SL-PRS communication method and apparatus, device, and storage medium

Abstract

The present application relates to the field of mobile communications. Disclosed are an SL-PRS communication method and apparatus, a device, and a storage medium. The method comprises: an SL communication receiving terminal sends or receives an SL-PRS on the basis of an SL-PRS configuration matching an SL-DRX configuration, so that the SL-PRS is sent or received within a DRX activation duration of a terminal for SL-PRS reception.

Description

SL-PRS communication method, device, equipment and storage medium Technical Field The present application relates to the field of mobile communications, and in particular to a communication method, apparatus, device and storage medium of SL-PRS. Background Art The radio electromagnetic waves used by cellular networks can be used for wireless data transmission and wireless communication, and can also be used for positioning. For sidelink (SL) positioning, one terminal (User Equipment, UE) can act as a SL-PRS sending device to send a sidelink positioning reference signal (SL-PRS); another UE can act as a SL-PRS receiving device to receive and measure the SL-PRS. If the SL-PRS receiving device is in the sleep stage of SideLink Discontinuous Reception (SL-DRX), there are two possible results. One is that the SL-PRS receiving device does not perform SL-PRS reception and measurement. The other is that the SL-PRS receiving device is forced to wake up in the sleep stage of SL-DRX and perform SL-PRS reception and measurement. Summary of the invention The embodiment of the present application provides a communication method, apparatus, device and storage medium of SL-PRS. The technical solution is as follows: According to one aspect of an embodiment of the present application, a SL-PRS communication method is provided, the method being performed by a SL communication receiving terminal, the method comprising: Send or receive SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration. According to another aspect of an embodiment of the present application, a SL-PRS communication method is provided, the method being performed by an SL-PRS configuration source device, the method comprising: receiving a first SL-DRX configuration, where the first SL-DRX configuration is a SL-DRX configuration of a SL communication receiving terminal; A first SL-PRS configuration matching the first SL-DRX configuration is configured for the SL communication receiving terminal. According to another aspect of an embodiment of the present application, a SL-PRS communication method is provided, the method being performed by a SL-DRX configuration source device, the method comprising: Receiving an expected SL-DRX configuration sent by a SL communication receiving terminal, wherein the expected SL-DRX configuration is determined based on a second SL-PRS configuration; A second SL-DRX configuration matching the second SL-PRS configuration is sent to the SL communication receiving terminal. According to another aspect of an embodiment of the present application, a communication device of an SL-PRS is provided, the device comprising: The communication module is used to send or receive the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration. According to another aspect of an embodiment of the present application, a communication device of an SL-PRS is provided, the device comprising: A receiving module, configured to receive a first SL-DRX configuration, where the first SL-DRX configuration is a SL-DRX configuration of a SL communication receiving terminal; A sending module is used to configure a first SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal. According to another aspect of an embodiment of the present application, a communication device of an SL-PRS is provided, the device comprising: A receiving module, configured to receive an expected SL-DRX configuration sent by a SL communication receiving terminal, wherein the expected SL-DRX configuration is determined based on a second SL-PRS configuration; A sending module is used to send a second SL-DRX configuration matching the second SL-PRS configuration to a SL communication receiving terminal. According to another aspect of an embodiment of the present application, a communication device is provided, the communication device comprising a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the above-mentioned SL-PRS communication method. According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor to implement the above-mentioned SL-PRS communication method. According to another aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when the chip is running, it is used to implement the above-mentioned SL-PRS communication method. According to another aspect of an embodiment of the present application, a computer program product or a computer program is provided, wherein the computer program product or the computer program includes computer instructions, wherein the computer instructions are stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned SL-PRS communication method. The technical solution provided in the embodiments of the present application can bring the following beneficial effects: The SL-PRS communication method provided in the present application sends or receives SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration, so that the SL-PRS receiving terminal can receive the SL-PRS within the activation time of SL-DRX, which can avoid the terminal sending or receiving SL-PRS during the sleep time of SL-DRX, resulting in the inability to smoothly perform SL-PRS reception and measurement, or forced wake-up during the sleep time of SL-DRX, consuming excessive energy of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. FIG1 is a schematic diagram of a communication network architecture provided by an embodiment of the present application; FIG2 is a flow chart of a communication method of an SL-PRS provided in an embodiment of the present application; FIG3 is a flow chart of a method for configuring SL-PRS provided by an embodiment of the present application; FIG4 is a flow chart of a communication method of SL-PRS provided in one embodiment of the present application; FIG5 is a flow chart of a communication method of an SL-PRS provided in an embodiment of the present application; FIG6 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG7 is a flow chart of a communication method of SL-PRS provided in one embodiment of the present application; FIG8 is a flow chart of a communication method of SL-PRS provided in one embodiment of the present application; FIG9 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG10 is a flowchart of a method for SL-DRX configuration provided by an embodiment of the present application; FIG11 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG12 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG13 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG14 is a flow chart of a communication method of an SL-PRS provided in one embodiment of the present application; FIG15 is a block diagram of a communication device of an SL-PRS provided by an embodiment of the present application; FIG16 is a block diagram of a communication device of an SL-PRS provided by an embodiment of the present application; FIG17 is a block diagram of a communication device of an SL-PRS provided by an embodiment of the present application; FIG. 18 is a schematic diagram of the structure of a communication device provided in one embodiment of the present application. DETAILED DESCRIPTION In order to make the purpose, technical scheme and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation modes described in the following exemplary embodiments do not represent all implementation modes consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. It is known to those of ordinary skill in the art that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems. The terms used in this disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items. It should be understood that although the terms first, second, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first parameter may also be referred to as the second parameter, and similarly, the second parameter may also be referred to as the first parameter. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining". Fig. 1 shows a schematic diagram of a communication network architecture provided by an exemplary embodiment of the present application. The communication network architecture may include: a core network 11, an access network 12 and a terminal 13. The core network 11 includes several core network devices. The functions of the core network devices are mainly to provide user connection, user management, and service bearing, and to provide an interface to the external network as a bearer network. For example, the core network of the fifth generation mobile communication technology (5th Generation, 5G) new radio (New Radio, NR) system may include access and mobility management function (Access and Mobility Management Function, AMF) entity, user plane function (User Plane Function, UPF) entity and session management function (Session Management Function, SMF) entity and other devices. The access network 12 includes several access network devices 14. The access network in the 5G NR system can be called a new generation of wireless access network (New Generation-Radio Access Network, NG-RAN). The access network device 14 is a device deployed in the access network 12 to provide wireless communication functions for the terminal 13. The access network device 14 may include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems that use different wireless access technologies, the names of devices with access network device functions may be different. For example, in the 5G NR system, it is called a 5G base station (Next Generation Node B, gNodeB or gNB). With the evolution of communication technology, the name "access network device" may change. For the convenience of description, in the embodiments of the present disclosure, the above-mentioned devices that provide wireless communication functions for the terminal 13 are collectively referred to as access network devices. Network access device. The number of terminals 13 is usually multiple, and one or more terminals 13 can be distributed in each cell managed by an access network device 14. The terminal 13 may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of user equipment, mobile stations (MS), etc. For the convenience of description, the above-mentioned devices are collectively referred to as terminals. The access network device 14 and the core network device communicate with each other through some air technology, such as the NG interface in the 5G NR system. The access network device 14 and the terminal 13 communicate with each other through some air technology, such as the Uu interface. Terminal 13 and terminal 13 (for example, vehicle-mounted equipment and other equipment (such as other vehicle-mounted equipment, mobile phones, road side units (RSU)), etc.)) can communicate with each other through a direct communication interface (such as a PC5 interface). Accordingly, the communication link established based on the direct communication interface can be called a direct link or a side link (SideLink, SL). SL transmission is the direct communication and data transmission between terminals through a side link. Unlike the traditional cellular system in which communication data is received or sent through access network equipment, SL transmission has the characteristics of short delay and low overhead, and is suitable for communication between two terminals with close geographical locations (such as vehicle-mounted equipment and other peripheral devices with close geographical locations). SL technology can be applied to scenarios where various terminals communicate directly, such as vehicle-to-vehicle communication in V2X scenarios and vehicle-to-vehicle communication in SL positioning scenarios. In other words, the terminal in this application refers to any device that communicates using SL technology. The "5G NR system" in the embodiments of the present disclosure may also be referred to as a 5G system or an NR system, and those skilled in the art may understand its meaning. The technical solution described in the embodiments of the present disclosure can be applied to the 5G NR system, and can also be applied to the subsequent evolution system of the 5G NR system. The UE and the terminal in the embodiments of the present disclosure have the same meaning, and the two can be replaced with each other. Some relevant contents involved in the embodiments of the present application are introduced as follows. 1. SL-DRX The sidelink supports SL DRX for unicast (UC), groupcast (GC) and broadcast (BC). Similar parameters (duration, inactivity timer, retransmission timer, cycle) defined for Uu in clause 11 are defined for SL to determine the SL activation time for SL-DRX. During the SL activation time, the UE performs monitoring of the Sidelink Control Information (SCI), and the SCI (i.e., the second stage SCI on PSCCH and PSSCH) is used for data reception. The UE skips monitoring of the SCI for data reception during the SL DRX inactivity time. The SL activation time of a receiving (RX) terminal includes the time when any of its applicable SL on-duration timer(s), SL inactivity-timer(s) or SL retransmission timer(s) (for any of unicast, multicast or broadcast) is running. In addition, the time slots associated with the periodic transmission announced by the transmitting (Transport, TX) terminal and the time when the UE expects a Channel State Information (CSI) report after a CSI request (for unicast) are considered to be the SL activation time of the RX UE. The time of the unicast link establishment procedure specified in clause 5.28.2 of TS 38.321[6] and the time of PC5RRC (Radio Resource Control) reconfiguration with the initial SL-DRX configuration procedure are considered to be the SL activation time of the RX UE. For each pair of source / destination L2ID for unicast or destination L2ID for multicast / broadcast, the TX UE maintains a set of timers corresponding to the SL-DRX timers in the RX UE. When data is available for transmission to one or more RX UEs configured with SL DRX, the TX UE selects resources taking into account the timers maintained at the TX UE to determine the activation time of the RX UE. The relevant configuration parameters of SL-DRX are as follows. SL-DRX-ConfigGC-BC IE SL-DRX-ConfigGC-BC is used for NR sidelink multicast and broadcast communications, and for communication of Direct Link Establishment Request based on unicast / broadcast (TS 24.587

[0057] ) and discovery messages (TS 24.554

[0072] ) to configure DRX related parameters. SL-DRX-ConfigUC IE SL DRX ConfigUC is used to configure SL-DRX related parameters for unicast communication. SL-DRX-ConfigUC-SemiStatic IE SL DRX ConfigUC SemiStatic is used to indicate semi-static SL-DRX related parameters for unicast communication. (II) Configuration of SL-PRS SL-PRS resources refer to time-frequency resources within a time slot of a dedicated SL-PRS resource pool used for SL-PRS transmission. FFS (For Further Study): used for shared resource pools. Characteristics associated with SL-PRS resources include at least: SL-PRS resource ID; SL-PRS comb tooth offset and associated SL-PRS comb tooth dimensions; SL-PRS start symbol and SL-PRS symbol number; SL-PRS frequency domain allocation; Note: Other parameters can be included during identification; FFS: Other time domain aspects (if any). • One SL-PRS resource is uniquely identified by one SL-PRS resource ID in a time slot of a dedicated SL-PRS resource pool. (III) Configuration source The configuration source of SL-PRS is a SL-PRS transmitting terminal or a network device (such as a base station), and the SL-PRS transmitting terminal or the network device configures the SL-PRS receiving terminal. The configuration source of SL-DRX is the SL communication sending terminal (ie, the sending terminal of SL-DRX) or a network device (such as a base station). During the SL positioning process, the SL-PRS is sent by the SL-PRS sending terminal. At this time, if the SL-PRS receiving device is in the sleep stage of SL-DRX, there will be two possible results. One is that the SL-PRS receiving device does not perform the reception and measurement of SL-PRS, which is not conducive to the realization of SL positioning; the other is that the SL-PRS receiving device is forced to wake up in the sleep stage of SL-DRX to perform the reception and measurement of SL-PRS, causing the SL-PRS receiving terminal to consume more power. This application provides a SL-PRS communication method, which, when applied to SL positioning scenarios, can ensure the implementation of SL positioning while avoiding The SL-PRS receiving terminal consumes more power, please refer to the following exemplary embodiments. Terminal types mentioned in the embodiments of this application: SL communication receiving terminal: a terminal that performs SL communication with a SL communication sending terminal. The SL communication receiving terminal is used to receive SL data. In the present application, the SL communication receiving terminal uses the SL-DRX configuration to receive SL data. The SL-DRX configuration is configured by the SL communication sending terminal, or by the network device, or is factory preset. SL communication sending terminal: a terminal that performs SL communication with a SL communication receiving terminal. The SL communication sending terminal is used to send SL data. In this application, the SL communication sending terminal uses the SL-DRX configuration to send SL data. SL-PRS transmitting terminal: a terminal used to send SL-PRS configuration and SL-PRS. SL-PRS receiving terminal: a terminal used to receive SL-PRS configuration and SL-PRS. In some embodiments, the SL communication receiving terminal undertakes the SL-PRS receiving service, and the SL communication receiving terminal may also be referred to as the SL-PRS receiving terminal. In some embodiments, the SL communication receiving terminal undertakes the SL-PRS sending service, and the SL communication receiving terminal may also be referred to as the SL-PRS sending terminal. In some embodiments, the SL communication receiving terminal undertakes the SL-PRS receiving service, and the SL communication sending terminal and the SL-PRS sending terminal can be the same terminal or different terminals. FIG2 shows a flow chart of a SL-PRS communication method provided by an exemplary embodiment of the present application, the method being executed by a SL communication receiving terminal, the method comprising: Step 201: Send or receive a SL-PRS based on a SL-PRS configuration that matches a SL-DRX configuration. The SL communication receiving terminal is used to send SL-PRS: The SL communication receiving terminal sends the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration. Exemplarily, the SL communication receiving terminal acts as a SL-PRS sending terminal and sends the SL-PRS to the SL-PRS receiving terminal. Optionally, the SL-PRS configuration of the SL communication receiving terminal may be a SL-PRS configuration determined by the SL communication receiving terminal and matching its own SL-DRX configuration, or a SL-PRS configuration configured by a network device and matching the DRX configuration of the SL communication receiving terminal, or a SL-PRS configuration configured by a network device and matching the SL-DRX configuration of the SL-PRS receiving terminal. The SL communication receiving terminal is used to receive SL-PRS: The SL communication receiving terminal receives the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration. Exemplarily, the SL communication receiving terminal acts as a SL-PRS receiving terminal to receive the SL-PRS sent by the SL-PRS sending terminal. Optionally, the SL-PRS configuration of the SL communication receiving terminal may be configured for the SL communication receiving terminal by the SL-PRS sending terminal based on the SL-DRX configuration of the SL communication receiving terminal, or may be configured for the SL communication receiving terminal by a network device based on the SL-DRX configuration of the SL communication receiving terminal. Exemplarily, the SL communication receiving terminal monitors the SL-PRS under the SL-PRS configuration matching the SL-DRX configuration during the activation time of the SL-DRX configuration. Optionally, the matching relationship between the SL-PRS configuration and the SL-DRX configuration includes at least one of the following: The period of unicast / multicast / broadcast in the SL-PRS configuration is the same as that in the SL-DRX configuration. The transmission timing of the SL-PRS in the SL-PRS configuration is within the activation time indicated in the SL-DRX configuration; The time slot length occupied by the SL-PRS in the SL-PRS configuration is less than or equal to the time slot length of the activation time in the SL-DRX configuration. Optionally, transmission is performed via end-to-end sidelink unicast between the SL communication receiving terminal and the SL communication sending terminal, between the SL communication receiving terminal and the SL-PRS sending terminal, and between the SL communication receiving terminal and the SL-PRS receiving terminal. Optionally, the communication between the SL communication receiving terminal and the network device can be relayed via a relay terminal or a base station. Exemplarily, the SL communication receiving terminal sends or receives SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the SL-PRS configuration that matches the SL-DRX configuration. To summarize, the SL-PRS communication method provided in this embodiment sends or receives SL-PRS based on the SL-PRS configuration that matches the SL-DRX configuration, so that the SL-PRS receiving terminal can receive the SL-PRS within the activation time of the SL-DRX, which can avoid the terminal sending or receiving SL-PRS during the sleep time of the SL-DRX, resulting in the inability to smoothly perform the reception and measurement of the SL-PRS, or forcing the terminal to wake up during the sleep time of the SL-DRX, consuming excessive energy of the terminal, thereby saving power of the terminal. 1. The SL communication receiving terminal is used to receive the SL-PRS, and the SL-PRS is close to the SL-DRX: The configuration method of SL-PRS configuration in the SL communication receiving terminal is shown in FIG3, and includes at least one of the following steps: Step 301: The SL communication receiving terminal sends the first SL-DRX configuration to the SL-PRS configuration source device. The first SL-DRX configuration is the SL-DRX configuration of the SL communication receiving terminal. The settings are sent to the SL-PRS configuration source device. Optionally, the above-mentioned SL-PRS configuration source device includes one of the following: a network device, a SL-PRS sending terminal, and a SL communication sending terminal. The above-mentioned first SL-DRX configuration can be sent directly from the SL communication receiving terminal to the SL-PRS configuration source device. For example, the SL-PRS configuration source device includes: a SL-PRS sending terminal or a SL communication sending terminal, and the SL communication receiving terminal sends the first SL-DRX configuration to the SL-PRS sending terminal or the SL communication sending terminal. Alternatively, the SL-PRS configuration source device is a network device, and the first SL-DRX configuration is sent by the SL communication receiving terminal to the first terminal, and sent by the first terminal to the network device; wherein the first terminal includes one of the following: an SL-PRS sending terminal, a SL communication sending terminal, and a relay terminal. Step 302: The SL-PRS configuration source device receives a first SL-DRX configuration. The SL-PRS configuration source device receives the first SL-DRX configuration sent by the SL communication receiving terminal. Step 303: The SL-PRS configuration source device sends a first SL-PRS configuration matching the first SL-DRX configuration to the SL communication receiving terminal. After receiving the first SL-DRX configuration, the SL-PRS configuration source device determines a first SL-PRS configuration that matches the first SL-DRX configuration; and sends the first SL-PRS configuration to the SL communication receiving terminal. Optionally, the first SL-PRS configuration may be directly sent by the SL-PRS configuration source device to the SL communication receiving terminal. For example, the network device / SL-PRS sending terminal / SL communication sending terminal sends the first SL-PRS configuration to the SL communication receiving terminal. Alternatively, the SL-PRS configuration source device is a network device, and the above-mentioned first SL-PRS configuration can be sent by the network device to the first terminal and then sent by the first terminal to the SL communication receiving terminal. It should be noted that, when the SL-PRS sending terminal and the SL communication sending terminal are the same terminal, the SL communication sending terminal can configure the first SL-PRS configuration for the SL communication receiving terminal. Optionally, in the case where the SL-PRS configured source device includes: a SL-PRS transmitting terminal or a SL communication transmitting terminal, the SL communication receiving terminal and the SL-PRS configured source device perform transmission via end-to-end sidelink unicast. Step 304: The SL communication receiving terminal receives the first SL-PRS configuration. Optionally, the SL communication receiving terminal receives a first SL-PRS configuration sent by a SL-PRS configuration source device; or, the SL communication receiving terminal receives a first SL-PRS configuration sent by a first terminal. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL communication receiving terminal, or an updated SL-PRS configuration. In some embodiments, as shown in FIG. 4 , when the SL-PRS configuration source device is a network device and the SL communication receiving terminal is located within the service range of the network device, the SL-PRS communication method includes the following steps: Step 401: The SL communication receiving terminal sends a first SL-DRX configuration to a network device. The SL communication receiving terminal directly sends the first SL-DRX configuration to the network device to request the network device to configure the SL-PRS configuration for the SL communication receiving terminal and the SL-PRS sending terminal. Step 402: The network device receives a first SL-DRX configuration. The network device receives a first SL-DRX configuration sent by a SL communication receiving terminal. Step 403: The network device sends a first SL-PRS configuration matching the first SL-DRX configuration to the SL-PRS sending terminal and the SL communication receiving terminal. The network device receives the first SL-DRX configuration, determines a first SL-PRS configuration matching the first SL-DRX configuration, and sends the first SL-PRS configuration to the SL-PRS sending terminal and the SL communication receiving terminal respectively. Exemplarily, when the SL communication receiving terminal sends the first SL-DRX configuration to the network device, it also sends the identification (IDentity, ID) of the SL communication receiving terminal and the SL-PRS sending terminal to the network device. Subsequently, after determining the first SL-PRS configuration, the network device sends the first SL-PRS configuration to the SL communication receiving terminal and the SL-PRS sending terminal based on the IDs of the SL communication receiving terminal and the SL-PRS sending terminal. Step 404: The SL communication receiving terminal receives the first SL-PRS configuration. Step 405: The SL-PRS transmitting terminal receives a first SL-PRS configuration. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL-PRS transmitting terminal, or an updated SL-PRS configuration. Step 406: The SL-PRS sending terminal sends the SL-PRS based on the first SL-PRS configuration. Exemplarily, after receiving the first SL-PRS configuration, the SL communication receiving terminal and the SL-PRS sending terminal feed back confirmation information to the network device. After receiving the confirmation information from both, the network device sends indication information to the SL-PRS sending terminal to instruct the SL-PRS sending terminal to perform SL-PRS sending. Exemplarily, the SL-PRS transmitting terminal transmits the SL-PRS to the SL communication receiving terminal based on the first SL-PRS configuration. For example, the SL-PRS transmitting terminal transmits the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. Step 407: The SL communication receiving terminal receives the SL-PRS based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS sent by the SL-PRS sending terminal based on the first SL-PRS configuration. For example, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. In other embodiments, the network device in the embodiment shown in FIG. 4 acts as a SL-PRS configuration source device, and executes the step of configuring the SL-PRS configuration by the network device. It can also be replaced by a SL-PRS sending terminal as a SL-PRS configuration source device, and the SL-PRS sending terminal determines the SL-PRS configuration. As shown in FIG. 5, the SL-PRS communication method includes the following steps: Step 501: The SL communication receiving terminal sends a first SL-DRX configuration. The SL communication receiving terminal sends a first SL-DRX configuration to the SL-PRS sending terminal, where the first SL-DRX configuration is the SL-DRX configuration currently being used by the SL communication receiving terminal. Step 502: The SL-PRS transmitting terminal receives a first SL-DRX configuration. The SL-PRS sending terminal receives the first SL-DRX configuration sent by the SL communication receiving terminal. Step 503: The SL-PRS sending terminal sends a first SL-PRS configuration matching the first SL-DRX configuration. The SL-PRS sending terminal determines a first SL-PRS configuration that matches the first SL-DRX configuration, and sends the first SL-PRS configuration to the SL communication receiving terminal. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL-PRS transmitting terminal, or an updated SL-PRS configuration. Step 504: The SL communication receiving terminal receives the first SL-PRS configuration. The SL communication receiving terminal receives the first SL-PRS configuration configured by the SL-PRS sending terminal for the SL communication receiving terminal. Step 505: The SL-PRS sending terminal sends the SL-PRS based on the first SL-PRS configuration. Optionally, after receiving the first SL-PRS configuration, the SL communication receiving terminal also sends confirmation information to the SL-PRS sending terminal; after receiving the confirmation information, the SL-PRS sending terminal sends SL-PRS to the SL communication receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL-PRS transmitting terminal transmits the SL-PRS to the SL communication receiving terminal based on the first SL-PRS configuration. For example, the SL-PRS transmitting terminal transmits the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. Step 506: The SL communication receiving terminal receives the SL-PRS based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS sent by the SL-PRS sending terminal based on the first SL-PRS configuration. For example, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. In some other embodiments, when the network device is used as the SL-PRS configuration source device, the step in which the SL communication receiving terminal requests the network device to perform the SL-PRS configuration in the embodiment shown in FIG4 can also be replaced by the step in which the SL-PRS sending terminal requests the network device to perform the SL-PRS configuration. As shown in FIG6, the SL-PRS communication method includes the following steps: Step 601: The SL communication receiving terminal sends a first SL-DRX configuration. The SL communication receiving terminal sends the first SL-DRX configuration to the SL-PRS sending terminal. Step 602: The SL-PRS transmitting terminal receives a first SL-DRX configuration. The SL-PRS sending terminal receives the first SL-DRX configuration sent by the SL communication receiving terminal. Step 603: The SL-PRS sending terminal sends a first SL-DRX configuration. The SL-PRS sending terminal sends a first SL-DRX configuration to the network device, requesting the network device to configure a SL-PRS configuration that matches the first SL-DRX configuration. Step 604: The network device receives a first SL-DRX configuration. The network device receives a first SL-DRX configuration sent by the SL-PRS sending terminal. Step 605: The network device sends a first SL-PRS configuration matching the first SL-DRX configuration. Exemplarily, the network device determines a first SL-PRS configuration that matches the first SL-DRX configuration, and sends the first SL-PRS configuration to the SL-PRS sending terminal. Step 606: The SL-PRS transmitting terminal receives the first SL-PRS configuration. The SL-PRS sending terminal receives a first SL-PRS configuration sent by a network device. Optionally, the first SL-PRS configuration may be an initially configured SL-PRS configuration, or an updated configured SL-PRS configuration. For example, if there is no SL-PRS configuration in use in the SL-PRS sending terminal, the SL-PRS sending terminal directly configures the first SL-PRS configuration; if there is a SL-PRS configuration in use in the SL-PRS sending terminal, the SL-PRS configuration in use is updated to the first SL-PRS configuration. Step 607: The SL-PRS sending terminal sends a first SL-PRS configuration. The SL-PRS sending terminal sends a first SL-PRS configuration to the SL communication receiving terminal. Step 608: The SL communication receiving terminal receives the first SL-PRS configuration. The SL communication receiving terminal receives the first SL-PRS configuration sent by the SL-PRS sending terminal. Optionally, after receiving the first SL-PRS configuration, the SL communication receiving terminal also sends confirmation information to the SL-PRS sending terminal to notify the SL-PRS sending terminal to execute the sending of SL-PRS. Optionally, the first SL-PRS configuration may be an initially configured SL-PRS configuration, or an updated configured SL-PRS configuration. For example, if the SL-PRS configuration is not used in the SL communication receiving terminal, the SL communication receiving terminal is directly configured to use the first SL-PRS configuration; if there is a SL-PRS configuration in use in the SL communication receiving terminal, the SL-PRS configuration in use is updated to the first SL-PRS configuration. Step 609: The SL-PRS sending terminal sends the SL-PRS based on the first SL-PRS configuration. Optionally, after receiving the first SL-PRS configuration, the SL communication receiving terminal also sends confirmation information to the SL-PRS sending terminal; after receiving the confirmation information, the SL-PRS sending terminal sends SL-PRS to the SL communication receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL-PRS transmitting terminal transmits the SL-PRS to the SL communication receiving terminal based on the first SL-PRS configuration. For example, the SL-PRS transmitting terminal transmits the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. Step 610: The SL communication receiving terminal receives the SL-PRS based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS sent by the SL-PRS sending terminal based on the first SL-PRS configuration. For example, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. It should be noted that, in the above three exemplary embodiments of the SL-PRS communication method, the SL-PRS sending terminal may be the same terminal as the SL communication sending terminal, or may be a different terminal from the SL communication sending terminal. To summarize, the SL-PRS communication method provided in this embodiment is that the SL-PRS configuration source device configures a first SL-PRS configuration that matches the first SL-DRX configuration of the SL communication receiving terminal, and then the SL-PRS sending terminal sends the SL-PRS based on the first SL-PRS configuration, and then the SL communication receiving terminal receives and measures the SL-PRS based on the first SL-PRS configuration. By configuring the first SL-PRS configuration that matches the first SL-DRX configuration, the SL communication receiving terminal can receive the SL-PRS within the activation time of the SL-DRX, which can avoid the SL communication receiving terminal being in the sleep time of the SL-DRX, resulting in the inability to smoothly perform the reception and measurement of the SL-PRS, or the SL communication receiving terminal needs to be forced to wake up during the sleep time of the SL-DRX, consuming too much energy of the SL communication receiving terminal. 2. The SL communication receiving terminal is used to send SL-PRS, and SL-PRS is close to SL-DRX: The communication method of SL-PRS in the SL communication receiving terminal is shown in FIG7 , and the steps include: Step 701: The SL communication receiving terminal sends a first SL-PRS configuration matching a first SL-DRX configuration to a SL-PRS receiving terminal. The SL communication receiving terminal sends a first SL-PRS configuration to the SL-PRS receiving terminal, the first SL-PRS configuration matches the first SL-DRX configuration, and the first SL-DRX configuration is the SL-DRX configuration of the SL communication receiving terminal. Exemplarily, the first SL-DRX configuration is the SL-DRX configuration currently being used by the SL communication receiving terminal. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL communication receiving terminal, or an updated SL-PRS configuration. Step 702: The SL-PRS receiving terminal receives a first SL-PRS configuration. The SL-PRS receiving terminal receives the first SL-PRS configuration sent by the SL communication receiving terminal. Optionally, after receiving the first SL-PRS configuration, the SL-PRS receiving terminal also feeds back confirmation information to the SL communication receiving terminal, where the confirmation information is used to notify the SL communication receiving terminal to execute the sending of the SL-PRS. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL-PRS receiving terminal, or an updated SL-PRS configuration. Step 703: The SL communication receiving terminal sends the SL-PRS based on the first SL-PRS configuration. The SL communication receiving terminal sends the SL-PRS to the SL-PRS receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal sends the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. Step 704: The SL-PRS receiving terminal receives the SL-PRS based on the first SL-PRS configuration. The SL-PRS receiving terminal receives the SL-PRS sent by the SL communication receiving terminal. Exemplarily, the SL-PRS receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, etc. indicated in the first SL-PRS configuration. Optionally, the first SL-PRS configuration is determined by a SL-PRS configuration source device; the SL-PRS configuration source device includes one of the following: a network device, and a SL communication receiving terminal. Exemplarily, the SL-PRS configuration source device is a SL communication receiving terminal; the SL communication receiving terminal determines a first SL-PRS configuration matching the first SL-DRX configuration, and then executes step 701. In the case where the SL communication receiving terminal and the SL-PRS transmitting terminal are the same terminal, the SL-PRS configuration source device may be the SL communication receiving terminal. Exemplarily, the SL-PRS configuration source device is a network device; the network device determines a first SL-PRS configuration that matches the first SL-DRX configuration. There are two situations in which the network device performs SL-PRS configuration, one of which is to complete the SL-PRS configuration within the coverage of one network device; and the other is to complete the SL-PRS configuration within the coverage of two network devices. For the first scenario, as shown in FIG8 , the SL-PRS communication method includes the following steps: Step 801: The SL communication receiving terminal sends a first SL-DRX configuration. The SL communication receiving terminal sends a first SL-DRX configuration to the first network device, requesting the first network device to configure a SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal. Optionally, the SL communication receiving terminal sends a first SL-DRX configuration to the relay terminal or the base station, and the relay terminal or the base station converts the first SL-DRX configuration into The configuration relay is transmitted to the first network device. Step 802: A first network device receives a first SL-DRX configuration. The first network device receives a first SL-DRX configuration sent by a SL communication receiving terminal. Optionally, the first network device receives the first SL-DRX configuration relayed by a relay terminal or a base station. Step 803: The first network device sends a first SL-PRS configuration matching the first SL-DRX configuration. After receiving the first SL-DRX configuration, the first network device determines a first SL-PRS configuration that matches the first SL-DRX configuration, and sends the first SL-PRS configuration to the SL communication receiving terminal. Optionally, the first network device sends a first SL-PRS configuration to a relay terminal or a base station, and the relay terminal or the base station relays the first SL-PRS configuration to the SL communication receiving terminal. Step 804: The SL communication receiving terminal receives the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives a first SL-PRS configuration sent by a first network device. Optionally, the SL communication receiving terminal receives a first SL-PRS configuration transmitted by the first network device via a relay terminal or a base station relay. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL communication receiving terminal, or an updated SL-PRS configuration. Step 805: The SL communication receiving terminal sends a first SL-PRS configuration. The SL communication receiving terminal sends the first SL-PRS configuration to the SL-PRS receiving terminal. Step 806: The SL-PRS receiving terminal receives the first SL-PRS configuration. The SL-PRS receiving terminal receives the first SL-PRS configuration sent by the SL communication receiving terminal. Exemplarily, after receiving the first SL-PRS configuration, the SL-PRS receiving terminal feeds back confirmation information to the SL communication receiving terminal to notify the SL communication receiving terminal to perform SL-PRS transmission. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL-PRS receiving terminal, or an updated SL-PRS configuration. Step 807: The SL communication receiving terminal sends the SL-PRS based on the first SL-PRS configuration. The SL communication receiving terminal sends the SL-PRS to the SL-PRS receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal sends the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. Step 808: The SL-PRS receiving terminal receives the SL-PRS based on the first SL-PRS configuration. The SL-PRS receiving terminal receives the SL-PRS sent by the SL communication receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. For the second scenario, as shown in FIG9 , the SL-PRS communication method includes the following steps: Step 901: The SL communication receiving terminal sends the first SL-DRX configuration. The SL communication receiving terminal is within the coverage of the first network device and sends a first SL-DRX configuration to the first network device. Optionally, the SL communication receiving terminal sends the first SL-DRX configuration to a relay terminal or a base station, and the relay terminal or the base station relays the first SL-DRX configuration to the first network device. Step 902: A first network device receives a first SL-DRX configuration. The first network device receives a first SL-DRX configuration sent by a SL communication receiving terminal. Optionally, the first network device receives the first SL-DRX configuration relayed by a relay terminal or a base station. Step 903: When the SL communication receiving terminal leaves the coverage of the first network device and enters the coverage of the second network device, the SL communication receiving terminal sends a SL-PRS update request. Exemplarily, the SL communication receiving terminal sends a first SL-DRX configuration, requests the first network device to configure a SL-PRS configuration that matches the first SL-DRX configuration, and in the process of leaving the coverage of the first network device, does not receive the SL-PRS configuration configured by the first network device for the SL communication receiving terminal for the first SL-DRX configuration, and when entering the coverage of the second network device, sends a SL-PRS update request to the second network device. Optionally, the SL-PRS update request carries at least one of the following information: ·Identification of the SL communication receiving terminal; The cell identifier of the cell where the first network device is located, such as a cell-radio network temporary identifier (C-RNTI) and / or a cell identifier (cell ID); • Desired SL-PRS configuration. Optionally, the desired SL-PRS configuration is determined based on the first SL-DRX configuration. Alternatively, the desired SL-PRS configuration is a SL-PRS configuration determined by the SL communication receiving terminal that matches the first SL-DRX configuration. Step 904: The second network device sends a request for a first SL-DRX configuration. After receiving the SL-PRS update request sent by the SL communication receiving terminal, the second network device sends a request for a first SL-DRX configuration to the first network device. The second network device sends a cell identifier of the cell where the first network device is located to the first network device based on the cell identifier of the cell where the first network device is located carried in the SL-PRS update request. Send a request for the first SL-DRX configuration to obtain the first SL-DRX configuration. Optionally, the request for the first SL-DRX configuration includes a UE context retrieval request (UE CONTEXT Retrieve Request); the second network device sends the UE context retrieval request to the first network device. Step 905: The first network device receives a request for a first SL-DRX configuration. The first network device receives a request for a first SL-DRX configuration sent by the second network device. Optionally, the first network device receives a UE context retrieval request sent by the second network device. Step 906: The first network device returns to the first SL-DRX configuration. The first network device sends, to the second network device, a first SL-DRX configuration requested by the second network device. Optionally, the request for the first SL-DRX configuration carries an identifier of the SL communication receiving terminal. Based on the identifier of the SL communication receiving terminal, the first network device obtains the first SL-DRX configuration sent by the SL communication receiving terminal to the first network device, and sends the first SL-DRX configuration to the second network device. Optionally, in response to the UE context retrieval request, the first network device sends a UE context response (UE CONTEXT Response) to the second network device, where the UE context response includes a first SL-DRX configuration. Step 907: The second network device receives the returned first SL-DRX configuration. The second network device receives the first SL-DRX configuration returned by the first network device. Optionally, the second network device receives a UE context response returned by the first network device. Step 908: The second network device sends a first SL-PRS configuration matching the first SL-DRX configuration. The second network device determines a first SL-PRS configuration that matches the first SL-DRX configuration, and sends the first SL-PRS configuration to the SL communication receiving terminal. Optionally, the second network device determines that the expected SL-PRS configuration matches the first SL-DRX configuration, and determines the expected SL-PRS configuration as the first SL-PRS configuration. Step 909: The SL communication receiving terminal receives the first SL-PRS configuration. The SL communication receiving terminal receives the first SL-PRS configuration configured by the second network device. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL communication receiving terminal, or an updated SL-PRS configuration. Step 910: The SL communication receiving terminal sends a first SL-PRS configuration. The SL communication receiving terminal sends the first SL-PRS configuration to the SL-PRS receiving terminal. Step 911: The SL-PRS receiving terminal receives a first SL-PRS configuration. The SL-PRS receiving terminal receives the first SL-PRS configuration sent by the SL communication receiving terminal. Optionally, the first SL-PRS configuration may be an initial SL-PRS configuration in the SL-PRS receiving terminal, or an updated SL-PRS configuration. Step 912: The SL communication receiving terminal sends the SL-PRS based on the first SL-PRS configuration. The SL communication receiving terminal sends the SL-PRS to the SL-PRS receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal sends the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. Step 913: The SL-PRS receiving terminal receives the SL-PRS based on the first SL-PRS configuration. The SL-PRS receiving terminal receives the SL-PRS sent by the SL communication receiving terminal based on the first SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the first SL-PRS configuration. To summarize, the SL-PRS communication method provided in this embodiment is that the SL communication receiving terminal or the network device configures the first SL-PRS configuration that matches the first SL-DRX configuration of the SL communication receiving terminal, and then the SL communication receiving terminal sends the SL-PRS based on the first SL-PRS configuration, and then the SL-PRS receiving terminal receives and measures the SL-PRS based on the first SL-PRS configuration, so that the SL-PRS receiving terminal can receive the SL-PRS within the activation time of the SL-DRX, which can avoid the SL-PRS receiving terminal being in the sleep time of the SL-DRX, resulting in the inability to smoothly perform the reception and measurement of the SL-PRS, or the SL-PRS receiving terminal needs to be forced to wake up during the sleep time of the SL-DRX, consuming too much energy of the SL-PRS receiving terminal. 3. SL-DRX moves closer to SL-PRS: In the embodiments shown in FIGS. 3 to 9 above, a matching SL-PRS configuration is determined based on a SL-DRX configuration. In another case, a matching SL-DRX configuration is determined based on a SL-PRS configuration. As shown in FIG. 10 , the SL-DRX configuration method includes the following steps: Step 1001: The SL communication receiving terminal sends the desired SL-DRX configuration. The SL communication receiving terminal sends an expected SL-DRX configuration to the SL-DRX configuration source device; wherein the expected SL-DRX configuration is determined based on a second SL-PRS configuration. Optionally, the second SL-PRS configuration is the SL-PRS configuration currently being used by the SL-PRS sending terminal or the SL communication receiving terminal. Optionally, the SL communication receiving terminal sends auxiliary information to the SL-DRX configuration source device, and the auxiliary information is used to notify the SL-DRX configuration source device of the desired SL-DRX configuration. Optionally, the auxiliary information is carried in a terminal auxiliary information sidelink message (UEAssistanceInformationSidelink msg). For SL unicast, if both the RX UE and its peer TX UE are capable of SL-DRX for the direction of sidelink communication, when no When SL-DRX assistance information is sent or when the previously sent SL-DRX assistance information has changed, the RX UE sending the SL-DRX assistance information may send UEAssistanceInformationSidelink as SL-DRX assistance information to its peer UE. For SL unicast, when the UE is in RRC_CONNECTED and is performing SL operation in resource allocation mode 1, it can report SL-DRX assistance information to the network, which is in the UEAssistanceInformationSidelink received from its peer UE. When the UE is in RRC_CONNECTED and is performing sidelink operation in resource allocation mode 2, or is in RRC_IDLE or RRC_INACTIVE or is out of coverage, regardless of whether the UE has obtained the sidelink DRX assistance information from the UEAssistanceInformationSidelink sent by its peer UE, it can determine the SL-DRX configuration SL-DRX ConfigUC for its peer UE. Optionally, the desired SL-DRX configuration is sent by the SL communication receiving terminal to the second terminal, and relayed to the SL-DRX configuration source device through the second terminal; wherein the second terminal includes at least one of the following: a relay terminal; a base station. That is, when the distance between the SL communication receiving terminal and the SL-DRX configuration source device is far, the SL communication receiving terminal can relay the desired SL-DRX configuration through the relay terminal or base station, thereby relaying the desired SL-DRX configuration to the SL-DRX configuration source device. Step 1002: The SL-DRX configuration source device receives a desired SL-DRX configuration. The SL-DRX configuration source device receives the desired SL-DRX configuration sent by the SL communication receiving terminal. Step 1003: The SL-DRX configuration source device sends a second SL-DRX configuration matching the second SL-PRS configuration. The SL-DRX configuration source device determines the desired SL-DRX configuration as the second SL-DRX configuration, and sends the second SL-DRX configuration matching the second SL-PRS configuration to the SL communication receiving terminal. Optionally, the second SL-DRX configuration is sent by the SL-DRX configuration source device to the second terminal, and is relayed to the SL communication receiving terminal through the second terminal; wherein the second terminal includes at least one of the following: a relay terminal; a base station. That is, when the distance between the SL communication receiving terminal and the SL-DRX configuration source device is far, the SL-DRX configuration source device can relay the second SL-DRX configuration through the relay terminal or base station, thereby relaying the second SL-DRX configuration to the SL communication receiving terminal. Step 1004: The SL communication receiving terminal receives the second SL-DRX configuration. The SL communication receiving terminal receives the second SL-DRX configuration sent by the SL-DRX configuration source device. Step 1005: The SL communication receiving terminal updates its own SL-DRX configuration to the second SL-DRX configuration. Optionally, the SL-DRX configuration source device includes at least one of the following: a network device, a SL communication sending terminal, and a SL-PRS sending device. In some optional embodiments, during the execution of SL-DRX configuration, the SL communication receiving terminal also sends a mapping list of QoS and DRX used by the SL communication receiving terminal and a QoS (Quality of Service, service instruction) / DRB (Data Resource Bearer, data radio bearer) identifier currently being used by the SL communication receiving terminal to the SL-PRS configuration source device, so that the SL-PRS configuration source device updates the QoS and DRX mapping list. For example, the SL communication receiving terminal sends its own SL-PRS configuration information to a network device (such as a base station) via Uu direct transmission or relay, and carries the QoS / DRB identifier currently being used by the SL communication receiving terminal, so that the network device changes the QoS and DRX mapping list. Optionally, a mapping list of QoS and DRX may be included in sl-DefaultDRX-GC-BC-r17. For SL broadcast, the SL communication receiving terminal can send sl-DefaultDRX-GC-BC-r17 containing the mapping list of QoS and DRX to the SL-PRS configuration source device. In some embodiments, the SL-DRX configuration source device includes a network device or a SL communication sending terminal, and the SL communication sending terminal and the SL-PRS sending device are different terminals, as shown in FIG11. In this case, the SL-PRS communication method includes the following steps: Step 1101, the SL communication receiving terminal sends the desired SL-DRX configuration. The SL communication receiving terminal sends the expected SL-DRX configuration to the SL communication sending terminal / network device; wherein the expected SL-DRX configuration is determined based on the second SL-PRS configuration. Step 1102, the SL communication sending terminal / network device receives the desired SL-DRX configuration. The SL communication sending terminal / network device receives the desired SL-DRX configuration sent by the SL communication receiving terminal. Step 1103: The SL communication sending terminal / network device sends a second SL-DRX configuration that matches the second SL-PRS configuration. The SL communication sending terminal / network device determines the desired SL-DRX configuration as the second SL-DRX configuration, and sends the second SL-DRX configuration matching the second SL-PRS configuration to the SL communication receiving terminal. Step 1104: The SL communication receiving terminal receives the second SL-DRX configuration. The SL communication receiving terminal receives the second SL-DRX configuration sent by the SL communication sending terminal / network device. Step 1105: The SL communication receiving terminal updates its own SL-DRX configuration to the second SL-DRX configuration. When the SL communication receiving terminal is used for receiving SL-PRS and the second SL-PRS configuration is the SL-PRS configuration of the SL-PRS sending terminal, execute steps 1106 to 1107. Step 1106: The SL-PRS sending terminal sends the SL-PRS based on the second SL-PRS configuration. The SL-PRS transmitting terminal transmits the SL-PRS to the SL communication receiving terminal based on the second SL-PRS configuration. Exemplarily, the SL-PRS transmitting terminal transmits the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. Step 1107: The SL communication receiving terminal receives the SL-PRS based on the second SL-PRS configuration. The SL communication receiving terminal receives the SL-PRS sent by the SL-PRS sending terminal based on the second SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. When the SL communication receiving terminal is used for sending SL-PRS and the second SL-PRS configuration is the SL-PRS configuration of the SL communication receiving terminal, as shown in FIG. 12 , steps 1108 to 1109 are executed. Step 1108: The SL communication receiving terminal sends the SL-PRS based on the second SL-PRS configuration. The SL communication receiving terminal sends the SL-PRS to the SL-PRS receiving terminal based on the second SL-PRS configuration. Exemplarily, the SL communication receiving terminal sends the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. Step 1109: The SL-PRS receiving terminal receives the SL-PRS based on the second SL-PRS configuration. The SL-PRS receiving terminal receives the SL-PRS sent by the SL communication receiving terminal based on the second SL-PRS configuration. Exemplarily, the SL-PRS receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. To summarize, the SL-PRS communication method provided in this embodiment is that the SL-DRX configuration source device configures the SL-DRX configuration that matches the SL-PRS configuration of the SL-PRS transmitting terminal, and then performs SL-PRS measurement based on the SL-PRS configuration of the SL-PRS transmitting terminal, so that the SL-PRS receiving terminal can receive the SL-PRS within the activation time of the SL-DRX, which can avoid the SL-PRS receiving terminal being in the sleep time of the SL-DRX, resulting in the inability to smoothly perform SL-PRS reception and measurement, or the SL-PRS receiving terminal needs to be forced to wake up during the sleep time of the SL-DRX, consuming too much energy of the SL-PRS receiving terminal. In some embodiments, the SL-DRX configuration source device includes a SL communication sending terminal, and the SL communication sending terminal and the SL-PRS sending device are the same terminal, as shown in FIG13. In this case, the SL-PRS communication method includes the following steps: Step 1201, the SL communication receiving terminal sends the desired SL-DRX configuration. The SL communication receiving terminal sends the expected SL-DRX configuration to the SL communication sending terminal; wherein the expected SL-DRX configuration is determined based on the second SL-PRS configuration. Step 1202: The SL communication sending terminal receives the desired SL-DRX configuration. The SL communication sending terminal receives the desired SL-DRX configuration sent by the SL communication receiving terminal. Step 1203: The SL communication sending terminal sends a second SL-DRX configuration matching the second SL-PRS configuration. The SL communication sending terminal determines the desired SL-DRX configuration as the second SL-DRX configuration, and sends the second SL-DRX configuration matching the second SL-PRS configuration to the SL communication receiving terminal. Step 1204: The SL communication receiving terminal receives the second SL-DRX configuration. The SL communication receiving terminal receives the second SL-DRX configuration sent by the SL communication sending terminal. Step 1205: The SL communication receiving terminal updates its own SL-DRX configuration to the second SL-DRX configuration. When the SL communication receiving terminal is used for receiving SL-PRS and the second SL-PRS configuration is the SL-PRS configuration of the SL communication sending terminal, execute steps 1206 to 1207. Step 1206: The SL communication sending terminal sends the SL-PRS based on the second SL-PRS configuration. The SL communication transmitting terminal transmits the SL-PRS to the SL communication receiving terminal based on the second SL-PRS configuration. Exemplarily, the SL communication transmitting terminal transmits the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. Step 1207: The SL communication receiving terminal receives the SL-PRS based on the second SL-PRS configuration. The SL communication receiving terminal receives the SL-PRS sent by the SL communication transmitting terminal based on the second SL-PRS configuration. Exemplarily, the SL communication receiving terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. When the SL communication receiving terminal is used for sending SL-PRS and the second SL-PRS configuration is the SL-PRS configuration of the SL communication receiving terminal, as shown in FIG. 14 , steps 1208 to 1209 are executed. Step 1208: The SL communication receiving terminal sends the SL-PRS based on the second SL-PRS configuration. The SL communication receiving terminal sends the SL-PRS to the SL communication sending terminal based on the second SL-PRS configuration. Exemplarily, the SL communication receiving terminal sends the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. Step 1209: The SL communication sending terminal receives the SL-PRS based on the second SL-PRS configuration. The SL communication transmitting terminal receives the SL-PRS sent by the SL communication receiving terminal based on the second SL-PRS configuration. Exemplarily, the SL communication transmitting terminal receives the SL-PRS based on the time-frequency resources, coding method, period, time slot length, etc. indicated in the second SL-PRS configuration. To summarize, the SL-PRS communication method provided in this embodiment is that the SL communication transmitting terminal configures the second DRX configuration matching the second PRS configuration for the SL communication receiving terminal, and then performs SL-PRS measurement based on the second PRS configuration and the second DRX configuration matching the second PRS configuration, so that the SL-PRS receiving terminal can receive the SL-PRS within the activation time of the SL-DRX, which can avoid the SL-PRS receiving terminal being in the sleep time of the SL-DRX, resulting in the inability to smoothly perform the reception and measurement of the SL-PRS, or the SL-PRS receiving terminal needs to be forced to wake up during the sleep time of the SL-DRX, consuming too much energy of the SL-PRS receiving terminal. The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application. FIG15 shows a block diagram of a communication device of an SL-PRS provided by an exemplary embodiment of the present application, the device comprising: The communication module 1301 is used to send or receive the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration. In some embodiments, the SL communication receiving terminal is used for receiving the SL-PRS; The communication module 1301 is configured to send a first SL-DRX configuration to a SL-PRS configuration source device, where the first SL-DRX configuration is the SL-DRX configuration of the SL communication receiving terminal; The communication module 1301 is configured to receive a first SL-PRS configuration matching the first SL-DRX configuration; The communication module 1301 is used to receive the SL-PRS based on the first SL-PRS configuration. In some embodiments, the SL-PRS configuration source device includes one of the following: a network device, a SL-PRS sending terminal, and a SL communication sending terminal. In some embodiments, the SL-PRS configuration source device is the network device, and the first SL-DRX configuration is sent by the SL communication receiving terminal to the first terminal, and sent by the first terminal to the network device; Among them, the first terminal includes one of the following: a SL-PRS sending terminal, and a SL communication sending terminal. In some embodiments, the SL-PRS configuration source device includes: a SL-PRS transmitting terminal or a SL communication transmitting terminal; The SL communication receiving terminal and the SL-PRS configuration source device perform transmission via end-to-end sidelink unicast. In some embodiments, the SL communication receiving terminal is used for sending SL-PRS; The communication module 1301 is configured to send a first SL-PRS configuration matching a first SL-DRX configuration to a SL-PRS receiving terminal, where the first SL-DRX configuration is the SL-DRX configuration of the SL communication receiving terminal; The communication module 1301 is used to send the SL-PRS based on the first SL-PRS configuration. In some embodiments, the first SL-PRS configuration is determined by a SL-PRS configuration source device; The SL-PRS configuration source device includes one of the following: a network device, and a SL communication receiving terminal. In some embodiments, the communication module 1301 is configured to send the first SL-DRX configuration to a first network device; The communication module 1301 is configured to send a SL-PRS update request to a second network device when the SL communication receiving terminal leaves the coverage of the first network device and enters the coverage of the second network device, wherein the SL-PRS update request is used to request the second network device to update the SL-PRS configuration for the SL communication receiving terminal; the second network device is configured to obtain the first SL-DRX configuration from the first network device in response to the SL-PRS update request, and configure the first SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal; The communication module 1301 is used to receive the first SL-PRS configuration sent by the second network device. In some embodiments, the SL-PRS update request carries at least one of the following information: The identification of the SL communication receiving terminal; A cell identifier of a cell where the first network device is located; Desired SL-PRS configuration. In some embodiments, the communication module 1301 is configured to send the first SL-DRX configuration to a first network device; The communication module 1301 is used to receive the first SL-PRS configuration sent by the first network device, where the first SL-PRS configuration is determined by the first network device based on the first SL-DRX configuration. In some embodiments, the communication module 1301 is configured to send a desired SL-DRX configuration to a SL-DRX configuration source device, where the desired SL-DRX configuration is determined based on a second SL-PRS configuration; The communication module 1301 is configured to receive a second SL-DRX configuration sent by the SL-DRX configuration source device; The communication module 1301 is used to send or receive the SL-PRS based on the second SL-PRS configuration. In some embodiments, the communication module 1301 is used to send auxiliary information to the SL-DRX configuration source device, where the auxiliary information is used to notify the SL-DRX configuration source device of the desired SL-DRX configuration. In some embodiments, the assistance information is carried in a terminal assistance information sidelink message. In some embodiments, the communication module 1301 is used to send a mapping list of QoS and DRX used by the SL communication receiving terminal and a QoS / DRB identifier currently being used by the SL communication receiving terminal to the SL-PRS configuration source device. In some embodiments, the desired SL-DRX configuration is sent by the SL communication receiving terminal to the second terminal, and is relayed to the SL-DRX configuration source device by the second terminal; The second terminal includes at least one of the following: a relay terminal; a base station. In some embodiments, the SL-DRX configuration source device includes at least one of the following: a network device, a SL communication sending terminal, and a SL-PRS sending device. In some embodiments, the matching relationship between the SL-PRS configuration and the SL-DRX configuration includes at least one of the following: The period of unicast / multicast / broadcast in the SL-PRS configuration is the same as the period in the SL-DRX configuration. The sending timing of the SL-PRS in the SL-PRS configuration is within the activation time indicated in the SL-DRX configuration; The time slot length occupied by the SL-PRS in the SL-PRS configuration is less than or equal to the time slot length of the activation time in the SL-DRX configuration. FIG16 shows a block diagram of a communication device of an SL-PRS provided by an exemplary embodiment of the present application, the device comprising: The receiving module 1401 is configured to receive a first SL-DRX configuration, where the first SL-DRX configuration is a SL-DRX configuration of a SL communication receiving terminal; The sending module 1402 is used to configure a first SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal. In some embodiments, the SL-PRS configuration source device includes one of the following: a network device, a SL-PRS sending terminal, and a SL communication sending terminal. In some embodiments, the SL-PRS configuration source device is the SL-PRS sending terminal; The sending module 1402 is used to send the SL-PRS based on the first SL-PRS configuration. In some embodiments, the SL communication receiving terminal and the SL-PRS configuration source device perform transmission via end-to-end sidelink unicast. In some embodiments, the SL-PRS configuration source device is the network device; The sending module 1402 is used to configure the first SL-PRS configuration matching the first SL-DRX configuration for the SL-PRS sending terminal. In some embodiments, the SL-PRS configuration source device is the network device; The receiving module 1401 is configured to receive the first SL-DRX configuration sent by the SL-PRS sending terminal, where the first SL-DRX configuration is sent by the SL communication receiving terminal to the SL-PRS sending terminal; The sending module 1402 is used to send the first SL-PRS configuration to the SL-PRS sending terminal, so that the SL-PRS sending terminal sends the first SL-PRS configuration to the SL communication receiving terminal. In some embodiments, the receiving module 1401 is used to receive a mapping list of QoS and DRX used by the SL communication receiving terminal, and a QoS / DRB identifier currently being used by the SL communication receiving terminal, sent by the SL communication receiving terminal. FIG17 shows a block diagram of a communication device of an SL-PRS provided by an exemplary embodiment of the present application, the device comprising: The receiving module 1501 is configured to receive an expected SL-DRX configuration sent by a SL communication receiving terminal, where the expected SL-DRX configuration is determined based on a second SL-PRS configuration; The sending module 1502 is used to send a second SL-DRX configuration matching the second SL-PRS configuration to the SL communication receiving terminal. In some embodiments, the receiving module 1501 is used to receive auxiliary information sent by the SL communication receiving terminal, and the auxiliary information is used to notify the SL-DRX configuration source device of the desired SL-DRX configuration. In some embodiments, the assistance information is carried in a terminal assistance information sidelink message. In some embodiments, the desired SL-DRX configuration is sent by the SL communication receiving terminal to the second terminal, and is relayed to the SL-DRX configuration source device by the second terminal; The second terminal includes at least one of the following: a relay terminal; a base station. One point that needs to be explained is that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above. Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here. FIG18 shows a schematic diagram of the structure of a communication device provided by an embodiment of the present application. The communication device may include: a processor 1601 , a receiver 1602 , a transmitter 1603 , a memory 1604 and a bus 1605 . The processor 1601 includes one or more processing cores. The processor 1601 executes various functional applications and information processing by running software programs and modules. The receiver 1602 and the transmitter 1603 may be implemented as a transceiver, which may be a communication chip. The memory 1604 is connected to the processor 1601 via a bus 1605; illustratively, the processor 1601 can be implemented as a first IC chip, and the processor 1601 and the memory 1604 can be jointly implemented as a second IC chip; the first chip or the second chip can be an application specific integrated circuit (ASIC) chip. The memory 1604 may be used to store at least one computer program, and the processor 1601 may be used to execute the at least one computer program to implement each step performed by the access point multi-link device in the above method embodiment. In addition, the memory 1604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the volatile or non-volatile storage device includes but is not limited to: random access memory (Random-Access Memory, RAM), read-only memory (Read-Only Memory, ROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), flash memory or other solid-state storage technology, compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), high-density digital video disk (Digital Video Disc) Disc, DVD) or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a processor of a multi-link device to implement the above-mentioned SL-PRS communication method. Optionally, the computer readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid state drive (SSD) or an optical disk, etc. Among them, the random access memory may include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip runs on a multi-link device, it is used to implement the above-mentioned SL-PRS communication method. An embodiment of the present application also provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, wherein the computer instructions are stored in a computer-readable storage medium, and a processor of a multi-link device reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned SL-PRS communication method. It should be understood that the "indication" mentioned in the embodiments of the present application can be a direct indication, an indirect indication, or an indication of an association relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association relationship between A and B. In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between two items, or an association relationship between the two items, or a relationship between indication and being indicated, configuration and being configured, and the like. The term "multiple" as used herein refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship. In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to that shown in the figure. The embodiments of the present application are not limited to this. Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access. The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A communication method of SL-PRS, characterized in that: The method is performed by a sidelink SL communication receiving terminal, and the method includes: Send or receive SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration.

2. The method according to claim 1, characterized in that The SL communication receiving terminal is used for receiving the SL-PRS; The method further comprises: Sending a first SL-DRX configuration to a SL-PRS configuration source device, wherein the first SL-DRX configuration is a SL-DRX configuration of the SL communication receiving terminal; receiving a first SL-PRS configuration matching the first SL-DRX configuration; The receiving the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration includes: Based on the first SL-PRS configuration, the SL-PRS is received.

3. The method according to claim 2, characterized in that The SL-PRS configuration source device includes one of the following: a network device, a SL-PRS sending terminal, and a SL communication sending terminal.

4. The method according to claim 3, characterized in that The SL-PRS configuration source device includes: a SL-PRS sending terminal or a SL communication sending terminal; The SL communication receiving terminal and the SL-PRS configuration source device perform transmission via end-to-end sidelink unicast.

5. The method according to claim 1, characterized in that The SL communication receiving terminal is used for sending SL-PRS; The method further comprises: Sending a first SL-PRS configuration matching a first SL-DRX configuration to a SL-PRS receiving terminal, wherein the first SL-DRX configuration is the SL-DRX configuration of the SL communication receiving terminal; The sending of the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration includes: Based on the first SL-PRS configuration, the SL-PRS is sent.

6. The method according to claim 5, characterized in that The first SL-PRS configuration is determined by a SL-PRS configuration source device; The SL-PRS configuration source device includes one of the following: a network device, and a SL communication receiving terminal.

7. The method according to claim 6, characterized in that The method further comprises: Sending the first SL-DRX configuration to a first network device; When the SL communication receiving terminal leaves the coverage of the first network device and enters the coverage of the second network device, a SL-PRS update request is sent to the second network device, wherein the SL-PRS update request is used to request the second network device to update the SL-PRS configuration for the SL communication receiving terminal; the second network device is used to obtain the first SL-DRX configuration from the first network device in response to the SL-PRS update request, and configure the first SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal; Receive the first SL-PRS configuration sent by the second network device.

8. The method according to claim 7, characterized in that The SL-PRS update request carries at least one of the following information: The identification of the SL communication receiving terminal; A cell identifier of a cell where the first network device is located; Desired SL-PRS configuration.

9. The method according to claim 6, characterized in that The method further comprises: Sending the first SL-DRX configuration to a first network device; Receive the first SL-PRS configuration sent by the first network device, where the first SL-PRS configuration is determined by the first network device based on the first SL-DRX configuration.

10. The method according to claim 1, characterized in that The method further comprises: Sending an expected SL-DRX configuration to the SL-DRX configuration source device, wherein the expected SL-DRX configuration is determined based on the second SL-PRS configuration; Receiving a second SL-DRX configuration sent by the SL-DRX configuration source device; The sending or receiving the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration includes: Based on the second SL-PRS configuration, the SL-PRS is sent or received.

11. The method according to claim 10, characterized in that The sending the desired SL-DRX configuration to the SL-DRX configuration source device includes: Auxiliary information is sent to the SL-DRX configuration source device, where the auxiliary information is used to notify the SL-DRX configuration source device of the desired SL-DRX configuration.

12. The method according to claim 11, characterized in that The auxiliary information is carried in a terminal auxiliary information sidelink message.

13. The method according to claim 10, characterized in that The method further comprises: Send a mapping list of QoS and DRX used by the SL communication receiving terminal and a QoS / DRB identifier currently being used by the SL communication receiving terminal to the SL-PRS configuration source device.

14. The method according to claim 10, characterized in that The SL-DRX configuration source device includes at least one of the following: a network device, a SL communication sending terminal, and a SL-PRS sending device.

15. The method according to any one of claims 1 to 14, characterized in that: The matching relationship between the SL-PRS configuration and the SL-DRX configuration includes at least one of the following: The period of unicast / multicast / broadcast in the SL-PRS configuration is the same as the period in the SL-DRX configuration; The sending timing of the SL-PRS in the SL-PRS configuration is within the activation time indicated in the SL-DRX configuration; The time slot length occupied by the SL-PRS in the SL-PRS configuration is less than or equal to the time slot length of the activation time in the SL-DRX configuration.

16. A communication method of SL-PRS, characterized in that: The method is performed by an SL-PRS configuration source device, and the method includes: receiving a first SL-DRX configuration, where the first SL-DRX configuration is a SL-DRX configuration of a SL communication receiving terminal; A first SL-PRS configuration matching the first SL-DRX configuration is configured for the SL communication receiving terminal.

17. The method according to claim 16, characterized in that The SL-PRS configuration source device includes one of the following: a network device, a SL-PRS sending terminal, and a SL communication sending terminal.

18. The method according to claim 17, characterized in that The SL-PRS configuration source device is the SL-PRS sending terminal; The method further comprises: Based on the first SL-PRS configuration, send SL-PRS.

19. The method according to claim 18, characterized in that The SL communication receiving terminal and the SL-PRS configuration source device perform transmission via end-to-end sidelink unicast.

20. The method according to claim 17, characterized in that The SL-PRS configuration source device is the network device; The method further comprises: The first SL-PRS configuration matching the first SL-DRX configuration is configured for the SL-PRS sending terminal.

21. The method according to claim 17, characterized in that The SL-PRS configuration source device is the network device; The receiving a first SL-DRX configuration includes: receiving the first SL-DRX configuration sent by the SL-PRS sending terminal, where the first SL-DRX configuration is sent by the SL communication receiving terminal to the SL-PRS sending terminal; The configuring the SL communication receiving terminal with a first SL-PRS configuration matching the first SL-DRX configuration includes: The first SL-PRS configuration is sent to the SL-PRS sending terminal, so that the first SL-PRS configuration is sent by the SL-PRS sending terminal to the SL communication receiving terminal.

22. The method according to claim 16, characterized in that The method further comprises: Receive a mapping list of QoS and DRX used by the SL communication receiving terminal, and a QoS / DRB identifier currently being used by the SL communication receiving terminal, sent by the SL communication receiving terminal.

23. A communication method of SL-PRS, characterized in that: The method is performed by a SL-DRX configuration source device, and the method includes: Receiving an expected SL-DRX configuration sent by a SL communication receiving terminal, wherein the expected SL-DRX configuration is determined based on a second SL-PRS configuration; A second SL-DRX configuration matching the second SL-PRS configuration is sent to the SL communication receiving terminal.

24. The method according to claim 23, characterized in that The receiving the desired SL-DRX configuration sent by the SL communication receiving terminal includes: Receive auxiliary information sent by the SL communication receiving terminal, where the auxiliary information is used to notify the SL-DRX configuration source device of the desired SL-DRX configuration.

25. The method according to claim 24, characterized in that The auxiliary information is carried in a terminal auxiliary information sidelink message.

26. A SL-PRS communication device, characterized in that: The device comprises: The communication module is used to send or receive the SL-PRS based on the SL-PRS configuration matching the SL-DRX configuration.

27. A SL-PRS communication device, characterized in that: The device comprises: A receiving module, configured to receive a first SL-DRX configuration, where the first SL-DRX configuration is a SL-DRX configuration of a SL communication receiving terminal; A sending module is used to configure a first SL-PRS configuration matching the first SL-DRX configuration for the SL communication receiving terminal.

28. A SL-PRS communication device, characterized in that: The device comprises: A receiving module, configured to receive an expected SL-DRX configuration sent by a SL communication receiving terminal, wherein the expected SL-DRX configuration is determined based on a second SL-PRS configuration; A sending module is used to send a second SL-DRX configuration matching the second SL-PRS configuration to a SL communication receiving terminal.

29. A communication device, characterized in that: The communication device includes a processor and a memory, wherein the memory contains at least one program; the processor is used to execute the at least one program in the memory to implement the SL-PRS communication method described in any one of claims 1 to 15, or the SL-PRS communication method described in any one of claims 16 to 22, or the SL-PRS communication method described in any one of claims 23 to 25.

30. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which is used to be executed by a processor to implement the SL-PRS communication method described in any one of claims 1 to 15, or the SL-PRS communication method described in any one of claims 16 to 22, or the SL-PRS communication method described in any one of claims 23 to 25.

31. A chip, characterized in that: The chip includes a programmable logic circuit and / or program instructions, which, when running, is used to implement the SL-PRS communication method described in any one of claims 1 to 15, or the SL-PRS communication method described in any one of claims 16 to 22, or the SL-PRS communication method described in any one of claims 23 to 25.

32. A computer program product or a computer program, characterized in that The computer program product or computer program includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the SL-PRS communication method described in any one of claims 1 to 15, or the SL-PRS communication method described in any one of claims 16 to 22, or the SL-PRS communication method described in any one of claims 23 to 25.

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