the operation related to the transmission.

[0138] For example, the above series of operations may be performed as an SL-CSI (Channel State Information) report. For example, in the SL-CSI report, UE-Y may be notified of whether CQI (Channel Quality Indicator) / RI or (Rank Indicator) information related to SL positioning is required.

[0139] The above-described operation 1) allows for the completion of information transmission and reception for location measurement by the required time.

[0140] Operation 2) Figure 21 is a diagram illustrating an example (2) of transmission and reception timing according to an embodiment of the present invention. As shown in Figure 21, when UE-X sends an SL-PRS request to UE-Y and UE-Y sends an SL-PRS to UE-X, UE-Y may perform the SL-PRS transmission by a predetermined time.

[0141] For example, the predetermined time point may be determined based on an RRC parameter (e.g., sl-LatencyBound-Pos). This RRC parameter may be provided through configuration or pre-configuration, or through PC5-RRC configuration. This RRC parameter may be provided for each predetermined condition. This predetermined condition may be, for example, a positioning requirement, an SL-PRS setting, or a priority. UE-X may explicitly or implicitly notify UE-Y which of the predetermined conditions to use for which the RRC parameter is provided. This allows the latency limit to be set to an appropriate value for each use case.

[0142] For example, the predetermined time point may be notified from UE-X to UE-Y along with the transmission of the SL-PRS request. This allows for flexible modification of the predetermined time point.

[0143] For example, the predetermined time may be defined as a point in time that has elapsed since the reception of the SL-PRS request. For example, the predetermined time may be measured starting from the reception of the SL-PRS request. The reception timing may be identified, for example, by the slot containing the SL-PRS request, or by the last symbol of the slot containing the SL-PRS request.

[0144] For example, a timer to complete the operation by the predetermined time may be defined and used in a higher layer (e.g., the MAC layer).

[0145] For example, UE-Y may perform operations related to determining the transmission resource so as to complete the operation by the predetermined time. For example, when autonomously selecting a resource, the end of the resource selection window may be set to the predetermined time or earlier. For example, when a resource is scheduled from base station 10, the resource request and transmission deadline for the information transmission may be notified to base station 10 via SR (scheduling request) or BSR (Buffer status report).

[0146] For example, if UE-Y has not completed the SL-PRS transmission by the predetermined time, it may cancel the operation related to the transmission.

[0147] For example, the above series of operations may be performed as an SL-CSI report. For example, the UE-Y may be notified in the SL-CSI report whether information related to CQI / RI or SL positioning is required.

[0148] As described in step 2), the transmission and reception of information for location measurement can be completed by the required time.

[0149] Operation 3) The RRC parameter in Operation 1) above (e.g., sl-LatencyBound-Pos-Report) and the RRC parameter in Operation 2) above (e.g., sl-LatencyBound-Pos) may be a common parameter or may be a separate parameter.

[0150] If the RRC parameter in operation 1) above (e.g., sl-LatencyBound-Pos-Report) and the RRC parameter in operation 2) above (e.g., sl-LatencyBound-Pos) are separate parameters, and both operation 1) and operation 2) are performed, then operation 1) and operation 2) may be performed based on their respective RRC parameters.

[0151] If the above RRC parameter (e.g., sl-LatencyBound-Pos-Report) and the above RRC parameter (e.g., sl-LatencyBound-Pos) are separate parameters, and both operation 1) and operation 2) are performed, operation 1) or operation 2) may be performed based on either RRC parameter. For example, common timer management may be performed in operation 1) and operation 2). For example, separate timer management may be performed in operation 1) and operation 2).

[0152] As described in step 3), the UE operation can be simplified by making the RRC parameters common. By making the RRC parameters individual, the optimal parameters can be used for each.

[0153] The above-described embodiment may be applied to D2D of NR, or to D2D of other RATs. Furthermore, the above-described embodiment may be applied to FR2, or to other frequency bands.

[0154] The above-described embodiment is not limited to V2X terminals, but may also be applied to terminals that perform D2D communication.

[0155] The operation described in the above embodiment may be performed only in a specific resource pool. For example, it may be performed only in resource pools where terminal 20 with 3GPP release 17 or 3GPP release 18 or later is available.

[0156] In the embodiment described above, terminal 20 can acquire its own location information by using the sidelink signal to send and receive a signal for positioning before the delay limit.

[0157] In other words, the device's location information can be obtained through direct communication between terminals.

[0158] (Device configuration) Next, we will describe an example of the functional configuration of the base station 10 and terminal 20 that perform the processes and operations described above. The base station 10 and terminal 20 include functions to implement the embodiments described above. However, the base station 10 and terminal 20 may each have only some of the functions in the embodiments.

[0159] <Base station 10> Figure 22 is a diagram showing an example of the functional configuration of the base station 10. As shown in Figure 22, the base station 10 has a transmitting unit 110, a receiving unit 120, a setting unit 130, and a control unit 140. The functional configuration shown in Figure 22 is merely an example. The names of the functional categories and functional units can be anything as long as they can perform the operations according to the embodiment of the present invention.

[0160] The transmitting unit 110 includes the function of generating a signal to be transmitted to the terminal 20 and transmitting the signal wirelessly. The receiving unit 120 includes the function of receiving various signals transmitted from the terminal 20 and obtaining information from the received signals, for example, information from a higher layer. The transmitting unit 110 also has the function of transmitting NR-PSS, NR-SSS, NR-PBCH, DL / UL control signals, DL reference signals, etc. to the terminal 20.

[0161] The setting unit 130 stores pre-configured setting information and various setting information to be transmitted to the terminal 20 in a storage device, and reads it from the storage device as needed. The contents of the setting information include, for example, information related to D2D communication settings.

[0162] As described in the embodiment, the control unit 140 performs processing related to the settings for the terminal 20 to perform D2D communication. The control unit 140 also transmits the scheduling of D2D communication and DL communication to the terminal 20 via the transmission unit 110. The control unit 140 also receives information related to the HARQ response of D2D communication and DL communication from the terminal 20 via the reception unit 120. The signal transmission function unit of the control unit 140 may be included in the transmission unit 110, and the signal reception function unit of the control unit 140 may be included in the reception unit 120.

[0163] <Terminal 20> Figure 23 is a diagram showing an example of the functional configuration of terminal 20. As shown in Figure 23, terminal 20 has a transmitting unit 210, a receiving unit 220, a setting unit 230, and a control unit 240. The functional configuration shown in Figure 23 is merely an example. The names of the functional categories and functional units can be anything as long as they can perform the operations according to the embodiment of the present invention.

[0164] The LTE-SL transmission / reception mechanism (module) and the NR-SL transmission / reception mechanism (module) described above may each separately include a transmission unit 210, a reception unit 220, a setting unit 230, and a control unit 240.

[0165] The transmitting unit 210 creates a transmission signal from the transmission data and transmits the transmission signal wirelessly. The receiving unit 220 wirelessly receives various signals and acquires signals from higher layers from the received physical layer signals. The receiving unit 220 also has the function of receiving NR-PSS, NR-SSS, NR-PBCH, DL / UL / SL control signals or reference signals transmitted from the base station 10. For example, the transmitting unit 210 transmits PSCCH (Physical Sidelink Control Channel), PSSCH (Physical Sidelink Shared Channel), PSDCH (Physical Sidelink Discovery Channel), PSBCH (Physical Sidelink Broadcast Channel), etc. to other terminals 20 as D2D communication, and the receiving unit 220 receives PSCCH, PSSCH, PSDCH or PSBCH, etc. from other terminals 20.

[0166] The setting unit 230 stores various setting information received from the base station 10 or terminal 20 by the receiving unit 220 in its storage device and reads it from the storage device as needed. The setting unit 230 also stores pre-configured setting information. The content of the setting information is, for example, information related to D2D communication settings.

[0167] As described in the embodiment, the control unit 240 controls D2D communication to establish an RRC connection with other terminals 20. The control unit 240 also performs power-saving operations. The control unit 240 also performs HARQ processing for D2D and DL communication. The control unit 240 transmits information related to the HARQ response for D2D and DL communication scheduled from the base station 10 to the base station 10. The control unit 240 may also schedule D2D communication with other terminals 20. The control unit 240 may also autonomously select resources to be used for D2D communication from a resource selection window based on sensing results, or it may perform re-evaluation or preemption. The control unit 240 also performs power-saving processing for D2D communication transmission and reception. The control unit 240 also performs processing related to inter-terminal coordination in D2D communication. The signal transmission function unit of the control unit 240 may be included in the transmission unit 210, and the signal reception function unit of the control unit 240 may be included in the reception unit 220.

[0168] (Hardware configuration) The block diagrams (Figures 22 and 23) used in the description of the above embodiments show functional units. These functional blocks (components) are realized by any combination of at least one of hardware and software. Furthermore, the method of realizing each functional block is not particularly limited. That is, each functional block may be realized using one device that is physically or logically coupled, or it may be realized using two or more physically or logically separated devices that are directly or indirectly connected (for example, using wired or wireless connections). A functional block may be realized by combining the above one device or the above multiple devices with software.

[0169] Functions include, but are not limited to, judgment, decision, judgment, calculation, calculation, processing, derivation, investigation, exploration, confirmation, reception, transmission, output, access, resolution, selection, selection, establishment, comparison, assumption, expectation, assumption, broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating (mapping), and assigning. For example, a functional block (configuration part) that enables transmission is called a transmitting unit or transmitter. As mentioned above, the method of implementation is not particularly limited.

[0170] For example, the base station 10, terminal 20, etc. in one embodiment of the present disclosure may function as a computer that processes the wireless communication method of the present disclosure. Figure 24 is a diagram showing an example of the hardware configuration of the base station 10 and terminal 20 according to one embodiment of the present disclosure. The above-mentioned base station 10 and terminal 20 may be physically configured as a computer device including a processor 1001, a storage device 1002, an auxiliary storage device 1003, a communication device 1004, an input device 1005, an output device 1006, a bus 1007, etc.

[0171] In the following explanation, the term "device" can be replaced with "circuit," "device," "unit," etc. The hardware configuration of the base station 10 and terminal 20 may include one or more of the devices shown in the figure, or it may be configured without some of the devices.

[0172] Each function in the base station 10 and terminal 20 is realized by loading predetermined software (programs) onto hardware such as the processor 1001 and storage device 1002, which allows the processor 1001 to perform calculations, control communication by the communication device 1004, and control at least one of the reading and writing of data in the storage device 1002 and auxiliary storage device 1003.

[0173] The processor 1001 controls the entire computer, for example, by running an operating system. The processor 1001 may consist of a central processing unit (CPU) that includes interfaces with peripheral devices, control devices, arithmetic units, registers, etc. For example, the control unit 140, control unit 240, etc., described above may be implemented by the processor 1001.

[0174] Furthermore, the processor 1001 reads programs (program code), software modules, or data from at least one of the auxiliary storage device 1003 and the communication device 1004 into the storage device 1002, and executes various processes accordingly. The program used is one that causes a computer to execute at least a part of the operations described in the above embodiment. For example, the control unit 140 of the base station 10 shown in Figure 22 may be implemented by a control program stored in the storage device 1002 and operated by the processor 1001. Also, for example, the control unit 240 of the terminal 20 shown in Figure 23 may be implemented by a control program stored in the storage device 1002 and operated by the processor 1001. Although the above-described processes have been explained as being executed by one processor 1001, they may be executed simultaneously or sequentially by two or more processors 1001. The processor 1001 may be implemented by one or more chips. The program may also be transmitted from the network via a telecommunications line.

[0175] The storage device 1002 is a computer-readable recording medium and may consist of at least one of the following: ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), etc. The storage device 1002 may also be called a register, cache, main memory, etc. The storage device 1002 can store executable programs (program code), software modules, etc., for implementing a communication method according to one embodiment of this disclosure.

[0176] The auxiliary storage device 1003 is a computer-readable recording medium and may consist of at least one of the following: an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (e.g., a compact disc, a digital multipurpose disc, a Blu-ray® disc), a smart card, flash memory (e.g., a card, a stick, a key drive), a floppy® disk, a magnetic strip, etc. The above-mentioned storage medium may also be a database, server, or other suitable medium that includes at least one of the storage device 1002 and the auxiliary storage device 1003.

[0177] The communication device 1004 is hardware (transceiver / receiver device) for communicating between computers via at least one of a wired network and a wireless network, and is also referred to as a network device, network controller, network card, communication module, etc. The communication device 1004 may be configured to include high-frequency switches, duplexers, filters, frequency synthesizers, etc., in order to implement at least one of frequency division duplex (FDD) and time division duplex (TDD). For example, the transmit / receive antenna, amplifier section, transmit / receive section, transmission path interface, etc., may be implemented by the communication device 1004. The transmit / receive section may be implemented with physically or logically separated transmitting and receiving sections.

[0178] The input device 1005 is an input device that accepts input from an external source (e.g., a keyboard, mouse, microphone, switch, button, sensor, etc.). The output device 1006 is an output device that outputs to an external source (e.g., a display, speaker, LED lamp, etc.). The input device 1005 and the output device 1006 may be configured as an integrated unit (e.g., a touch panel).

[0179] Furthermore, each device, such as the processor 1001 and the storage device 1002, is connected by a bus 1007 for communicating information. The bus 1007 may be configured using a single bus, or different buses may be configured for each device.

[0180] Furthermore, the base station 10 and terminal 20 may be configured to include hardware such as a microprocessor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array), and some or all of each functional block may be realized by such hardware. For example, the processor 1001 may be implemented using at least one of these hardware components.

[0181] Figure 25 shows an example of the configuration of vehicle 2001. As shown in Figure 25, vehicle 2001 includes a drive unit 2002, a steering unit 2003, an accelerator pedal 2004, a brake pedal 2005, a shift lever 2006, front wheels 2007, rear wheels 2008, an axle 2009, an electronic control unit 2010, various sensors 2021 to 2029, an information service unit 2012, and a communication module 2013. Each aspect / embodiment described in this disclosure may be applied to a communication device mounted on vehicle 2001, for example, to the communication module 2013.

[0182] The drive unit 2002 consists of, for example, an engine, a motor, or a hybrid of an engine and a motor. The steering unit 2003 includes at least a steering wheel (also called a handle) and is configured to steer at least one of the front wheels and the rear wheels based on the operation of the steering wheel, which is operated by the user.

[0183] The electronic control unit 2010 consists of a microprocessor 2031, memory (ROM, RAM) 2032, and communication ports (IO ports) 2033. Signals from various sensors 2021 to 2029 installed in the vehicle 2001 are input to the electronic control unit 2010. The electronic control unit 2010 may also be called an ECU (Electronic Control Unit).

[0184] Signals from various sensors 2021-2029 include current signals from current sensor 2021 which senses motor current, front and rear wheel rotation speed signals obtained by rotation speed sensor 2022, front and rear wheel air pressure signals obtained by air pressure sensor 2023, vehicle speed signals obtained by vehicle speed sensor 2024, acceleration signals obtained by acceleration sensor 2025, accelerator pedal depression signals obtained by accelerator pedal sensor 2029, brake pedal depression signals obtained by brake pedal sensor 2026, shift lever operation signals obtained by shift lever sensor 2027, and detection signals obtained by object detection sensor 2028 for detecting obstacles, vehicles, pedestrians, etc.

[0185] The Information Services Unit 2012 consists of various devices for providing (outputting) various types of information such as driving information, traffic information, and entertainment information, including a car navigation system, audio system, speakers, television, and radio, and one or more ECUs that control these devices. The Information Services Unit 2012 uses information acquired from external devices via a communication module 2013, etc., to provide various multimedia information and multimedia services to the occupants of the vehicle 2001. The Information Services Unit 2012 may include input devices that accept input from the outside (e.g., keyboard, mouse, microphone, switch, button, sensor, touch panel, etc.) and output devices that perform output to the outside (e.g., display, speaker, LED lamp, touch panel, etc.).

[0186] The driver assistance system unit 2030 consists of various devices that provide functions to prevent accidents or reduce the driver's workload, such as millimeter-wave radar, LiDAR (Light Detection and Ranging), cameras, positioning locators (e.g., GNSS), map information (e.g., high-definition (HD) maps, autonomous vehicle (AV) maps, etc.), gyro systems (e.g., IMU (Inertial Measurement Unit), INS (Inertial Navigation System), etc.), AI (Artificial Intelligence) chips, and AI processors, as well as one or more ECUs that control these devices. The driver assistance system unit 2030 also sends and receives various information via the communication module 2013 to realize driver assistance functions or autonomous driving functions.

[0187] The communication module 2013 can communicate with the microprocessor 2031 and components of the vehicle 2001 via its communication port. For example, the communication module 2013 sends and receives data via its communication port 2033 to the drive unit 2002, steering unit 2003, accelerator pedal 2004, brake pedal 2005, shift lever 2006, front wheels 2007, rear wheels 2008, axle 2009, the microprocessor 2031 and memory (ROM, RAM) 2032 in the electronic control unit 2010, and sensors 2021-29 provided in the vehicle 2001.

[0188] The communication module 2013 is a communication device that can be controlled by the microprocessor 2031 of the electronic control unit 2010 and can communicate with external devices. For example, it can send and receive various types of information to and from external devices via wireless communication. The communication module 2013 may be located either inside or outside the electronic control unit 2010. The external device may be, for example, a base station or a mobile station.

[0189] The communication module 2013 may transmit at least one of the following to an external device via wireless communication: signals from the various sensors 2021-2028 input to the electronic control unit 2010, information obtained based on said signals, and information based on input from an external source (user) obtained via the information service unit 2012. The electronic control unit 2010, the various sensors 2021-2028, the information service unit 2012, etc., may also be called input units that accept input. For example, the PUSCH transmitted by the communication module 2013 may include information based on the above input.

[0190] The communication module 2013 receives various information (traffic information, signal information, inter-vehicle information, etc.) transmitted from an external device and displays it on the information service unit 2012 provided in the vehicle 2001. The information service unit 2012 may also be called an output unit, which outputs information (for example, outputs information to devices such as displays and speakers based on the PDSCH (or data / information decoded from the PDSCH) received by the communication module 2013). The communication module 2013 also stores the various information received from the external device in memory 2032, which is available to the microprocessor 2031. Based on the information stored in memory 2032, the microprocessor 2031 may control the drive unit 2002, steering unit 2003, accelerator pedal 2004, brake pedal 2005, shift lever 2006, front wheels 2007, rear wheels 2008, axles 2009, sensors 2021-2029, etc., provided in the vehicle 2001.

[0191] (Summary of the embodiments) As described above, according to an embodiment of the present invention, a terminal is provided having a receiving unit that receives a signal related to positioning in direct terminal-to-terminal communication from another terminal, a transmitting unit that transmits a signal based on the signal related to positioning in direct terminal-to-terminal communication to the other terminal, and a control unit that controls the transmission of the signal based on the signal related to positioning in direct terminal-to-terminal communication to the other terminal by a certain time.

[0192] With the above configuration, terminal 20 can acquire its own location information by using the sidelink signal to send and receive positioning signals before the delay limit. In other words, it can acquire its own location information through direct communication between terminals.

[0193] The signal related to positioning in the aforementioned direct communication between terminals may be a reference signal for positioning or a signal requesting the transmission of a reference signal for positioning. With this configuration, terminal 20 can acquire its own device's position information by using the sidelink signal to send and receive a positioning signal before the delay limit.

[0194] The control unit may determine the aforementioned time point based on RRC (Radio Resource Control) parameters given for each specific condition. With this configuration, the terminal 20 can acquire its own location information by using the sidelink signal to send and receive positioning signals before the delay limit.

[0195] The control unit may assume that the time notified along with the positioning signal in the direct communication between terminals is the aforementioned time. With this configuration, terminal 20 can acquire its own device's position information by using the sidelink signal to send and receive positioning signals before the delay limit.

[0196] The control unit may use the time when it receives a signal related to positioning in the direct communication between terminals as the starting point for measuring the aforementioned time. With this configuration, terminal 20 can acquire its own location information by using the sidelink signal to send and receive a signal for positioning before the delay limit.

[0197] Furthermore, according to an embodiment of the present invention, a receiving procedure for receiving a signal related to positioning in direct communication between terminals from another terminal, A transmission procedure for transmitting a signal based on a positioning signal in the direct communication between terminals to the other terminal, A positioning method in which a terminal performs a control procedure that controls the transmission of a signal based on a positioning signal in direct communication between terminals to the other terminal by a certain time.

[0198] With the above configuration, terminal 20 can acquire its own location information by using the sidelink signal to send and receive positioning signals before the delay limit. In other words, it can acquire its own location information through direct communication between terminals.

[0199] (Supplement to the embodiment) While embodiments of the present invention have been described above, the disclosed invention is not limited to such embodiments, and those skilled in the art will understand various modifications, alterations, alternatives, substitutions, etc. Specific numerical examples have been used to facilitate understanding of the invention, but unless otherwise specified, these numerical values ​​are merely examples, and any appropriate values ​​may be used. The division of items in the above description is not essential to the present invention, and matters described in two or more items may be combined as needed, and matters described in one item may be applied to matters described in another item (as long as they do not contradict each other). The boundaries of functional units or processing units in the functional block diagram do not necessarily correspond to the boundaries of physical parts. The operation of multiple functional units may be physically performed by one part, or the operation of one functional unit may be physically performed by multiple parts. Regarding the processing procedures described in the embodiments, the order of processing may be changed as long as it does not contradict each other. For the convenience of explaining the processing, the base station 10 and terminal 20 have been described using functional block diagrams, but such devices may be implemented in hardware, software, or a combination thereof. The software operated by the processor of the base station 10 according to an embodiment of the present invention and the software operated by the processor of the terminal 20 according to an embodiment of the present invention may be stored in random access memory (RAM), flash memory, read-only memory (ROM), EPROM, EEPROM, registers, hard disk (HDD), removable disk, CD-ROM, database, server, or any other suitable storage medium.

[0200] Furthermore, the notification of information is not limited to the embodiments / models described herein and may be carried out by other methods. For example, the notification of information may be carried out by physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling), broadcast information (MIB (Master Information Block), SIB (System Information Block)), other signals, or combinations thereof. Also, RRC signaling may be called RRC messages, and may be, for example, RRC Connection Setup messages, RRC Connection Reconfiguration messages, etc.

[0201] Each aspect / embodiment described in this disclosure includes LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G (4th generation mobile communication system), 5G (5th generation mobile communication system), 6th generation mobile communication system (6G), xth generation mobile communication system (xG) (xG (where x is, for example, an integer or decimal)), FRA (Future Radio Access), NR (new Radio), New radio access (NX), Future generation radio access (FX), W-CDMA (registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), and IEEE This may apply to at least one system utilizing 802.20, UWB (Ultra-WideBand), Bluetooth®, or other appropriate systems, and to next-generation systems extended, modified, created, or defined based thereon. It may also apply to a combination of multiple systems (for example, a combination of at least one of LTE and LTE-A with 5G).

[0202] The processing procedures, sequences, flowcharts, etc., of each aspect / embodiment described herein may be reordered, provided they are consistent with each other. For example, the methods described herein present various step elements in an exemplary order and are not limited to that specific order.

[0203] In this specification, specific operations performed by the base station 10 may, in some cases, be performed by its upper node. In a network consisting of one or more network nodes having a base station 10, it is clear that various operations performed for communication with the terminal 20 can be performed by the base station 10 and at least one of the other network nodes (for example, an MME or S-GW, but not limited to these). Although the above example illustrates the case where there is one other network node besides the base station 10, the other network node may be a combination of multiple other network nodes (for example, an MME and an S-GW).

[0204] The information or signals described in this disclosure may be output from a higher layer (or lower layer) to a lower layer (or higher layer). They may also be input and output via multiple network nodes.

[0205] Input and output information may be stored in a specific location (e.g., memory) or managed using a management table. Input and output information may be overwritten, updated, or appended to. Output information may be deleted. Input information may be transmitted to other devices.

[0206] The determination in this disclosure may be made by a value represented by one bit (0 or 1), by a boolean value (true or false), or by a numerical comparison (for example, a comparison with a predetermined value).

[0207] Software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, and so on, whether they are called software, firmware, middleware, microcode, hardware description languages, or by any other name.

[0208] Furthermore, software, instructions, information, etc., may be transmitted and received via a transmission medium. For example, if software is transmitted from a website, server, or other remote source using at least one of wired technology (such as coaxial cable, fiber optic cable, twisted pair, or digital subscriber line (DSL)) and wireless technology (such as infrared or microwave), then at least one of these wired and wireless technologies is included in the definition of a transmission medium.

[0209] The information, signals, etc. described in this disclosure may be represented using any of the various different techniques. For example, the data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof.

[0210] In addition, terms used in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meanings. For example, at least one of the channel and symbol may be a signal (signaling). Also, a signal may be a message. Furthermore, a component carrier (CC) may be called a carrier frequency, cell, frequency carrier, etc.

[0211] The terms “system” and “network” as used in this disclosure are interchangeable.

[0212] Furthermore, the information, parameters, etc., described in this disclosure may be expressed using absolute values, relative values ​​from a given value, or corresponding other information. For example, wireless resources may be indicated by an index.

[0213] The names used for the parameters described above are not restrictive in any way. Furthermore, the formulas and other expressions using these parameters may differ from those expressly disclosed in this disclosure. Various channels (e.g., PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, and therefore, the various names assigned to these various channels and information elements are not restrictive in any way.

[0214] In this disclosure, terms such as "Base Station (BS)", "wireless base station", "base station", "fixed station", "NodeB", "eNodeB (eNB)", "gNodeB (gNB)", "access point", "transmission point", "reception point", "transmission / reception point", "cell", "sector", "cell group", "carrier", and "component carrier" may be used interchangeably. Base stations may also be referred to by terms such as macrocell, small cell, femtocell, and picocell.

[0215] A base station can house one or more (e.g., three) cells. If a base station houses multiple cells, the entire coverage area of ​​the base station can be divided into several smaller areas, each of which may also be provided with communication services by a base station subsystem (e.g., a Remote Radio Head (RRH)). The terms “cell” or “sector” refer to part or all of the coverage area of ​​at least one of the base station and / or base station subsystems that provide communication services in that coverage.

[0216] In this disclosure, the transmission of information by a base station to a terminal may be interpreted as the base station instructing the terminal to perform information-based control or operation.

[0217] In this disclosure, terms such as "Mobile Station (MS)," "user terminal," "User Equipment (UE)," and "terminal" may be used interchangeably.

[0218] A mobile station may also be referred to by those skilled in the art as a subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, or several other appropriate terms.

[0219] At least one of the base station and the mobile station may be called a transmitting device, a receiving device, a communication device, etc. At least one of the base station and the mobile station may also be a device mounted on a mobile body, the mobile body itself, etc. The mobile body refers to a movable object, and its speed of movement is arbitrary. This also includes the case when the mobile body is stationary. The mobile body includes, but is not limited to, vehicles, transport vehicles, automobiles, motorcycles, bicycles, connected cars, excavators, bulldozers, wheel loaders, dump trucks, forklifts, trains, buses, handcarts, rickshaws, ships and other watercraft, airplanes, rockets, satellites, drones (registered trademark), multicopters, quadcopters, balloons, and items mounted on them. The mobile body may also be a mobile body that moves autonomously based on operation commands. It may be a vehicle (e.g., a car, an airplane, etc.), an unmanned mobile body (e.g., a drone, an autonomous vehicle, etc.), or a robot (manned or unmanned). Furthermore, at least one of the base station and the mobile station may include devices that do not necessarily move during communication operations. For example, at least one of the base station and the mobile station may be an IoT (Internet of Things) device such as a sensor.

[0220] Furthermore, the term "base station" in this disclosure may be interpreted as "user terminal." For example, the various aspects / embodiments of this disclosure may be applied to a configuration in which communication between a base station and a user terminal is replaced with communication between multiple terminals 20 (which may be called, for example, D2D (Device-to-Device), V2X (Vehicle-to-Everything), etc.). In this case, the terminals 20 may have the functions that the base station 10 has. Also, terms such as "uplink" and "downlink" may be interpreted as terms corresponding to terminal-to-terminal communication (for example, "side"). For example, uplink channel, downlink channel, etc., may be interpreted as side channel.

[0221] Similarly, the term "user terminal" in this disclosure may be replaced with "base station." In this case, the base station may be configured to have the same functions as the user terminal described above.

[0222] As used in this disclosure, the terms “determining” and “determining” may encompass a wide variety of actions. “Determining” may include, for example, judging, calculating, computing, processing, deriving, investigating, looking up, searching, inquiry (e.g., searching in a table, database, or other data structure), and ascertaining. “Determining” may also include, for example, receiving (e.g., receiving information), transmitting (e.g., sending information), input, output, and accessing (e.g., accessing data in memory). Furthermore, "judgment" and "decision" can include considering something as having been "judged" or "decided" after resolving, selecting, choosing, establishing, comparing, etc. In other words, "judgment" and "decision" can include considering something as having been "judged" or "decided" after some action. Also, "judgment (decision)" can be reinterpreted as "assuming," "expecting," or "considering."

[0223] The terms “connected,” “coupled,” or any variation thereof, mean any direct or indirect connection or coupling between two or more elements, and may include the presence of one or more intermediate elements between two elements that are “connected” or “coupled” with each other. The coupling or connection between elements may be physical, logical, or a combination thereof. For example, “connection” may be reinterpreted as “access.” As used in this disclosure, two elements may be considered to be “connected” or “coupled” with each other using at least one of one or more wires, cables, and printed electrical connections, and, in some non-limiting and non-exclusive examples, electromagnetic energy having wavelengths in the radio frequency domain, microwave domain, and optical (both visible and invisible) domain.

[0224] The reference signal can also be abbreviated as RS (Reference Signal), and may be called a pilot depending on the applicable standard.

[0225] In this disclosure, the phrase "based on" does not mean "based solely on" unless otherwise specified. In other words, the phrase "based on" means both "based solely on" and "based at least on."

[0226] Any reference to elements using designations such as “first,” “second,” etc., as used in this disclosure does not generally limit the quantity or order of those elements. These designations may be used in this disclosure as a convenient way to distinguish between two or more elements. Accordingly, references to the first and second elements do not imply that only two elements may be employed, or that the first element must precede the second element in any way.

[0227] In the configuration of each of the above devices, "means" may be replaced with "part," "circuit," "device," etc.

[0228] Where the terms “include,” “including,” and variations thereof are used in this disclosure, these terms are intended to be inclusive, as is the term “comprising.” Furthermore, the term “or” as used in this disclosure is not intended to mean exclusive OR.

[0229] A wireless frame may consist of one or more frames in the time domain. Each of these frames in the time domain may be called a subframe. A subframe may further consist of one or more slots in the time domain. A subframe may have a fixed time length (e.g., 1 ms) that is independent of numerology.

[0230] Numerology may be communication parameters applied to at least one of the transmission and reception of a signal or channel. Numerology may include, for example, at least one of the following: subcarrier spacing (SCS), bandwidth, symbol length, cyclic prefix length, transmission time interval (TTI), number of symbols per TTI, radio frame configuration, specific filtering processes performed by the transceiver in the frequency domain, and specific windowing processes performed by the transceiver in the time domain.

[0231] A slot may consist of one or more symbols in the time domain (such as OFDM (Orthogonal Frequency Division Multiplexing) symbols, SC-FDMA (Single Carrier Frequency Division Multiple Access) symbols, etc.). A slot may also be a numerology-based time unit.

[0232] A slot may include multiple minislots. Each minislot may consist of one or more symbols in the time domain. Minislots may also be called subslots. Minislots may consist of fewer symbols than a slot. A PDSCH (or PUSCH) transmitted in a time unit larger than a minislot may be called PDSCH (or PUSCH) mapping type A. A PDSCH (or PUSCH) transmitted using a minislot may be called PDSCH (or PUSCH) mapping type B.

[0233] Wireless frames, subframes, slots, minislots, and symbols all represent units of time when transmitting a signal. Different names may be used for each of these terms.

[0234] For example, one subframe may be called a Transmission Time Interval (TTI), multiple consecutive subframes may be called a TTI, or one slot or one mini-slot may be called a TTI. In other words, at least one of a subframe and a TTI may be a subframe (1 ms) in existing LTE, a period shorter than 1 ms (e.g., 1-13 symbols), or a period longer than 1 ms. Note that the unit representing the TTI may be called a slot, mini-slot, etc., instead of a subframe.

[0235] Here, TTI refers to, for example, the smallest unit of time for scheduling in wireless communication. For example, in an LTE system, the base station schedules each terminal 20 to allocate wireless resources (such as the frequency bandwidth and transmission power available to each terminal 20) in TTI units. However, the definition of TTI is not limited to this.

[0236] TTI may be a transmission time unit for channel-encoded data packets (transport blocks), code blocks, code words, etc., or it may be a processing unit for scheduling, link adaptation, etc. Given a TTI, the actual time interval (e.g., number of symbols) to which the transport block, code block, code word, etc. are mapped may be shorter than the given TTI.

[0237] Furthermore, if one slot or one mini-slot is referred to as TTI, then one or more TTIs (i.e., one or more slots or one or more mini-slots) may constitute the minimum time unit of scheduling. In addition, the number of slots (number of mini-slots) that constitute the minimum time unit of scheduling may be controlled.

[0238] A TTI with a time length of 1ms may also be called a normal TTI, long TTI, normal subframe, long subframe, slot, etc. A TTI shorter than a normal TTI may also be called a shortened TTI, short TTI, partial or fractional TTI, shortened subframe, short subframe, mini slot, sub slot, slot, etc.

[0239] Furthermore, long TTIs (e.g., normal TTIs, subframes, etc.) may be interpreted as TTIs with a time length exceeding 1 ms, and short TTIs (e.g., shortened TTIs, etc.) may be interpreted as TTIs with a TTI length less than that of a long TTI but 1 ms or more.

[0240] A resource block (RB) is a resource allocation unit in the time domain and frequency domain, and in the frequency domain, it may contain one or more consecutive subcarriers. The number of subcarriers in an RB may be the same regardless of numerology, for example, 12. The number of subcarriers in an RB may be determined based on numerology.

[0241] Furthermore, the time domain of the RB may contain one or more symbols and may be the length of one slot, one minislot, one subframe, or one TTI. Each TTI, subframe, etc., may consist of one or more resource blocks.

[0242] One or more RBs may also be called a Physical RB (PRB), Sub-Carrier Group (SCG), Resource Element Group (REG), PRB pair, RB pair, etc.

[0243] Furthermore, a resource block may consist of one or more resource elements (REs). For example, one RE may be a radio resource area comprising one subcarrier and one symbol.

[0244] A Bandwidth Part (BWP), also known as a partial bandwidth, may represent a subset of consecutive common resource blocks (RBs) for a given numerology within a carrier. These common RBs may be identified by an index of the RBs relative to the carrier's common reference point. A Bandwidth Part (PRB) may be defined and numbered within a BWP.

[0245] A BWP may include a BWP for UL (Ultraviolet Link) and a BWP for DL ​​(Download Link). One or more BWPs may be set for a terminal 20 within a single carrier.

[0246] At least one of the configured BWPs may be active, and terminal 20 does not need to be expected to send or receive a predetermined signal / channel outside of the active BWP. In this disclosure, terms such as "cell" and "carrier" may be read as "BWP".

[0247] The structures such as the above-mentioned radio frames, sub-frames, slots, mini-slots, and symbols are merely illustrative. For example, the number of sub-frames included in a radio frame, the number of slots per sub-frame or radio frame, the number of mini-slots included in a slot, the number of symbols and RBs included in a slot or mini-slot, the number of sub-carriers included in an RB, and the number of symbols within a TTI, symbol length, cyclic prefix (CP: Cyclic Prefix) length, etc. can be variously changed.

[0248] In the present disclosure, for example, when articles are added by translation like a, an, and the in English, the present disclosure may include that the nouns following these articles are in the plural form.

[0249] In the present disclosure, the term "A and B are different" may mean "A and B are different from each other". Note that the term may also mean "A and B are different from C respectively". Terms such as "separate", "coupled", etc. may also be interpreted in the same way as "different".

[0250] Each aspect / embodiment described in the present disclosure may be used alone, in combination, or switched and used during execution. Also, the notification of predetermined information (for example, the notification of "being X") is not limited to being explicitly performed, and may be performed implicitly (for example, not performing the notification of the predetermined information).

[0251] As described above in detail about the present disclosure, it is clear to those skilled in the art that the present disclosure is not limited to the embodiments described in the present disclosure. The present disclosure can be implemented as modifications and variations without departing from the spirit and scope of the present disclosure determined by the description of the claims. Therefore, the description of the present disclosure is for the purpose of illustrative explanation and has no restrictive meaning for the present disclosure. (Section 1) A receiving unit that receives signals related to positioning in direct communication between terminals from other terminals, A transmitting unit that transmits a signal based on a positioning signal in the direct communication between terminals to the other terminal, A terminal having a control unit that performs control to transmit a signal based on a positioning signal in the direct communication between terminals to the other terminal by a certain time. (Section 2) The terminal described in paragraph 1, wherein the signal relating to positioning in the direct communication between terminals is a reference signal for positioning or a signal requesting the transmission of a reference signal for positioning. (Section 3) The control unit determines the aforementioned time point based on RRC (Radio Resource Control) parameters given for each specific condition, as described in paragraph 2. (Section 4) The terminal described in paragraph 2, wherein the control unit assumes that the time notified along with the positioning signal in the direct communication between terminals is the aforementioned time. (Section 5) The control unit is a terminal as described in paragraph 2, wherein the time at which a signal related to positioning in direct communication between terminals is received is used as the starting point for measuring a certain time. (Section 6) A receiving procedure for receiving positioning signals from another terminal in direct terminal-to-terminal communication, A transmission procedure for transmitting a signal based on a positioning signal in the direct communication between terminals to the other terminal, A positioning method in which a terminal performs a control procedure that controls the transmission of a signal based on a positioning signal in direct communication between terminals to the other terminal by a certain time.

Explanation of Symbols

[0252] 10 Base station 110 Transmitter 120 Receiver 130 Setting unit 140 Control unit 20 Terminal 210 Transmitter 220 Receiver[[ID=NO=51]] 230 Setting unit<0000 NO=944>240 Control unit 1001 Processor 1002 Memory device<00009 NO=47>1003 Auxiliary memory device 1004 Communication device 1005 Input device 1006 Output device 2001 Vehicle 2002 Driving unit 2003 Steering unit 2004 Accelerator pedal 2005 Brake pedal 2006 Shift lever 2007 Front wheel 2008 Rear wheel 2009 Axle 2010 Electronic control unit Note: There seem to be some "NO=" notations in the original that might be errors. I've translated as best as possible while maintaining the original structure. 2012 Information Service Department 2013 Communication Module 2021 Current Sensor 2022 Rotation Speed Sensor 2023 Air Pressure Sensor 2024 Vehicle Speed Sensor 2025 Acceleration Sensor 2026 Brake Pedal Sensor 2027 Shift Lever Sensor 2028 Object Detection Sensor 2029 Accelerator Pedal Sensor 2030 Driving Assistance System Department 2031 Microprocessor 2032 Memory (ROM, RAM) 2033 Communication Port (IO Port)

Claims

1. A receiving unit that receives information from another terminal indicating the allowable delay of a positioning reference signal in terminal-to-terminal communication (D2D communication), The system includes a transmitting unit that transmits the positioning reference signal before the timing based on the allowable delay. Terminal.

2. The allowable delay is associated with the priority of the positioning reference signal. The terminal according to claim 1.

3. Further comprising a control unit that selects a transmission resource for transmitting the positioning reference signal based on the allowable delay The terminal according to claim 1.

4. The transmitting unit transmits information regarding the allowable delay to the network. The terminal according to claim 1.

5. The transmitting unit transmits a scheduling request (SR) associated with the allowable delay to the network. The terminal according to claim 4.

6. The step of receiving information from another terminal, including an allowable delay of the positioning reference signal in terminal-to-terminal communication (D2D communication), The step includes transmitting the positioning reference signal to the other terminal before the timing based on the allowable delay. Positioning method.

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