Method for transmitting sidelink-positioning reference signal, and communication apparatus

Abstract

The present application provides a method for transmitting a sidelink-positioning reference signal (SL-PRS), and a communication apparatus. In the method, a first terminal device can select a target resource pool from a plurality of resource pools, select a first resource from the target resource pool, and transmit a first SL-PRS to a second terminal device on the first resource, the plurality of resource pools comprising a resource pool of first type and a resource pool of second type; in this way, when the first terminal device transmits the first SL-PRS, the first terminal device can select a target resource pool from the resource pool of first type and the resource pool of second type, thereby providing a method for selecting a target resource pool and a method whereby a first terminal device can transmit a first SL-PRS on a first resource selected from a target resource pool, and thereby providing a method for transmitting an SL-PRS.

Description

Method and communication device for transmitting sidelink positioning reference signal

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on August 10, 2023, with application number 202311008348.0 and application name “Method and communication device for transmitting sidelink positioning reference signal”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and more particularly to a method and a communication device for transmitting a sidelink positioning reference signal in the field of communications. Background Art

[0003] In existing cellular communication systems, network devices and terminal devices can be positioned based on positioning reference signals. With the widespread application of device-to-device (D2D) scenarios, positioning based on positioning reference signals is also needed in D2D scenarios. However, how to transmit positioning reference signals in D2D scenarios is an urgent problem to be solved.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a method and a communication device for transmitting a sidelink positioning reference signal, which can solve the problem of transmitting a first sidelink positioning reference signal SL-PRS in a D2D scenario.

[0006] In a first aspect, a method for transmitting a sidelink positioning reference signal is provided, which is applied to a first terminal device and includes: selecting a target resource pool from a plurality of resource pools, the plurality of resource pools including a first type of resource pool and a second type of resource pool; selecting a first resource in the target resource pool; and transmitting a first SL-PRS to a second terminal device on the first resource.

[0007] In the above scheme, the first terminal device can select a target resource pool from multiple resource pools, select a first resource in the target resource pool, and transmit a first SL-PRS to the second terminal device on the first resource. The multiple resource pools include a first type of resource pool and a second type of resource pool. In this way, when the first terminal device transmits the first SL-PRS, it can select a target resource pool from the first type of resource pool and the second type of resource pool, thereby providing a method for selecting a target resource pool, and the first terminal device can transmit the first SL-PRS on the first resource selected in the target resource pool, thereby providing a method for transmitting SL-PRS.

[0008] Optionally, the first type is different from the second type.

[0009] Optionally, the first type may be a shared type, and the second type may be a dedicated type for SL-PRS. The resource pool of the shared type may be a resource pool shared by data and SL-PRS, and the resource pool of the SL-PRS dedicated type may be a resource pool dedicated to SL-PRS and a resource pool that cannot be used by data.

[0010] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is used only to transmit SL-PRS. Optionally, the first type of resource pool may include one or more resource pools, and the second type of resource pool may also include one or more resource pools. That is, one or more resource pools in the first type of resource pool can be used to transmit both data and SL-PRS, while one or more resource pools in the second type of resource pool can be used only to transmit SL-PRS and cannot be used to transmit data.

[0011] In a possible implementation, selecting a target resource pool from a plurality of resource pools includes: selecting a resource pool having a lowest channel busy ratio (CBR) from the plurality of resource pools as the target resource pool.

[0012] In the above scheme, the first terminal device can select the resource pool with the lowest CBR as the target resource pool. In this way, the first resource selected in the target resource pool can meet the transmission of the first SL-PRS, avoiding the resource selected in the resource pool with high CBR which will cause poor performance in transmitting the first SL-PRS.

[0013] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool in other ways, and then select the resource pool with the lowest CBR from the selected first type of resource pool or second type of resource pool as the target resource pool.

[0014] In a possible implementation, the priority of the first SL-PRS is a first priority, and selecting a target resource pool from multiple resource pools includes: selecting a resource pool whose SL-PRS priority is the first priority from multiple resource pools as the target resource pool.

[0015] Optionally, the first terminal device can select the resource pool with the first priority as the target resource pool, so that the first resource selected in the target resource pool can meet the transmission of the first SL-PRS, avoiding the situation where the resources selected in other resource pools cannot meet the transmission of the first SL-PRS.

[0016] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select the resource pool with the first priority of SL-PRS from the selected first type of resource pool or second type of resource pool as the target resource pool.

[0017] Optionally, the network device may configure the priority of the SL-PRS of each resource pool in multiple resource pools for the first terminal device, so that the first terminal device may learn the priority of the SL-PRS of each resource pool according to the configuration of the network device.

[0018] In a possible implementation manner, the method further includes: receiving first information, where the first information is used to indicate a priority of the SL-PRS of each resource pool in the multiple resource pools.

[0019] In the above scheme, the first information can indicate the correspondence between each resource pool in multiple resource pools and the priority of SL-PRS. That is, when the first information indicates the correspondence between the priority of the resource pool and the SL-PRS, it is not necessary to distinguish between the first type of resource pool and the second type of resource pool, thereby simplifying the configuration.

[0020] In one possible implementation, the method further includes: receiving second information and third information, wherein the second information is used to indicate the priority of the SL-PRS of each resource pool in the first type of resource pools among the multiple resource pools, and the third information is used to indicate the priority of the SL-PRS of each resource pool in the second type of resource pools among the multiple resource pools.

[0021] In the above solution, when the network device configures the SL-PRS priority of each resource pool for the first terminal device, the SL-PRS priority of each resource pool can be configured separately for different types of resource pools. In this way, the first terminal device can determine the SL-PRS priority of each resource pool in the first type of resource pool based on the second information, and determine the SL-PRS priority of each resource pool in the second type of resource pool based on the third information. In this way, the first terminal device can select the resource pool with the first SL-PRS priority as the target resource pool among the resource pools of the first type indicated by the second information, or can select the resource pool with the first SL-PRS priority as the target resource pool among the resource pools of the second type indicated by the third information. Optionally, when the first terminal device has a data transmission demand or data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the first type of resource pool according to the second information. When the first terminal device has no data transmission demand or no data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the second type of resource pool according to the third information. In this way, the scope of the target resource pool selected by the first terminal device can be narrowed, avoiding the energy consumption caused by the first terminal device needing to select the target resource pool in the first type of resource pool and the second type of resource pool.

[0022] Optionally, the priority of the SL-PRS of the resource pool may be understood as the priority of using the resource pool to transmit the SL-PRS.

[0023] In a possible implementation, selecting a target resource pool from a plurality of resource pools includes: if the priority of the first SL-PRS is higher than a preset second priority, selecting the target resource pool from a resource pool of the second type in the plurality of resource pools; or

[0024] If the priority of the first SL-PRS is lower than the preset second priority, a target resource pool is selected from the resource pools of the first type among the multiple resource pools.

[0025] In the above scheme, if the priority of the first SL-PRS currently to be transmitted by the first terminal device is higher than the preset second priority, it means that the priority of the first SL-PRS currently to be transmitted is high. In order to ensure the reliability of transmitting the first SL-PRS, a target resource pool can be selected from a dedicated resource pool for transmitting SL-PRS. In this way, the selected target resource pool is not easily occupied by the transmitted data. If the priority of the first SL-PRS currently to be transmitted by the first terminal device is lower than or equal to the preset second priority, it means that the priority of the first SL-PRS currently to be transmitted is low, and the reliability requirement of the first SL-PRS is relatively low. Therefore, the target resource pool can be selected from a shared resource pool for transmitting data and SL-PRS. In this way, even if the target resource pool is occupied by data, it will not affect the transmission of the first SL-PRS to a certain extent.

[0026] Optionally, the second priority may be preset or configured by the network device.

[0027] In one possible implementation, the selecting of the target resource pool from the multiple resource pools includes: if the first terminal device has a data transmission requirement, selecting the target resource pool from the first type of resource pool among the multiple resource pools; if the first terminal device does not have a data transmission requirement, selecting the target resource pool from the second type of resource pool among the multiple resource pools.

[0028] In the above solution, if the first terminal device has a data transmission demand or data arrives, the first SL-PRS to be transmitted can be transmitted together with the data, and resources for transmitting the data and the first SL-PRS can be selected from the resource pool used for transmitting data and SL-PRS. In this way, the data and the first SL-PRS can be transmitted together, thereby improving transmission efficiency. If the first terminal device has no data transmission demand or no data arrives, the first terminal device can select resources for the first SL-PRS to be transmitted from the resource pool used only for transmitting SL-PRS, thereby ensuring the reliability of the first SL-PRS.

[0029] In a possible implementation manner, selecting the target resource pool from the multiple resource pools includes: selecting the target resource pool from the resource pools of the second type in the multiple resource pools.

[0030] In the above solution, when the first terminal device has a second-type resource pool configuration, it can prioritize selecting a target resource from the second-type resource pool. For example, the first terminal device may not determine whether there is a data transmission requirement or whether data has arrived. If the terminal device needs to transmit the first SL-PRS, it can directly select a target resource pool from the second-type resource pool. This can improve the quality of transmitting the first SL-PRS.

[0031] In a possible implementation, selecting a target resource pool from a plurality of resource pools includes selecting a resource pool of the first type or a resource pool of the second type whose synchronization source is a global satellite navigation system GNSS from the plurality of resource pools as the target resource pool.

[0032] Optionally, the first terminal device selects a first type of resource pool or a second type of resource pool with a synchronization source of GNSS from multiple resource pools as the target resource pool. In this way, when the first terminal device selects the first resource in the target resource pool to transmit the first SL-PRS, the transmission reliability can be improved.

[0033] Optionally, if there are two or more resource pools among multiple resource pools whose synchronization sources are GNSS, the first terminal device can determine the target resource pool among the two or more resource pools based on other parameters. For example, the first terminal device can select the resource pool with the lowest CBR as the target resource pool among two or more resource pools; for another example, the first terminal device can select the resource pool with the first priority of SL-PRS as the target resource pool among two or more resource pools.

[0034] In one possible implementation, selecting the first resource in the target resource pool includes: selecting the first resource in the target resource pool according to a resource selection parameter; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first residual packet delay budget PDB.

[0035] In the above solution, the first terminal device can select the first resource in the target resource pool according to the resource selection parameter, providing a method for selecting the first resource for transmitting the first SL-PRS.

[0036] Optionally, the name of the resource selection parameter is not restricted. For example, the first resource reservation time interval is a parameter related to the period when the first terminal device selects the first resource in the target resource pool. The embodiment of the present application only takes the first resource reservation time interval as an example for description, and does not limit the name of the resource selection parameter. For another example, the first PDB is a parameter related to time requirements. The embodiment of the present application only takes the first PDB as an example for description, and does not limit the name of the resource parameter.

[0037] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS as the first resource reservation time interval.

[0038] In the above solution, the first resource selected according to the first reserved time interval can meet the transmission requirements of the first SL-PRS and data, and can improve the reliability of the transmission of the first SL-PRS.

[0039] Optionally, selecting the first resource in the target resource pool includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the data transmission period and the first SL-PRS transmission period, for example, the first reservation time interval is the minimum of the data transmission period and the first SL-PRS transmission period, or the first reservation time interval is the first transmission period of the one or more transmission periods supported by the target resource pool that is close to the minimum of the data transmission period and the first SL-PRS transmission period.

[0040] Optionally, the data transmission period may be determined by the data transmission requirements of the first terminal device.

[0041] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0042] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the first SL-PRS transmission period; if the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, if the target resource pool does not support the minimum transmission period, selecting a first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

[0043] In the above scheme, the first reserved time interval can be a transmission period supported by the target resource pool, and when data is transmitted together with the first SL-PRS, the first resource selected according to the first resource reservation time interval can simultaneously meet the transmission of data and the first SL-PRS.

[0044] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has no data transmission requirement, selecting the transmission period of the first SL-PRS as the first resource reservation time interval; or, if the first terminal device has no data transmission requirement, selecting a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0045] In the above solution, the first resource selected according to the first reserved time interval can meet the transmission of the first SL-PRS, and can improve the reliability of the transmission of the first SL-PRS.

[0046] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first resource reservation time interval, and the first resource reservation time interval is the transmission period of the first SL-PRS; or, the method includes:

[0047] A second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0048] In the above solution, when the target resource pool is a resource pool of the second type, the first terminal device may use the transmission period of the first SL-PRS as the first resource reservation time interval, or may select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool as the first resource reservation time interval. In this way, the first resource selected based on the first resource reservation time interval can meet the transmission requirements of the first SL-PRS.

[0049] Optionally, a first resource reservation time interval is selected from one or more transmission periods supported by the target resource pool, or a transmission period is selected from one or more transmission periods supported by the target resource pool, and the transmission period is used as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is a second transmission period close to the transmission period of the first SL-PRS in the one or more transmission periods supported by the target resource pool.

[0050] Optionally, the first terminal device selects a first HARQ retransmission number from a first number of transmissions available to the first terminal device and a second number of transmissions determined according to a current CBR of the target resource pool, wherein the first HARQ retransmission number is the intersection of the available first number of transmissions and the second number of transmissions. In other words, the first HARQ retransmission number selected by the first terminal device from the available first number of transmissions and the second number of transmissions may cover the retransmission number of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0051] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: if the first terminal device has a data transmission requirement, selecting the HARQ retransmission number of data as the first HARQ retransmission number; or, if the first terminal device has no data transmission requirement, selecting the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0052] Optionally, the number of HARQ retransmissions corresponding to the CBR of the target resource pool may be the number of HARQ retransmissions corresponding to the current CBR of the target resource pool.

[0053] In a possible implementation, when the first terminal device has a data transmission requirement, if the data transmission of the first terminal device is successful, it means that the first SL-PRS is transmitted successfully.

[0054] In the above scheme, since the data and the first SL-PRS are transmitted simultaneously, if the data transmission is successful, it means that the first SL-PRS is also transmitted successfully, and the number of HARQ retransmissions of the data is the first HARQ retransmission number of the first SL-PRS.

[0055] Optionally, the first terminal device selects a first HARQ retransmission number from a first number of transmissions available to the first terminal device and a second number of transmissions determined according to the current CBR of the target resource pool, wherein the first HARQ retransmission number is the intersection of the first number of transmissions and the second number of transmissions. In other words, the first HARQ retransmission number selected by the first terminal device from the first number of transmissions and the second number of transmissions may cover the number of retransmissions of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0056] In one possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: selecting the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to a channel busy ratio (CBR) of the target resource pool. In this way, the first HARQ retransmission number selected by the first terminal device can satisfy the transmission of the first SL-PRS.

[0057] Optionally, the intersection of the number of HARQ retransmissions supported by the first terminal device and the number of HARQ retransmissions corresponding to the CBR of the target resource pool may be the first number of HARQ retransmissions.

[0058] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes:

[0059] If the first terminal device has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the maximum number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount. In this way, when the data and the first SL-PRS are sent together, the first resource selected according to the first frequency domain resource amount can meet the transmission of the data and the first SL-PRS.

[0060] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include a first frequency domain resource amount, and the method further includes: if the first terminal device has no data transmission requirements, determining the first frequency domain resource amount based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0061] In the above scheme, when data and the first SL-PRS are transmitted together, the maximum number of sub-channels can be selected as the first frequency domain resource amount. In this way, it can be ensured that the data and the first SL-PRS have sufficient frequency domain resources, which is conducive to improving the reliability of the transmission of data and the first SL-PRS.

[0062] In one possible implementation, the target resource pool is the second type of resource pool, the resource selection parameter includes the first frequency domain resource amount, and the method further includes: determining the first frequency domain resource amount based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0063] In the above scheme, the first frequency domain resource amount can be determined based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool. In this way, the SL-PRS can be guaranteed to have sufficient frequency domain resources, which is conducive to improving the transmission reliability of the first SL-PRS.

[0064] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has a data transmission requirement, selecting the priority of the data as the first priority.

[0065] In the above scheme, when data and the first SL-PRS are transmitted together, the priority of the data can be used as the first priority, so that the first resource selected in the target resource pool according to the priority of the data can simultaneously meet the transmission of the data and the first SL-PRS.

[0066] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has a data transmission requirement, selecting the higher priority between the data priority and the first SL-PRS priority as the first priority.

[0067] In the above scheme, when data and the first SL-PRS are transmitted together, the higher priority of the data and the first SL-PRS can be used as the first priority, so that the first resource selected in the target resource pool according to the first priority can simultaneously meet the transmission of data and the first SL-PRS.

[0068] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: if the first terminal device has no data transmission requirement, selecting the priority of the first SL-PRS as the first priority.

[0069] In the above scheme, when there is no data transmission demand, when selecting the first resource in the first type of target resource pool, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0070] Optionally, if the first terminal device has no data transmission requirement or no data arrives, the first terminal device selects the higher priority between the priority of the first SL-PRS and the priority of the SL-SCH MAC subheader as the first priority. The priority of the SL-SCH MAC subheader can be the priority of the first terminal device transmitting the SL-SCH MAC subheader.

[0071] In one possible implementation, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: selecting the priority of the first SL-PRS as the first priority. In this way, the selected first resource can satisfy the transmission of the first SL-PRS.

[0072] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: if the first terminal device has a data transmission requirement, selecting the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB.

[0073] In the above scheme, when there is a need for data transmission, the smaller of the PDB of the data and the PDB of the first SL-PRS can be selected as the first PDB. In this way, when the first terminal device transmits data and the first SL-PRS together according to the first PDB, the data and the first SL-PRS can be transmitted together within the first PDB, which can simultaneously meet the PDB of the data and the PDB of the first SL-PRS.

[0074] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: if the first terminal device has no data transmission requirement, selecting the PDB of the first SL-PRS as the first PDB.

[0075] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting the PDB of the first SL-PRS as the first PDB.

[0076] In a second aspect, a method for transmitting a sidelink positioning reference signal is provided, comprising: the method is applied to a first terminal device, comprising: selecting a first resource in a target resource pool according to a resource selection parameter, the target resource pool being a first type of resource pool or a second type of resource pool; transmitting a first SL-PRS to a second terminal device on the first resource; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first residual packet delay budget PDB.

[0077] In the above scheme, the first terminal device can select the first resource in the target resource pool according to the resource selection parameters, and send the first SL-PRS to the second terminal device on the first resource. The first resource selected according to the resource selection parameters can meet the transmission of the first SL-PRS, which is conducive to improving the reliability of transmitting the first SL-PRS.

[0078] In a possible implementation, the first type is a shared type, and the second type is a dedicated resource type of a sidelink positioning reference signal.

[0079] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS as the first resource reservation time interval.

[0080] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameters include the first resource reservation time interval, and the method includes: if the first terminal device has a data transmission requirement, selecting the minimum transmission period between the data transmission period and the first SL-PRS transmission period; if the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, if the target resource pool does not support the minimum transmission period, selecting a first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

[0081] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes:

[0082] If the first terminal device has no data transmission requirement, the transmission period of the first SL-PRS is selected as the first resource reservation time interval; or, if the first terminal device has no data transmission requirement, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0083] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first resource reservation time interval, and the first resource reservation time interval is the transmission period of the first SL-PRS; or, the method includes:

[0084] A second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0085] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes:

[0086] If the first terminal device has a data transmission requirement, select the HARQ retransmission number of data as the first HARQ retransmission number; or

[0087] If the first terminal device has no data transmission requirement, the first HARQ retransmission number is selected based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio of the target resource pool.

[0088] In a possible implementation, when the first terminal device has a data transmission requirement, if the data transmission of the first terminal device is successful, it means that the first SL-PRS is transmitted successfully.

[0089] In a possible implementation, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes:

[0090] The first HARQ retransmission number is determined based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0091] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes:

[0092] If the first terminal device has a data transmission requirement, select the number of subchannels corresponding to the data as the first frequency domain resource amount, or select the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount; or

[0093] If the first terminal device has no data transmission requirements, the first frequency domain resource amount is determined based on the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0094] In a possible implementation, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the method further includes:

[0095] The first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

[0096] In a possible implementation, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes:

[0097] If the first terminal device has a data transmission requirement, select the priority of the data as the first priority, or select the higher priority between the priority of the data and the priority of the first SL-PRS as the first priority; or

[0098] If the first terminal device has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0099] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: selecting the priority of the first SL-PRS as the first priority.

[0100] In one possible implementation, the target resource pool is the resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: if the first terminal device has a data transmission requirement, selecting the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB; or, if the first terminal device has no data transmission requirement, selecting the PDB of the first SL-PRS as the first PDB.

[0101] In a possible implementation, the target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting a PDB of a first SL-PRS as the first PDB.

[0102] Specifically, the description of the second aspect can refer to the description of the first aspect, and in order to avoid redundancy, a detailed description is not given here.

[0103] In a third aspect, embodiments of the present application provide a communication device that implements any of the aforementioned aspects. The functions may be implemented in hardware or by executing corresponding software implementations in hardware. The hardware or software includes one or more modules or units corresponding to the aforementioned functions. For example, a transceiver module or unit, a processing module or unit, an acquisition module or unit, and the like.

[0104] In a fourth aspect, an embodiment of the present application provides a communication device, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to enable the communication device to execute any one of the methods described in any of the above aspects when calling the computer program.

[0105] In a fifth aspect, an embodiment of the present application provides a chip system, which includes a processor coupled to a memory, and the processor executes a computer program stored in the memory to implement any of the methods described in any of the above aspects.

[0106] The chip system may be a single chip or a chip module composed of multiple chips.

[0107] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above aspects is implemented.

[0108] In a seventh aspect, an embodiment of the present application provides a computer program product, which, when executed on a communication device, enables the communication device to execute any one of the methods described in the above aspects.

[0109] It can be understood that the beneficial effects of the third to seventh aspects mentioned above can be found in the relevant descriptions of the first and second aspects mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] FIG1 is a schematic diagram of a communication system provided in an embodiment of the present application.

[0111] FIG2 is a schematic diagram of a method for transmitting a sidelink positioning reference signal provided in an embodiment of the present application.

[0112] FIG3 is a schematic diagram of another method for transmitting a sidelink positioning reference signal provided by an embodiment of the present application.

[0113] FIG4 is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0114] FIG5 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0115] FIG6 is a schematic block diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0116] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0117] It should be understood that the methods, situations, categories and divisions of the embodiments in the present application are only for the convenience of description and should not constitute special limitations. The features of various methods, categories, situations and embodiments can be combined without contradiction.

[0118] It should also be understood that the terms "first," "second," and "third" in the embodiments of this application are for distinction only and should not constitute any limitation on this application. It should also be understood that in the various embodiments of this application, the order of the sequence numbers of the processes does not imply a specific order of execution. The order of execution of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation of the embodiments of this application.

[0119] FIG1 is a schematic diagram of an inter-device communication system 100. The wireless communication device may include two or more terminal devices, and FIG1 takes terminal device 110 and terminal device 120 as an example. Terminal device 110 and terminal device 120 can communicate directly with each other. The link for communication between terminal device 110 and terminal device 120 is called a sidelink. For example, terminal device 110 can send data to terminal device 120 via the sidelink, and terminal device 120 can send data to terminal device 110 via the sidelink. Sidelinks are generally used in scenarios where direct communication between devices is possible, such as vehicle to everything (V2X) or device to device (D2D). V2X communication can be regarded as a special case of D2D communication.

[0120] New radio (NR) access technology is currently a mainstream wireless communication technology. It supports V2X communication with lower latency and higher reliability, tailored to the characteristics of V2X services and new service requirements. V2X is a foundational and key technology for realizing smart cars, autonomous driving, and intelligent transportation systems. V2X can include vehicle-to-network (V2N), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P). V2N communication is currently the most widely used form of connected vehicle. Its main function is to connect vehicles to cloud servers via mobile networks, providing navigation, entertainment, anti-theft, and other applications. V2V communication can be used for information exchange and alerts between vehicles, with the most typical application being vehicle-to-vehicle collision avoidance safety systems. Through V2I communication, vehicles can communicate with roads and even other infrastructure, such as traffic lights and roadblocks, to obtain road management information such as traffic light signal timing. V2P communication can be used to provide safety warnings to pedestrians and non-motorized vehicles on the road.

[0121] Terminal device 110 or terminal device 120 may be fixed or mobile. Figure 1 is merely a schematic diagram. The communication system may further include one or more network devices, including network device 130 as shown in Figure 1. The link through which terminal device 110 sends data to network device 130 is called an uplink, and the link through which terminal device 110 receives data sent by network device 130 is called a downlink. The embodiments of the present application do not limit the types and quantities of network devices and terminal devices included in the mobile communication system.

[0122] The terminal device 110 or the terminal device 120 in the mobile communication system 100 may also be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), road side unit (RSU), etc. The terminal device in the embodiment of the present application can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, a speaker, etc., and can also be a wireless terminal used in scenarios such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, transportation safety, smart city, smart wear, smart transportation, and smart home. In this application, the aforementioned terminal devices and chips that can be applied to the aforementioned terminal devices are collectively referred to as terminal devices. It should be understood that the embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal devices.

[0123] Terminal devices may communicate with each other through licensed spectrum, unlicensed spectrum, or both; they may communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or both. The embodiments of this application do not limit the spectrum resources used for wireless communications.

[0124] It should be understood that Figure 1 schematically shows the terminal device 110 or the terminal device 120 for ease of understanding only, but this should not constitute any limitation to the present application. The wireless communication system may not include network devices, or may include a greater number of network devices, or may include a greater or fewer number of terminal devices, and the present application does not impose any limitation on this.

[0125] In cellular communication scenarios, some devices can locate terminal devices to determine the location of the terminal devices, or the terminal devices can determine their own location based on the assistance of other devices. For example, in the scenario shown in Figure 1, there is also a need for positioning between terminal devices 110 and 120. Terminal devices 110 and 120 can be positioned based on the sidelink positioning reference signal (SL-PRS). However, how terminal devices 110 and 120 transmit SL-PRS to achieve positioning is an urgent problem to be solved.

[0126] For descriptive purposes, the numbers of the terminal devices 110 and / or 120 are omitted below.

[0127] In an embodiment of the present application, the first terminal device can select a target resource pool from multiple resource pools, select a first resource from the target resource pool, and transmit a first SL-PRS to the second terminal device on the first resource. The multiple resource pools include a first type of resource pool and a second type of resource pool. In this way, when the first terminal device transmits the first SL-PRS, it can select a target resource pool from the first type of resource pool and the second type of resource pool, thereby providing a method for selecting a target resource pool, and the first terminal device can transmit the first SL-PRS on the first resource selected in the target resource pool, thereby providing a method for transmitting SL-PRS.

[0128] The following describes a method for transmitting an SL-PRS in an embodiment of the present application with reference to the method 200 shown in FIG2 . As shown in FIG2 , the method 200 includes at least part of the following contents:

[0129] S210: A first terminal device selects a target resource pool from a plurality of resource pools, where the plurality of resource pools include a first type of resource pool and a second type of resource pool.

[0130] Optionally, the first type is different from the second type.

[0131] Optionally, the first type may be a shared type, and the second type may be a dedicated type for SL-PRS. The resource pool of the shared type may be a resource pool shared by data and SL-PRS, and the resource pool of the SL-PRS dedicated type may be a resource pool dedicated to SL-PRS and a resource pool that cannot be used by data.

[0132] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is used only to transmit SL-PRS. Optionally, the first type of resource pool may include one or more resource pools, and the second type of resource pool may also include one or more resource pools. That is, one or more resource pools in the first type of resource pool can be used to transmit both data and SL-PRS, while one or more resource pools in the second type of resource pool can be used only to transmit SL-PRS and cannot be used to transmit data.

[0133] Optionally, one resource pool among the multiple resource pools may include one or more resources. One resource may be a time-frequency resource.

[0134] Optionally, the target resource pool is used to transmit the first SL-PRS. Optionally, a resource in the target resource pool (eg, the first resource in S220 ) is used to transmit the first SL-PRS.

[0135] Optionally, S210 includes: a medium access control (MAC) layer of the first terminal device may select a target resource pool from multiple resource pools. In other words, S210 may be executed by the MAC layer of the first terminal device.

[0136] Optionally, if the first terminal device is triggered to send SL-PRS, for example, the first terminal device is triggered to send SL-PRS by the second terminal device, then the first terminal device may execute S210. For example, the second terminal device sends a first request message to the first terminal device, and the first request message is used to request the first terminal device to send SL-PRS. Specifically, the first request message may be sidelink control information (SCI) or SL-PRS. The SCI may instruct the first terminal device to send SL-PRS, and the SL-PRS may also instruct the first terminal device to send SL-PRS. After the first terminal device receives the first request message, it may execute S210. For example, after the first terminal device receives the first request message, the radio resource control (RRC) layer or the sidelink positioning protocol (SLPP) layer of the first terminal device determines to send SL-PRS, then the first terminal device executes S210. Optionally, SLPP is only used as an example, and other protocols with similar functions may also be named.

[0137] Optionally, if the first terminal device has an SL-PRS transmission requirement, the first terminal device may execute S210. For example, when the first terminal device itself has a positioning service requirement, or when the first terminal device needs to assist other terminal devices in achieving positioning of other terminal devices, the first terminal device has an SL-PRS transmission requirement and may execute S210. For example, if the RRC layer or SLPP layer of the first terminal device determines that an SL-PRS needs to be sent, the first terminal device executes S210.

[0138] Optionally, the condition for the first terminal device to execute S210 may be that other terminal devices request or trigger the first terminal to send SL-PRS, or the first terminal device itself has a need to transmit SL-PRS.

[0139] It is understandable that the first terminal device may have the need to send the SL-PRS actively or passively.

[0140] Optionally, before S210, the network device may configure multiple resource pools for the first terminal device, for example, by sending first configuration information to the first terminal device, where the first configuration information is used to configure multiple resource pools. The first configuration information may specifically configure a first type of resource pool and a second type of resource pool for the first terminal device. For example, the network device may configure the first type of resource pool and the second type of resource pool through the first configuration information, or may configure the first type of resource pool and the second type of resource pool through two configuration information respectively.

[0141] Several implementations of S210 are introduced below.

[0142] Method 1, S210, includes: selecting a resource pool with the lowest channel busy ratio (CBR) from multiple resource pools as a target resource pool. Optionally, the first terminal device can measure each resource pool in the multiple resource pools to obtain the CBR of each resource pool. For example, the multiple resource pools are composed of a first type of resource pool for transmitting data and SL-PRS and a second type of resource pool only for transmitting SL-PRS. The network device can configure resource pool 1, resource pool 2, resource pool 3 and resource pool 4, wherein resource pool 1 and resource pool 2 are resource pools of the first type, and resource pool 3 and resource pool 4 are resource pools of the second type. The first terminal device can measure and compare the CBRs of the four resource pools. For example, if the CBR of resource pool 3 is the lowest, resource pool 3 can be determined as the target resource pool.

[0143] Alternatively, selecting a resource pool with the lowest CBR from among multiple resource pools as the target resource pool may be replaced by determining a resource pool with the lowest CBR from among multiple resource pools as the target resource pool.

[0144] Optionally, the first terminal device can determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select the resource pool with the lowest CBR from the selected first type of resource pool or the second type of resource pool as the target resource pool. For example, if the first terminal device has a data transmission demand or data has arrived, the resource pool with the lowest CBR from the first type of resource pool among multiple resource pools can be selected as the target resource pool; if the first terminal device has no data transmission demand or no data has arrived, the resource pool with the lowest CBR from the second type of resource pool among multiple resource pools can be selected as the target resource pool. In other words, the first terminal device can determine whether to select the first type of resource pool or the second type of resource pool based on whether there is a data transmission demand or whether data has arrived, and then select the resource pool with the lowest CBR from the selected first type of resource pool or the second type of resource pool as the target resource pool. That is, the first terminal device can first select which type of resource pool based on whether there is a data transmission demand or whether data has arrived, and then select the resource pool with the lowest CBR from the selected type of resource pool as the target resource pool based on the CBR.

[0145] Method 2: The priority of the first SL-PRS is the first priority, S210, including: the first terminal device selects a resource pool whose SL-PRS priority is the first priority from multiple resource pools as the target resource pool. That is, the first terminal device needs to match a resource pool with the same priority as the first SL-PRS from multiple resource pools as the target resource pool. For example, the priority of the SL-PRS of resource pool 1 is 5, the priority of the SL-PRS of resource pool 2 is 4, the priority of the SL-PRS of resource pool 3 is 6, and the priority of the SL-PRS of resource pool 4 is 1, wherein resource pool 1 and resource pool 2 are resource pools of the first type, and resource pool 3 and resource pool 4 are resource pools of the second type. If the priority of the first SL-PRS is 4, resource pool 2 can be used as the target resource pool.

[0146] Optionally, the first terminal device may determine whether to use the first type of resource pool or the second type of resource pool by other means, and then select the resource pool with the first priority of the SL-PRS from the selected first type of resource pool or the second type of resource pool as the target resource pool. For example, if the first terminal device has a data transmission requirement or data has arrived, the resource pool with the first priority of the SL-PRS from the first type of resource pool among the multiple resource pools may be selected as the target resource pool; if the first terminal device has no data transmission requirement or no data has arrived, the resource pool with the first priority of the SL-PRS from the second type of resource pool among the multiple resource pools may be selected as the target resource pool. In other words, the first terminal device may determine whether to select the first type of resource pool or the second type of resource pool based on whether there is a data transmission requirement or whether data has arrived, and then select the resource pool with the first priority of the SL-PRS from the selected first type of resource pool or the second type of resource pool as the target resource pool, wherein the priority of the first SL-PRS is the first priority. That is, the first terminal device can first select the type of resource pool based on whether there is a data transmission demand or whether data has arrived, and then select the resource pool with the priority of the first SL-PRS as the target resource pool in the selected type of resource pool.

[0147] Optionally, in method 2, the network device may configure the priority of the SL-PRS of each resource pool in multiple resource pools for the first terminal device, so that the first terminal device may obtain the priority of the SL-PRS of each resource pool based on the configuration of the network device.

[0148] Optionally, the network device may send first information to the first terminal device, where the first information is used to indicate the priority of the SL-PRS of each resource pool in multiple resource pools. For example, the first information may indicate the correspondence between the priority of each resource pool in multiple resource pools and the SL-PRS. That is, when the first information indicates the correspondence between the priority of the resource pool and the SL-PRS, it is not necessary to distinguish between the first type of resource pool and the second type of resource pool, thereby simplifying the configuration.

[0149] Optionally, the network device may send second information and third information to the first terminal device, where the second information is used to indicate the priority of the SL-PRS for each resource pool of the first type in multiple resource pools, and the third information is used to indicate the priority of the SL-PRS for each resource pool of the second type in multiple resource pools. That is, when the network device configures the priority of the SL-PRS for each resource pool for the first terminal device, the priority of the SL-PRS for each resource pool of different types may be configured separately. In this way, the first terminal device may determine the priority of the SL-PRS for each resource pool of the first type based on the second information, and determine the priority of the SL-PRS for each resource pool of the second type based on the third information. In this way, the first terminal device may select a resource pool whose SL-PRS priority is the first priority as the target resource pool among the resource pools of the first type indicated by the second information, or may select a resource pool whose SL-PRS priority is the first priority as the target resource pool among the resource pools of the second type indicated by the third information. Optionally, when the first terminal device has a data transmission demand or data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the first type of resource pool according to the second information. When the first terminal device has no data transmission demand or no data arrives, a resource pool with a SL-PRS priority of the first priority can be selected as the target resource pool in the second type of resource pool according to the third information. In this way, the scope of the target resource pool selected by the first terminal device can be narrowed, avoiding the energy consumption caused by the first terminal device needing to select the target resource pool in the first type of resource pool and the second type of resource pool.

[0150] Optionally, in the second method, the priority of the SL-PRS of the resource pool can be understood as the priority of using the resource pool to transmit the SL-PRS.

[0151] Method three, S210, includes: if the priority of the first SL-PRS is higher than the preset second priority, selecting a target resource pool from a second type of resource pool among the multiple resource pools, wherein the second type of resource pool may be a resource pool used only for transmitting SL-PRS. That is, if the priority of the first SL-PRS currently to be transmitted by the first terminal device is higher than the preset second priority, indicating that the priority of the first SL-PRS currently to be transmitted is high, to ensure the reliability of transmitting the first SL-PRS, the target resource pool may be selected from a resource pool dedicated to transmitting SL-PRS, so that the selected target resource pool is not easily occupied by transmitted data. Optionally, S210 includes: if the priority of the first SL-PRS is lower than or equal to the preset second priority, selecting a target resource pool from a first type of resource pool among the multiple resource pools, wherein the first type of resource pool may be a resource pool used for transmitting both data and SL-PRS. That is to say, if the priority of the first SL-PRS currently to be transmitted by the first terminal device is lower than or equal to the preset second priority, it means that the priority of the first SL-PRS currently to be transmitted is low, and the reliability requirement of the first SL-PRS is relatively low. Therefore, the target resource pool can be selected in the shared resource pool for transmitting data and SL-PRS. In this way, even if the target resource pool is occupied by data, it will not affect the transmission of the first SL-PRS to a certain extent.

[0152] Optionally, selecting a target resource pool from the second type of resource pools among the multiple resource pools may be replaced by: selecting a second type of resource pool as the target resource pool, or selecting one of the second type of resource pools as the target resource pool.

[0153] Optionally, selecting a target resource pool from a first type of resource pool among multiple resource pools may be replaced by selecting a second type of resource pool as the target resource pool, or selecting one of the second type of resource pools as the target resource pool.

[0154] Optionally, the second priority may be preset or configured by the network device, and this embodiment of the present application does not limit this.

[0155] Optionally, if the priority of the first SL-PRS is higher than or equal to the preset second priority, the target resource pool is selected from the second type of resource pool in the multiple resource pools; if the priority of the first SL-PRS is lower than the preset second priority, the target resource pool is selected from the first type of resource pool in the multiple resource pools. That is to say, the priority of the first SL-PRS is equal to the preset second priority and can be in a branch greater than or less than the preset second priority. This embodiment of the present application does not impose any restrictions on this.

[0156] Optionally, in Mode 2 and Mode 3, the priority of SL-PRS may be the transmission priority of SL-PRS. Optionally, the priority of SL-PRS in Mode 2 and Mode 3 may also be understood as the priority used by the first terminal device when transmitting SL-PRS in the resource pool, such as the priority used by the first terminal device when reserving or sensing resources in the resource pool. Optionally, different services may correspond to different SL-PRS transmission priorities. For example, if the first terminal device needs to transmit service 1, the priority of the SL-PRS corresponding to service 1 is priority 1; if the first terminal device needs to transmit service 2, the priority of the SL-PRS corresponding to service 2 is priority 2, wherein the priorities of SL-PRS corresponding to different services may be the same or different, and the embodiments of the present application do not limit this. For services with high reliability requirements, the priority of SL-PRS is high; for services with low reliability requirements, the priority of SL-PRS is high.

[0157] Mode 4, optional, S210, includes: if the first terminal device has a data transmission request or data has arrived, selecting a target resource pool from a first type of resource pool among multiple resource pools; or, if the first terminal device has no data transmission request or no data has arrived, selecting a target resource pool from a second type of resource pool among the multiple resource pools. The first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is used only to transmit SL-PRS. That is, if the first terminal device has a data transmission request or data has arrived, the first SL-PRS to be transmitted may be transmitted together with the data. Resources for transmitting the data and the first SL-PRS may be selected from the resource pool used for transmitting data and SL-PRS. This allows the data and the first SL-PRS to be transmitted together, improving transmission efficiency. Optionally, if the data and the first SL-PRS are transmitted together, successful data transmission indicates that the first SL-PRS has also been successfully transmitted. If the first terminal device has no data transmission request or no data has arrived, the first terminal device may select resources for the first SL-PRS to be transmitted from a resource pool used only for transmitting SL-PRS, thereby ensuring the reliability of the first SL-PRS.

[0158] Optionally, method 4 can be combined with the above-mentioned method 1, method 2 or method 3. For example, the scheme of combining method 4 with method 1 can be: if the first terminal device has a data transmission demand or data has arrived, then the resource pool with the lowest CBR is selected from the first type of resource pool among the multiple resource pools as the target resource pool; if the first terminal device has no data transmission demand or no data has arrived, then the resource pool with the lowest CBR is selected from the second type of resource pool among the multiple resource pools as the target resource pool. For another example, the scheme of combining method 4 with method 2 can be: if the first terminal device has a data transmission demand or data has arrived, then the resource pool with the first priority of SL-PRS is selected from the first type of resource pool among the multiple resource pools as the target resource pool; if the first terminal device has no data transmission demand or no data has arrived, then the resource pool with the first priority of SL-PRS is selected from the second type of resource pool among the multiple resource pools as the target resource pool. For another example, a combination of method four and method three may be: if the first terminal device has no data transmission demand or no data has arrived, and the priority of the first SL-PRS is higher than the preset second priority, then the target resource pool is selected from the second type of resource pool among the multiple resource pools; if the first terminal device has a data transmission demand or data has arrived, and the priority of the first SL-PRS is lower than the preset second priority, then the target resource pool is selected from the first type of resource pool among the multiple resource pools.

[0159] Optionally, if the first terminal device has no data transmission demand or no data has arrived, then the target resource pool is selected from the second type of resource pool among the multiple resource pools, which can be replaced by: If the first terminal device has no data transmission demand or no data has arrived, then the second type of resource pool is selected as the target resource pool, wherein the first terminal device can select a resource pool from the second type of resource pool among the multiple resource pools as the target resource pool. Optionally, if the first terminal device has a data transmission demand or data has arrived, then the target resource pool is selected from the first type of resource pool among the multiple resource pools, which can be replaced by: If the first terminal device has a data transmission demand or data has arrived, then the first type of resource pool is selected as the target resource pool, wherein the first terminal device can select a resource pool from the first type of resource pool among the multiple resource pools as the target resource pool.

[0160] Mode 5, S210, includes: the first terminal device selecting a target resource pool from a second type of resource pool among the multiple resource pools. The second type of resource pool may be a resource pool used only for transmitting SL-PRS. That is, when the first terminal device has a second type of resource pool configuration, it may prioritize selecting a target resource from the second type of resource pool. For example, the first terminal device may not determine whether there is a data transmission requirement or whether data has arrived. If the terminal device needs to transmit the first SL-PRS, it may directly select the target resource pool from the second type of resource pool. In this way, the quality of transmitting the first SL-PRS can be improved.

[0161] Optionally, Method 5 may be combined with Method 1 or Method 2. For example, the combination of Method 5 and Method 1 may include: the first terminal device may select a resource pool with the lowest CBR from the second type of resource pool as the target resource pool. For another example, the combination of Method 5 and Method 2 may include: the first terminal device may select a resource pool with a first SL-PRS priority from the second type of resource pool as the target resource pool. The first priority is the priority of the first SL-PRS.

[0162] Optionally, the first terminal device selects the target resource pool from the second type of resource pools in the multiple resource pools, which can be replaced by: selecting the second type of resource pool as the target resource pool, or selecting one of the second type of resource pools as the target resource pool.

[0163] Method six, S210, including: the first terminal device can select a target resource pool from multiple resource pools based on the synchronization source. Optionally, the first terminal device can select a target resource pool from multiple resource pools based on the synchronization source, including: the first terminal device selects a first type of resource pool or a second type of resource pool whose synchronization source is a global navigation satellite system (GNSS) from multiple resource pools as the target resource pool. That is to say, the synchronization source of some resource pools in the multiple resource pools is GNSS, and the synchronization source of some resource pools is not GNSS. In other words, the synchronization source supported or allowed by some resource pools in the multiple resource pools is GNSS, and the synchronization source of some resource pools does not support or allow GNSS as a synchronization source. The first terminal device should select the resource pool whose synchronization source supported or allowed is GNSS as the first resource pool. Optionally, if there are two or more resource pools among multiple resource pools whose synchronization sources are GNSS, the first terminal device can determine the target resource pool among the two or more resource pools based on other parameters. For example, in combination with method one, the first terminal device can select the resource pool with the lowest CBR as the target resource pool among two or more resource pools; in combination with method two, the first terminal device can select the resource pool with the first priority of SL-PRS as the target resource pool among two or more resource pools.

[0164] Optionally, the network device may configure the terminal device with synchronization sources supported or allowed by each resource pool in the plurality of resource pools.

[0165] Optionally, the network device may configure one or more of the above-mentioned methods 1 to 6 for the first terminal device, and the first terminal device may select a target resource pool based on the one or more methods configured by the network device. Alternatively, the first terminal device may obtain configuration information for one or more of the above-mentioned methods 1 to 6 through pre-configuration, and the first terminal device may select a target resource pool based on the one or more pre-configured methods.

[0166] Optionally, if the first terminal device selects the target resource pool through multiple methods, there may be priorities between the multiple methods, that is, the first terminal device may determine which method to select to determine the target resource pool based on the priorities of the multiple methods. Optionally, the network device or pre-configuration may configure the priorities of at least some of the multiple methods. For example, the priority of method one is priority 1, and the priority of method two is priority 2. Priority 1 has a higher priority than priority 2. In this case, the first terminal device may use method one to determine the target resource pool.

[0167] Optionally, if the first terminal device selects the target resource pool through multiple methods, there may be priorities between the multiple methods, that is, the first terminal device may prioritize the judgment based on the method with higher priority, and then perform the judgment related to the method with lower priority based on the result of higher priority, and finally select the target resource pool. Optionally, the network device or pre-configuration can configure the priority of at least some of the multiple methods. For example, the network device or pre-configuration is configured with method two, method four, and method six, wherein the priority of method two is 1, the priority of method four is 2, and the priority of method six is ​​3, that is, the priority of method two is higher than the priority of method four, and the priority of method four is higher than the priority of method six. For example, the first terminal device selects resource pool set 1 in which the priority of SL-PRS is the first priority from multiple resource pools according to method 2. Resource pool set 1 includes multiple resource pools, that is, there are one or more resource pools in the resource pool whose priority is the first priority. The first terminal device can continue to select resource pools in resource pool set 1 according to method 4. If the first terminal device has data transmission requirements, resource pool set 2 of the first type is selected from resource pool set 1. If the selected resource pool set of the first type includes multiple resource pools, the terminal device can continue to select the resource pool whose synchronization source is GNSS as the target resource pool in resource pool set 2 according to method 6.

[0168] Optionally, the network device may configure the first terminal device to select a target resource pool from a plurality of resource pools according to a plurality of methods, or may pre-configure the first terminal device to select a target resource pool from a plurality of resource pools according to a plurality of methods. Optionally, the plurality of methods may be at least some of the above-mentioned six methods, and optionally, the network device may configure the plurality of methods or may pre-configure a plurality of methods. Optionally, there may be a priority between the plurality of methods, and when there is a priority, the target resource pool is determined from the plurality of resource pools according to the method with the higher priority. Optionally, there may be no priority between the plurality of methods, and the first terminal device may determine the target resource pool from the plurality of resource pools according to the plurality of methods.

[0169] S220: The first terminal device selects a first resource in the target resource pool.

[0170] Optionally, the first terminal device may select the first resource in the target resource pool according to the resource selection parameter. Optionally, the resource selection parameter includes at least one of a first resource reservation interval, a first hybrid automatic repeat request (HARQ) retransmission number (number of HARQ retransmissions), a first amount of frequency resources, a first priority, or a first remaining packet delay budget (PDB). Optionally, the name of the resource selection parameter is not limited. For example, the first resource reservation interval is a parameter related to the period when the first terminal device selects the first resource in the target resource pool. The embodiment of the present application only takes the first resource reservation interval as an example for description, and does not limit the name of the resource selection parameter. For another example, the first PDB is a parameter related to time requirements. The embodiment of the present application only takes the first PDB as an example for description, and does not limit the name of the resource parameter.

[0171] Optionally, the resource selection parameter may further include a counter, and the first terminal device may use a counter related to the sidelink data transmission as the counter of the first SL-PRS.

[0172] Optionally, the first terminal device may select the first resource in the target resource pool according to the resource selection parameter, including: the physical (PHY) layer of the first terminal device may select one or more first resources in the target resource pool. Optionally, the first terminal device may select the first resource according to the resource selection parameter, including: the MAC layer of the first terminal device determines the resource selection parameter, and sends or delivers the determined resource selection parameter to the PHY layer, the PHY layer of the first terminal device monitors the use of resources in the target resource pool by other terminal devices, selects at least one resource in the target resource pool according to the resource selection parameter and the use of resources in the target resource pool by other terminal devices, the PHY layer indicates at least one resource to the MAC layer, and the MAC layer may select the first resource in the at least one resource.

[0173] If the target resource pool selected by the first terminal device in S210 is a resource pool of the first type, the following discusses the following scenarios in which the first terminal device selects the first resource from the target resource pool based on the resource selection parameters in S220. In other words, depending on the type of target resource pool determined by the first terminal device, the method for selecting the first resource from the target resource pool based on the resource parameters will vary.

[0174] Case 1: The resource selection parameter includes a first resource reservation time interval.

[0175] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the data transmission period and the first SL-PRS transmission period. For example, the first reservation time interval is the minimum of the data transmission period and the first SL-PRS transmission period, or the first reservation time interval is the first transmission period of the one or more transmission periods supported by the target resource pool that is close to the minimum of the data transmission period and the first SL-PRS transmission period.

[0176] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the minimum transmission period between the data transmission period and the first SL-PRS transmission period as the first resource reservation time interval. For example, if the data transmission period is 1 ms and the first SL-PRS transmission period is 0.5 ms, then the first reserved time interval can be determined to be 0.5 ms. In this way, the first resource selected based on the first reserved time interval can meet the transmission requirements of the first SL-PRS and data, and can also improve the reliability of the transmission of the first SL-PRS.

[0177] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, select the minimum transmission period between the data transmission period and the transmission period of the first SL-PRS. Optionally, if the target resource pool supports the minimum transmission period, select the minimum transmission period as the first resource reservation time interval. If the target resource pool does not support the minimum transmission period, select the first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period. That is to say, the first terminal device can determine the first transmission period close to the minimum transmission period from at least one transmission period supported by the target resource pool as the first resource reservation time interval. For example, if the data transmission period is 1ms and the first SL-PRS transmission period is 0.5ms, the minimum transmission period is 0.5ms. If the target resource pool supports 0.5ms, the first resource reservation interval can be 0.5ms. For another example, if the data transmission period is 1ms and the first SL-PRS transmission period is 0.5ms, and the target resource pool supports transmission periods of 0.2ms, 0.4ms, and 0.7ms, 0.4ms is closest to 0.5ms, so the first resource reservation interval is 0.4ms. In this way, when data is transmitted together with the first SL-PRS, the first resource selected according to the first resource reservation interval can simultaneously meet the transmission of both the data and the first SL-PRS.

[0178] Optionally, the data transmission period may be determined by the data transmission requirements of the first terminal device.

[0179] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0180] Optionally, S220 includes: if the first terminal device has no data transmission requirement or no data has arrived, selecting the transmission period of the first SL-PRS as the first resource reservation time interval. For example, if the transmission period of the first SL-PRS is 0.5 ms, the first reservation time interval may be determined to be 0.5 ms. In this way, the reliability of transmitting the first SL-PRS may be improved.

[0181] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is a second transmission period close to the transmission period of the first SL-PRS in the one or more transmission periods supported by the target resource pool.

[0182] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period. That is, the first terminal device can determine the second transmission period close to the minimum transmission period in at least one transmission period supported by the target resource pool as the first resource reservation time interval. For example, the transmission period of the first SL-PRS is 0.5ms. If the transmission period supported by the target resource pool is 0.2ms, 0.4ms, and 0.7ms, 0.4ms is closest to 0.5ms, so the first resource reservation time interval is 0.4ms. In this way, the first resource selected according to the first reservation time interval can meet the transmission of the first SL-PRS, and the reliability of the transmission of the first SL-PRS can be improved.

[0183] Optionally, the network device or other terminal device can configure at least one transmission period supported by the target resource pool, or the at least one transmission period supported by the target resource pool is determined by pre-configuration. Optionally, the network device or other terminal device can configure at least one transmission period supported by each of multiple resource pools, or the at least one transmission period supported by each of multiple resource pools is determined by pre-configuration. The multiple resource pools include the target resource pool, and the transmission period supported by each resource pool can be different. Of course, there can also be two resource pools that support the same transmission period. This embodiment of the present application does not impose any restrictions on this.

[0184] Case 2: The resource selection parameter includes the first HARQ retransmission number.

[0185] Optionally, before S220, the process includes: the network device may configure a first number of transmissions available to the first terminal device for the first terminal device, or the first terminal device may obtain the first number of transmissions available to the first terminal device from a preconfigured configuration. Optionally, the first number of transmissions available to the first terminal device may also be referred to as the first number of transmissions supported by the first terminal device.

[0186] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device, or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of transmissions, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target resource pool, and the number of transmissions included in the target CBR configuration can be the second number of transmissions.

[0187] Optionally, S220 includes: the first terminal device selects a maximum number of transmissions from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool, the maximum number of transmissions being the number of transmissions of data and / or the first SL-PRS, wherein the maximum number of transmissions is the first HARQ retransmission number included in the resource selection parameter. The maximum number of transmissions is the smaller of the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value taken from the intersection of a range corresponding to the first number of transmissions and a range corresponding to the second number of transmissions. For example, if the first number of transmissions is 5 and the second number of transmissions is 10, that is, the intersection of the first number of transmissions and the second number of transmissions is 0-5 times, then the maximum number of transmissions may be a value taken from 0-5 times. Optionally, that is, the maximum number of transmissions may cover or support the transmission of data and / or the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0188] Optionally, S220 includes: the first terminal device determines the maximum number of transmissions of the first SL-PRS based on the first number of transmissions supported by the first terminal device, the second number of transmissions determined by the current CBR of the target resource pool, and the number of transmissions of the first terminal device data, wherein the maximum number of transmissions of the first SL-PRS is the first number of HARQ retransmissions included in the resource selection parameter. In other words, the maximum number of transmissions of the first SL-PRS can cover or support the transmission of data and the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0189] Optionally, the number of data transmissions can be selected from a first number of transmissions supported by the first terminal device itself and a second number of transmissions determined according to the current CBR of the target resource pool. For example, the number of data transmissions is the smaller value between the first number of transmissions and the second number of transmissions, or a value in the intersection of the two.

[0190] Optionally, in case 2, the transmission corresponding to the number of data transmissions may include the transmission corresponding to the number of HARQ retransmissions of the data, or it can also be understood that the number of data transmissions and the number of HARQ retransmissions of the data can be replaced with each other. The transmission corresponding to the maximum number of transmissions may include the transmission corresponding to the number of HARQ retransmissions, or it can also be understood that the maximum number of transmissions and the number of HARQ retransmissions can be replaced with each other.

[0191] Optionally, S220 includes: if the first terminal device has a data transmission demand or data has arrived, selecting the number of HARQ retransmissions of the data as the first HARQ retransmission number. Optionally, if the first terminal device has a data transmission demand or data has arrived, the data transmission is successful, indicating that the first SL-PRS is also successfully transmitted, wherein the first terminal device can transmit data and the first SL-PRS at the same time, that is, since the data and the first SL-PRS are transmitted at the same time, if the data transmission is successful, it means that the first SL-PRS is also successfully transmitted, and the number of HARQ retransmissions of the data is the first HARQ retransmission number of the first SL-PRS. In this way, the data and SL-PRS transmission requirements are guaranteed, and when the first terminal device sends data and the first SL-PRS together, it will not affect the transmission of the data and the first SL-PRS.

[0192] Optionally, S220 includes: the first terminal device selects the maximum number of transmissions of the first SL-PRS from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool. The maximum number of transmissions is the smaller value of the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value taken from the intersection of the range corresponding to the first number of transmissions and the range corresponding to the second number of transmissions. Optionally, the transmission corresponding to the maximum number of transmissions of the first SL-PRS may include the transmission corresponding to the first HARQ retransmission number of the first SL-PRS. Optionally, that is, the maximum number of transmissions of the first SL-PRS may cover or support the transmission of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0193] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device selects a first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool, the first HARQ retransmission number being the number of transmissions of the shared channel (SL-SCH) subheader of the first SL-PRS and / or MAC protocol data unit (PDU). Optionally, the first terminal device selects a first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool, including: the first terminal device selects the smaller of the first transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool as the first HARQ retransmission number. For example, if the number of transmissions supported by the first terminal device is 4 and the second transmission number corresponding to the CBR of the target resource pool is 5, the first HARQ retransmission number can be 4. Or the first terminal device determines the intersection of the first number of transmissions and the second number of transmissions, and selects a value in the intersection, and the value can satisfy the first SL-PRS and / or MAC PDU SL-SCH subheader, then the first terminal device uses the value as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the first number of transmissions supported by the first terminal device, for example, determining the first number of transmissions supported by the first terminal device as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the second number of transmissions corresponding to the CBR of the target resource pool, for example, determining the second number of transmissions corresponding to the current CBR of the target resource pool as the first HARQ retransmission number.

[0194] It can be understood that when the first terminal device sends the first SL-PRS, it can also simultaneously send a MAC PDU SL-SCH subheader, which can carry the identification information of the terminal device, such as the identification information of the first terminal device and / or the second terminal device.

[0195] Optionally, the first terminal device may use the first HARQ retransmission number of the MAC PDU SL-SCH subheader as the HARQ retransmission number of the first SL-PRS. It is understandable that although the first terminal device has no data transmission demand or no data has arrived, the first terminal device still needs to send the identification information of the terminal device through the MAC PDU SL-SCH subheader so that the receiving device knows whether it needs to receive the transmission. At this time, the first terminal device can determine the first HARQ retransmission number of the MAC PDU SL-SCH subheader based on the first transmission number and the second transmission number, and use the first HARQ retransmission number of the MAC PDU SL-SCH subheader as the HARQ retransmission number of the first SL-PRS. In this way, the transmission demand of the first SL-PRS can be guaranteed and the reliability of the transmission of the first SL-PRS can be improved.

[0196] Optionally, the first number of transmissions supported by the first terminal device may be replaced by: the first number of transmissions configured for the first terminal device.

[0197] Optionally, the first number of transmissions supported by the first terminal device may be the first number of transmissions of the MAC PDU SL-SCH subheader of the first terminal device or the number of HARQ retransmissions. In this way, the transmission requirements of the first SL-PRS can be guaranteed and the transmission reliability of the first SL-PRS can be improved.

[0198] Optionally, in an embodiment of the present application, the MAC PDU SL-SCH subheader and the SL-SCH MAC subheader can replace each other. For example, the MAC PDU SL-SCH subheader can be replaced by the SL-SCH MAC subheader; for another example, the SL-SCH MAC subheader can be replaced by the MAC PDU SL-SCH subheader.

[0199] Optionally, selecting the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool can be replaced by determining the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool.

[0200] Optionally, the first number of transmissions supported by the first terminal device may be the number of transmissions of the first SL-PRS supported by the first terminal device, and the transmission corresponding to the number of transmissions may include the transmission corresponding to the number of HARQ retransmissions.

[0201] Case three: the resource selection parameter includes the first frequency domain resource amount.

[0202] Optionally, before S220, the process includes: the network device may configure, for the first terminal device, the number of first sub-channels available to the first terminal device, or the first terminal device may obtain the number of first sub-channels available to the first terminal device from a preconfiguration. Optionally, the number of first sub-channels available to the first terminal device may be the number of first sub-channels supported by the first terminal device.

[0203] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of sub-channels, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target value resource pool, and the number of sub-channels included in the target CBR configuration can be the second sub-channel number.

[0204] Optionally, S220 includes: the first terminal device selects a first frequency domain resource amount from the first subchannel number and the second subchannel number determined according to the current CBR of the target resource pool, and the first frequency domain resource amount is used to transmit data and / or the first SL-PRS. The first frequency domain resource amount is a value in the intersection of the range corresponding to the first subchannel number and the range corresponding to the second subchannel number. That is to say, the first frequency domain resource amount selected by the first terminal device from the first subchannel number and the second subchannel number can cover the transmission of data and / or the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0205] For example, the number of first subchannels includes a maximum value of 5 and a minimum value of 1, and the number of second subchannels includes a maximum value of 6 and a minimum value of 2. It can be understood that the range corresponding to the number of first subchannels is 1 to 5, and the range corresponding to the number of second subchannels is 2 to 6. The intersection of the number of first subchannels and the number of second subchannels is 2 to 5. At this time, the first terminal device selects a value from 2 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 2 to 5 as the first frequency domain resource amount. Alternatively, the number of first subchannels can include a value of 5, and the number of second subchannels can include a value of 6. It can be understood that the range corresponding to the number of first subchannels is 0 to 5, and the range corresponding to the number of second subchannels is 0 to 6. The intersection of the number of first subchannels and the number of second subchannels is 0 to 5. At this time, the first terminal device selects a value from 0 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 0 to 5 as the first frequency domain resource amount.

[0206] Optionally, the number of sub-channels corresponding to the data may be selected from a range corresponding to the first number of sub-channels and a range corresponding to the second number of sub-channels determined according to the current CBR of the target resource pool.

[0207] Optionally, the number of sub-channels can be understood as the size of frequency domain resources.

[0208] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the number of sub-channels corresponding to the data as the first frequency domain resource amount. For example, if the number of sub-channels corresponding to the data is 2, then in the above example, after the first terminal device determines that the above intersection is 2 to 5 in the above manner, the first terminal device selects a value of 2 from 2 to 5 as the first frequency domain resource amount. In this way, when the data and the first SL-PRS are sent together, the first resource selected according to the first frequency domain resource amount can meet the transmission of the data and the first SL-PRS.

[0209] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, the first terminal device determines the first frequency domain resource amount based on the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS. Optionally, the first terminal device determines the first frequency domain resource amount based on the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS, including: selecting the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount. For example, the number of subchannels corresponding to the data is 2, the number of subchannels corresponding to the first SL-PRS is 4, and the larger value of the two is 4. In the above example, after the first terminal device determines that the above intersection is 2 to 5 in the above manner, the first terminal device selects the value 4 from 2 to 5 as the first frequency domain resource amount. That is, when the data and the first SL-PRS are transmitted together, the largest number of subchannels between the two can be selected as the first frequency domain resource amount. In this way, sufficient frequency domain resources can be ensured for the data and the first SL-PRS, which is conducive to improving the reliability of the transmission of the data and the first SL-PRS. Optionally, the first terminal device determines the first frequency domain resource amount based on the number of sub-channels corresponding to the data and the number of sub-channels corresponding to the first SL-PRS. For example, the first terminal device may also use the average value of the number of sub-channels corresponding to the data and the number of sub-channels corresponding to the first SL-PRS as the first frequency domain resource amount. The embodiment of the present application does not impose any restriction on how the first terminal device determines the first frequency domain resource amount based on the number of sub-channels corresponding to the data and the number of sub-channels corresponding to the first SL-PRS.

[0210] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device determines the first frequency domain resource amount based on the number of first subchannels supported by the first terminal device and the number of second subchannels supported by the current CBR of the target resource pool. Optionally, the first terminal device determines the first frequency domain resource amount based on the number of first subchannels supported by the first terminal device and the number of second subchannels supported by the current CBR of the target resource pool, including: the first terminal device selects a value from the intersection of the range corresponding to the number of first subchannels supported by the first terminal device and the range corresponding to the number of second subchannels supported by the current CBR of the target resource pool as the first frequency domain resource amount, and the first frequency domain resource amount is used to transmit the MAC SL-SCH subheader and / or the first SL-PRS. For example, the first terminal device can first determine the intersection, and then select a value within the range of values ​​supported by the intersection, and the value can be the number of subchannels required for the MAC SL-SCH subheader, or the number of subchannels required for the first SL-PRS, or a larger value between the two. In this way, the transmission demand of the first SL-PRS can be guaranteed.

[0211] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device can determine the first sub-channel number supported by the first terminal device as the first frequency domain resource amount, or determine the second sub-channel number supported by the current CBR of the target resource pool as the first frequency domain resource amount.

[0212] It can be understood that when the first terminal device sends the first SL-PRS, it can also simultaneously send a MAC PDU SL-SCH subheader, which can carry the identification information of the terminal device, such as the identification information of the first terminal device and / or the second terminal device.

[0213] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device determines the number of sub-channels corresponding to the first SL-PRS as the first frequency domain resource amount.

[0214] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data arrives, the first terminal device can determine that the number of sub-channels corresponding to the SL-SCH subheader of the MAC PDU is the first frequency domain resource amount.

[0215] Case 4: The resource selection parameter includes the first priority.

[0216] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the priority of the data as the first priority, that is, using the priority of the data as the priority of the first SL-PRS.

[0217] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the higher priority between the data priority and the first SL-PRS priority as the first priority, so that when the data and the first SL-PRS are transmitted together, the first resource selected according to the first priority can satisfy both the data and the first SL-PRS.

[0218] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, the first terminal device selects the priority of the first SL-PRS as the first priority. That is, when there is no data transmission demand, when selecting the first resource in the first type of target resource pool, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0219] Optionally, the network device or other terminal device can configure the priority of the data.

[0220] Optionally, the network device or other terminal device may configure the priority of the first SL-PRS.

[0221] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, the first terminal device selects a higher priority between the priority of the first SL-PRS and the priority of the SL-SCH MAC subheader as the first priority. The priority of the SL-SCH MAC subheader can be the priority of the first terminal device transmitting the SL-SCH MAC subheader.

[0222] Optionally, the network device or other terminal device can configure the priority of the SL-SCH MAC subheader. Optionally, the priority of the SL-SCH MAC subheader includes 8 levels.

[0223] Optionally, the transmission priority of the first SL-PRS includes 8 levels.

[0224] Case 5: The resource selection parameter includes the first remaining PDB.

[0225] Optionally, S220 includes: if the first terminal device has a data transmission demand or data arrives, selecting the smaller value between the PDB of the data and the remaining transmission time corresponding to the first SL-PRS as the first remaining PDB.

[0226] Optionally, S220 includes: if the first terminal device has no data transmission demand or no data has arrived, selecting the remaining transmission time corresponding to the first SL-PRS as the first remaining PDB.

[0227] Optionally, the remaining transmission time corresponding to the first SL-PRS can be understood as the first terminal device needs to send the first SL-PRS within the remaining transmission time, for example, sending the first SL-PRS to other terminal devices within the remaining transmission time.

[0228] Optionally, the first terminal device may calculate the remaining PDB of the data and / or the remaining transmission time of the first SL-PRS.

[0229] If the target resource pool selected by the first terminal device in S210 is a resource pool of the second type, the following discusses the following scenarios in which the first terminal device selects the first resource from the target resource pool based on the resource selection parameters. In other words, depending on the type of target resource pool determined by the first terminal device, the method for selecting the first resource from the target resource pool based on the resource parameters may vary.

[0230] Case 1: The resource selection parameter includes a first resource reservation time interval.

[0231] Optionally, S220 includes: selecting a first resource reservation time interval from one or more transmission periods supported by the target resource pool, or selecting a transmission period from one or more transmission periods supported by the target resource pool, and using the transmission period as the first resource reservation time interval. The first resource reservation time interval may support or cover the transmission period of the first SL-PRS, for example, the first reservation time interval is the transmission period of the first SL-PRS, or the first reservation time interval is a second transmission period close to the transmission period of the first SL-PRS in the one or more transmission periods supported by the target resource pool.

[0232] Optionally, the first resource reservation time interval is the transmission period of the first SL-PRS. For example, if the transmission period of the first SL-PRS is 0.5 ms, the first reservation time interval can be determined to be 0.5 ms. In this way, the transmission of the first SL-PRS can be met and the reliability of the transmission of the first SL-PRS can be improved. Optionally, the network device or other terminal device can configure the transmission period of the first SL-PRS.

[0233] Optionally, the transmission period of the first SL-PRS may be determined by the positioning service requirements currently executed by the first terminal device.

[0234] Optionally, the first terminal device may select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period. For specific details, please refer to Case 1 when the target resource pool is a first type resource pool.

[0235] Optionally, the network device or other terminal device can configure at least one transmission period supported by the target resource pool, or the at least one transmission period supported by the target resource pool is determined by pre-configuration. Optionally, the network device or other terminal device can configure at least one transmission period supported by each of multiple resource pools, or the at least one transmission period supported by each of multiple resource pools is determined by pre-configuration. The multiple resource pools include the target resource pool, and the transmission period supported by each resource pool can be different. Of course, there can also be two resource pools that support the same transmission period. This embodiment of the present application does not impose any restrictions on this.

[0236] Optionally, situation one is different from situation one in which the target resource pool is the first type of resource pool mentioned above in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to determine whether the first terminal device has a data transmission demand. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or data arrives is not a judgment condition for determining that the first terminal device selects the first resource reservation time interval in the second type of resource pool.

[0237] Case 2: The resource selection parameter includes the first HARQ retransmission number.

[0238] Optionally, before S220, the process includes: the network device may configure a first number of transmissions available to the first terminal device for the first terminal device, or the first terminal device may obtain the first number of transmissions available to the first terminal device from a preconfigured configuration. Optionally, the first number of transmissions available to the first terminal device may also be referred to as the first number of transmissions supported by the first terminal device.

[0239] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device, or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of transmissions, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target resource pool, and the number of transmissions included in the target CBR configuration can be the second number of transmissions.

[0240] Optionally, S220 includes: the first terminal device selects the maximum number of transmissions of the first SL-PRS from the first number of transmissions supported by itself and the second number of transmissions determined according to the current CBR of the target resource pool, and the maximum number of transmissions is the first HARQ retransmission number included in the resource selection parameter. The maximum number of transmissions is the smaller value of the first number of transmissions and the second number of transmissions. If the first number of transmissions is greater than the second number of transmissions, the maximum number of transmissions is the second number of transmissions. If the second number of transmissions is greater than the first number of transmissions, the maximum number of transmissions is the first number of transmissions. Alternatively, the maximum number of transmissions is a value taken from the intersection of the range corresponding to the first number of transmissions and the range corresponding to the second number of transmissions. For example, the first number of transmissions is 5 and the second number of transmissions is 10, that is, the intersection of the first number of transmissions and the second number of transmissions is 0-5 times, then the maximum number of transmissions may be a value taken from 0-5 times. Optionally, that is, the maximum number of transmissions of the first SL-PRS may cover or support the transmission of the first SL-PRS. Optionally, the first terminal device may obtain the current CBR of the target resource pool through measurement.

[0241] Optionally, in case 2, the transmission corresponding to the maximum number of transmissions of the first SL-PRS may include the transmission corresponding to the first number of HARQ retransmissions of the first SL-PRS. Alternatively, it can be understood that the maximum number of transmissions and the number of HARQ retransmissions can be replaced with each other.

[0242] Optionally, S220 includes: the first terminal device selects a first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the CBR of the target resource pool.

[0243] Optionally, the first terminal device selects the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool, including: the first terminal device selects the smaller number of the transmission number supported by the first terminal device and the second transmission number corresponding to the current CBR of the target resource pool as the first HARQ retransmission number. For example, if the number of transmissions supported by the first terminal device is 4 and the second transmission number corresponding to the CBR of the target resource pool is 5, then the first HARQ retransmission number may be 4. Alternatively, the maximum number of transmissions is a value taken in the intersection of the range corresponding to the first transmission number and the range corresponding to the second transmission number, and the specific value may be determined by the number of retransmissions of the first SL-PRS. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the number of transmissions supported by the first terminal device, for example, determining the first number of transmissions supported by the first terminal device as the first HARQ retransmission number. Optionally, the first terminal device may also determine the first HARQ retransmission number based on the second number of transmissions corresponding to the CBR of the target resource pool, for example, determining the second number of transmissions corresponding to the current CBR of the target resource pool as the first HARQ retransmission number.

[0244] Optionally, the number of transmissions supported by the first terminal device may be replaced by: the first number of transmissions configured for the first terminal device.

[0245] Optionally, selecting the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool can be replaced by determining the first HARQ retransmission number based on at least one of the first transmission number supported by the first terminal device and the second transmission number corresponding to the CBR of the target resource pool.

[0246] Optionally, the first number of transmissions supported by the first terminal device may be the number of transmissions of the first SL-PRS supported by the first terminal device, and the transmission corresponding to the number of transmissions may include the transmission corresponding to the number of HARQ retransmissions.

[0247] Through the method of situation 2, the transmission requirement of the first SL-PRS can be guaranteed and the reliability of the transmission of the first SL-PRS can be improved.

[0248] Among them, situation two is different from situation two in which the target resource pool is the first type of resource pool in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to judge whether the first terminal device has a data transmission demand or whether data has arrived. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or whether data has arrived is not a judgment condition for determining the first HARQ retransmission number.

[0249] Case three: the resource selection parameter includes the first frequency domain resource amount.

[0250] Optionally, before S220, the process includes: the network device may configure, for the first terminal device, the number of first sub-channels available to the first terminal device, or the first terminal device may obtain the number of first sub-channels available to the first terminal device from a preconfiguration. Optionally, the number of first sub-channels available to the first terminal device may be the number of first sub-channels supported by the first terminal device.

[0251] Optionally, before S220, it also includes: the network device can configure at least one CBR configuration of the target resource pool for the first terminal device or the first terminal device obtains at least one CBR configuration from the pre-configuration, each CBR configuration in the at least one CBR configuration includes the number of sub-channels, and the first terminal device can determine the target CBR configuration in the at least one CBR configuration based on the current CBR situation of the target value resource pool, and the number of sub-channels included in the target CBR configuration can be the second sub-channel number.

[0252] Optionally, S220 includes: the first terminal device selects a first frequency domain resource amount from the first subchannel number and the second subchannel number determined according to the current CBR of the target resource pool, wherein the first frequency domain resource amount is a value in the intersection of the range corresponding to the first subchannel number and the range corresponding to the second subchannel number. That is, the first frequency domain resource amount selected by the first terminal device from the first subchannel number and the second subchannel number can cover the transmission of the first SL-PRS. Optionally, the first terminal device can obtain the current CBR of the target resource pool through measurement.

[0253] For example, the number of first subchannels includes a maximum value of 5 and a minimum value of 1, and the number of second subchannels includes a maximum value of 6 and a minimum value of 2. It can be understood that the range corresponding to the first number of subchannels is 1 to 5, and the range corresponding to the second number of subchannels is 2 to 6. The intersection of the first number of subchannels and the second number of subchannels is 2 to 5. At this time, the first terminal device selects a value from 2 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 2 to 5 as the first frequency domain resource amount. Alternatively, the first number of subchannels can include a value of 5, and the second number of subchannels can include a value of 6. It can be understood that the range corresponding to the first number of subchannels is 0 to 5, and the range corresponding to the second number of subchannels is 0 to 6. The intersection of the first number of subchannels and the second number of subchannels is 0 to 5. At this time, the first terminal device selects a value from 0 to 5 as the first frequency domain resource amount. Optionally, the first terminal device can also select the maximum value from 0 to 5 as the first frequency domain resource amount.

[0254] Optionally, the number of sub-channels can be understood as the size of frequency domain resources.

[0255] Optionally, S220 includes: the first terminal device determines the first frequency domain resource amount based on the number of subchannels supported by the first terminal device and the number of subchannels supported by the current CBR of the target resource pool. Optionally, the first terminal device determines the first frequency domain resource amount based on the number of subchannels supported by the first terminal device and the second number of subchannels supported by the current CBR of the target resource pool, including: the first terminal device selects the largest number of subchannels between the number of subchannels supported by the first terminal device and the second number of subchannels supported by the current CBR of the target resource pool as the first frequency domain resource amount. Optionally, S220 includes: the first terminal device may determine the number of subchannels supported by the first terminal device as the first frequency domain resource amount, or determine the second number of subchannels supported by the current CBR of the target resource pool as the first frequency domain resource amount.

[0256] Optionally, S220 includes: the first terminal device determines the number of sub-channels corresponding to the first SL-PRS as the first frequency domain resource amount.

[0257] Among them, situation two is different from situation two in which the target resource pool is the first type of resource pool in that after the first terminal device determines that the target resource pool is the second type of resource pool, there is no need to judge whether the first terminal device has a data transmission demand or whether data has arrived. In other words, when the target resource pool is the second type of resource pool, whether the first terminal device has a data transmission demand or whether data has arrived is not a judgment condition for determining the first frequency domain resource amount.

[0258] Case 4: The resource selection parameter includes the first priority.

[0259] Optionally, S220 includes: the first terminal device selects the priority of the first SL-PRS as the first priority. That is, when selecting the first resource in the first type of target resource pool, the first resource can be selected according to the priority of the first SL-PRS, so that the selected first resource can meet the transmission of the first SL-PRS.

[0260] Optionally, the network device or other terminal device can configure the priority of the data.

[0261] Optionally, the network device or other terminal device may configure the priority of the first SL-PRS.

[0262] Optionally, S220 includes: the first terminal device selects a higher priority between the priority of the first SL-PRS and the priority of the MAC SL-SCH subheader as the first priority. The priority of the MAC SL-SCH subheader can be the priority of the first terminal device transmitting the MAC SL-SCH subheader.

[0263] Optionally, the network device or other terminal device can configure the priority of the SL-SCH MAC subheader. Optionally, the priority of the SL-SCH MAC subheader includes 8 levels.

[0264] Optionally, the transmission priority of the first SL-PRS includes 8 levels.

[0265] Case 5: The resource selection parameter includes the first remaining PDB.

[0266] Optionally, S220 includes: the first terminal device selects the remaining transmission time corresponding to the first SL-PRS as the first PDB.

[0267] Optionally, the first terminal device may calculate the remaining transmission time corresponding to the first SL-PRS.

[0268] Optionally, the remaining transmission time corresponding to the first SL-PRS can be understood as the first terminal device needs to send the first SL-PRS within the remaining transmission time, for example, sending the first SL-PRS to other terminal devices within the remaining transmission time.

[0269] Optionally, in an embodiment of the present application, the network device configures the first terminal device including a broadcast configuration and / or a dedicated configuration.

[0270] S230, the first terminal device transmits a first SL-PRS to the second terminal device on the first resource, and the second terminal device receives the first SL-PRS on the first resource.

[0271] Optionally, the first terminal device sends a first SL-PRS to the second terminal device on the first resource. The second terminal device can measure the first SL-PRS and obtain the measurement data of the first SL-PRS sent by the first terminal device, thereby realizing the positioning of the terminal device.

[0272] It should be noted that in the embodiment of the present application, priority can be replaced by transmission priority.

[0273] Among them, the first SL-PRS is used for positioning, and a network element, terminal or entity for positioning is introduced in the positioning scenario. The first terminal device can send the first SL-PRS through the PC5 port. The embodiment of the present application is applicable to the positioning scenarios of "positioning reference signal and SL-PRS based on Uu port for Target UE positioning" and "positioning of Target UE based only on SL-PRS". The positioning methods targeted by the embodiment of the present application include but are not limited to sidelink Time Difference Of Arrival (SL-TDOA), sidelink multi-round trip time (Multi-RTT), sidelink angle of arrival (AOA) and other positioning methods supported by NR, LTE or future communication systems.

[0274] Optionally, in S210 of method 200, the first terminal device determines a target resource pool from a plurality of resource pools, and the plurality of resource pools may include a first type of resource pool and a second type of resource pool. That is, the network device may configure a first type of resource pool and a second type of resource pool for the first terminal device, and the first terminal device determines the target resource pool from the two types of resource pools configured on the network device. In some scenarios, if the network device is configured with a first type of resource pool, the first terminal device may determine the target resource pool from the first type of resource pool; if the network device is configured with a second type of resource pool, the first terminal device may determine the target resource pool from the second type of resource pool. That is, if the network device is configured with two types of resource pools, the first terminal device may determine the target resource pool from the two types of resource pools. If the network device is configured with one type of resource pool, the first terminal device may determine the target resource pool from the one type of resource pool.

[0275] In the above-described method 200, a method for transmitting an SL-PRS is provided. A first terminal device may determine a target resource pool from multiple resource pools, where the multiple resource pools include a first type of resource pool and a second type of resource pool. A first resource may be determined in the target resource pool, and the first terminal device may send a first SL-PRS to a second terminal device on the first resource. Furthermore, the first terminal device may select a first resource from the target resource pool based on a resource selection parameter, thereby providing a method for selecting a first resource for transmitting the first SL-PRS.

[0276] Optionally, in some scenarios, the first terminal device may select the first resource in the target resource pool. The target resource pool may be a resource pool of the first type or a resource pool of the second type. That is, the first terminal device may not need to select between the resource pool of the first type and the resource pool of the second type. In other words, the method of selecting the first resource in the target resource pool in method 300 may be a separate embodiment or an embodiment combined with method 200. A separate embodiment of the method of selecting the first resource in the target resource pool is described below. As shown in FIG. 3 , a method 300 for transmitting an SL-PRS is shown. Method 300 includes:

[0277] S310: The first terminal device selects a first resource from a target resource pool based on a resource selection parameter. The target resource pool may be a resource pool of the first type or a resource pool of the second type. In other words, the first terminal device may select the first resource from the resource pool of the first type based on the resource selection parameter, or may select the first resource from the resource pool of the second type based on the resource selection parameter.

[0278] Optionally, the method for the first terminal device to select the first resource in the target resource pool according to the resource selection parameter refers to the description of method 200. In order to avoid redundancy, the embodiment of the present application is not described in detail.

[0279] S320: The first terminal device transmits a first SL-PRS to the second terminal device on the first resource, and the second terminal device receives the first SL-PRS on the first resource.

[0280] S320 is the same as S230 and will not be described in detail to avoid redundancy.

[0281] In the above method 300, the first terminal device can select a first resource in the target resource pool according to the resource selection parameters, and send a first SL-PRS to the second terminal device on the first resource. The first resource selected according to the resource selection parameters can meet the transmission of the first SL-PRS, which is conducive to improving the reliability of transmitting the first SL-PRS.

[0282] It should be noted that the resource selection parameters may include more or fewer parameters, and the embodiments of the present application do not limit this.

[0283] In addition, in an embodiment of the present application, "select" can be replaced with "determine", for example, selecting the first resource in the target resource pool can be replaced with determining the first resource in the target resource pool, and for another example, selecting the target resource pool from multiple resource pools can be replaced with determining the target resource pool from multiple resource pools.

[0284] The above describes the method embodiments provided by this application, and the following describes the device embodiments provided by this application. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for matters not described in detail, reference can be made to the method embodiments above. For the sake of brevity, they will not be repeated here.

[0285] Figure 4 is a schematic block diagram of a communication device provided in an embodiment of the present application. As shown in Figure 4, the communication device 400 may include a processing unit 410 and a communication unit 420. The communication unit 420 can implement corresponding communication functions, and the communication can be internal communication of the communication device 400 or communication between the communication device 400 and other devices; the processing unit 410 can implement corresponding processing functions. The communication unit 420 can also be referred to as a communication interface or a transceiver unit. Optionally, the communication device 400 may also include a storage unit, which can be used to store instructions and / or data, and the processing unit 410 can read the instructions and / or data in the storage unit so that the device implements the aforementioned method embodiment.

[0286] In one possible design, the communication device 400 may be the first terminal device in the above method 200, or may be a module or chip applied to the first terminal device. The communication device 400 may be used to execute the steps or processes executed by the first terminal device in the above embodiments.

[0287] Specifically, the processing unit 410 is used to select a target resource pool from multiple resource pools, where the multiple resource pools include a first type of resource pool and a second type of resource pool; select a first resource from the target resource pool; and the communication unit 420 is used to transmit a first SL-PRS to a second terminal device on the first resource.

[0288] Optionally, the first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is used only to transmit SL-PRS.

[0289] Optionally, the processing unit 410 is specifically configured to: select a resource pool with a lowest channel busy ratio (CBR) from multiple resource pools as the target resource pool.

[0290] Optionally, the priority of the first SL-PRS is the first priority, and the processing unit 410 is specifically configured to: select a resource pool whose SL-PRS priority is the first priority from multiple resource pools as the target resource pool.

[0291] Optionally, the communication unit 420 is further configured to receive first information, where the first information is used to indicate a priority of the SL-PRS of each resource pool in the multiple resource pools.

[0292] Optionally, the communication unit 420 is also used to receive second information and third information, the second information being used to indicate the priority of the SL-PRS of each resource pool in the first type of resource pools among multiple resource pools, and the third information being used to indicate the priority of the SL-PRS of each resource pool in the second type of resource pools among multiple resource pools.

[0293] Optionally, the processing unit 410 is specifically configured to:

[0294] If the priority of the first SL-PRS is higher than the preset second priority, selecting a target resource pool from a second type of resource pool in the plurality of resource pools; or,

[0295] If the priority of the first SL-PRS is lower than the preset second priority, a target resource pool is selected from a first type of resource pool among the multiple resource pools.

[0296] Optionally, the processing unit 410 is specifically configured to:

[0297] If the communication device 400 has a data transmission requirement, a target resource pool is selected from a first type of resource pool among the multiple resource pools;

[0298] If the communication device 400 has no data transmission requirement, a target resource pool is selected from the second type of resource pools among the multiple resource pools.

[0299] Optionally, the processing unit 410 is specifically configured to: select a target resource pool from a second type of resource pool in the multiple resource pools.

[0300] Optionally, the processing unit 410 is specifically configured to select, from the multiple resource pools, a first type of resource pool or a second type of resource pool whose synchronization source is a global satellite navigation system GNSS as a target resource pool.

[0301] Optionally, the processing unit 410 is specifically used to: select a first resource in the target resource pool according to a resource selection parameter; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first residual packet delay budget PDB.

[0302] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval. The processing unit 410 is further configured to:

[0303] If the communication device 400 has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

[0304] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval;

[0305] The processing unit 410 is further configured to: if the communication device 400 has a data transmission requirement, select a minimum transmission period between a data transmission period and a first SL-PRS transmission period;

[0306] If the target resource pool supports the minimum transmission period, the minimum transmission period is selected as the first resource reservation time interval; or,

[0307] If the target resource pool does not support the minimum transmission cycle, a first transmission cycle close to the minimum transmission cycle is selected from at least one transmission cycle supported by the target resource pool, and the first resource reservation time interval is the first transmission cycle.

[0308] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval. The processing unit 410 is further configured to:

[0309] If the communication device 400 has no data transmission requirement, the transmission period of the first SL-PRS is selected as the first resource reservation time interval; or

[0310] If the communication device 400 has no data transmission requirement, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0311] Optionally, the target resource pool is a second type of resource pool, and the resource selection parameters include a first resource reservation time interval, which is the transmission period of the first SL-PRS; or, the processing unit 410 is further used to: select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0312] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first HARQ retransmission count, and the processing unit 410 is further configured to:

[0313] If the communication device 400 has a data transmission requirement, the HARQ retransmission number of the data is selected as the first HARQ retransmission number; or

[0314] If the communication device 400 has no data transmission requirement, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0315] Optionally, when the communication device 400 has a data transmission requirement, if the data transmission of the communication device 400 is successful, it means that the first SL-PRS is transmitted successfully.

[0316] Optionally, the target resource pool is a second type of resource pool, and the resource selection parameters include a first HARQ retransmission number. The processing unit 410 is also used to select the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0317] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0318] If the communication device 400 has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the maximum number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount; or

[0319] If the communication device 400 has no data transmission requirement, the first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0320] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0321] The first frequency domain resource amount is determined according to the number of sub-channels supported by the communication apparatus 400 and the number of sub-channels supported by the target resource pool.

[0322] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first priority. The processing unit 410 is further configured to:

[0323] If the communication device 400 has a data transmission requirement, the priority of the data is selected as the first priority, or the higher priority between the priority of the data and the priority of the first SL-PRS is selected as the first priority; or

[0324] If the communication device 400 has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0325] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes a first priority, and the processing unit 410 is further configured to: select the priority of the first SL-PRS as the first priority.

[0326] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first PDB. The processing unit 410 is further configured to:

[0327] If the communication device 400 has a data transmission requirement, the smaller of the data PDB and the first SL-PRS PDB is selected as the first PDB; or

[0328] If the communication device 400 has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

[0329] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first PDB, and the processing unit 410 is further configured to: select the PDB of the first SL-PRS as the first PDB.

[0330] In one possible design, the communication device 400 may be the first terminal device in the above method 300, or may be a module or chip applied to the first terminal device. The communication device 400 may be used to execute the steps or processes executed by the first terminal device in the above embodiments.

[0331] Specifically, the processing unit 410 is used to select a first resource in a target resource pool according to a resource selection parameter, and the target resource pool is a first type of resource pool or a second type of resource pool; the communication unit 420 is used to transmit a first SL-PRS to a second terminal device on the first resource; wherein the resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first residual packet delay budget PDB.

[0332] Optionally, the first type is a shared type, and the second type is a dedicated resource type for the sidelink positioning reference signal.

[0333] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval. The processing unit 410 is further configured to:

[0334] If the communication device 400 has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

[0335] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval. The processing unit 410 is further configured to:

[0336] If the communication device 400 has a data transmission requirement, the minimum transmission period between the data transmission period and the first SL-PRS transmission period is selected;

[0337] If the target resource pool supports the minimum transmission period, the minimum transmission period is selected as the first resource reservation time interval; or,

[0338] If the target resource pool does not support the minimum transmission cycle, a first transmission cycle close to the minimum transmission cycle is selected from at least one transmission cycle supported by the target resource pool, and the first resource reservation time interval is the first transmission cycle.

[0339] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first resource reservation time interval. The processing unit 410 is further configured to:

[0340] If the communication device 400 has no data transmission requirement, the transmission period of the first SL-PRS is selected as the first resource reservation time interval; or

[0341] If the communication device 400 has no data transmission requirement, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0342] Optionally, the target resource pool is a second type of resource pool, and the resource selection parameters include a first resource reservation time interval, which is the transmission period of the first SL-PRS; or, the processing unit 410 is further used to: select a second transmission period close to the transmission period of the first SL-PRS from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

[0343] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first HARQ retransmission count, and the processing unit 410 is further configured to:

[0344] If the communication device 400 has a data transmission requirement, the HARQ retransmission number of the data is selected as the first HARQ retransmission number; or

[0345] If the communication device 400 has no data transmission requirement, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio of the target resource pool.

[0346] Optionally, when the communication device 400 has a data transmission requirement, if the data transmission of the communication device 400 is successful, it means that the first SL-PRS is transmitted successfully.

[0347] Optionally, the target resource pool is a second type of resource pool, the resource selection parameters include the first HARQ retransmission number, and the processing unit 410 is further used to determine the first HARQ retransmission number based on at least one of the HARQ retransmission number supported by the communication device 400 and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

[0348] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0349] If the communication device 400 has a data transmission requirement, the number of subchannels corresponding to the data is selected as the first frequency domain resource amount, or the maximum number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS is selected as the first frequency domain resource amount; or

[0350] If the communication device 400 has no data transmission requirement, the first frequency domain resource amount is determined according to the number of sub-channels supported by the communication device 400 and the number of sub-channels supported by the target resource pool.

[0351] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the processing unit 410 is further configured to:

[0352] The first frequency domain resource amount is determined according to the number of sub-channels supported by the communication apparatus 400 and the number of sub-channels supported by the target resource pool.

[0353] Optionally, the target resource pool is a resource pool of the first type, and the resource selection parameter includes a first priority. The processing unit 410 is further configured to:

[0354] If the communication device 400 has a data transmission requirement, the priority of the data is selected as the first priority, or the higher priority between the priority of the data and the priority of the first SL-PRS is selected as the first priority; or

[0355] If the communication device 400 has no data transmission requirement, the priority of the first SL-PRS is selected as the first priority.

[0356] Optionally, the target resource pool is a resource pool of the second type, and the resource selection parameter includes a first priority. The processing unit 410 is further configured to:

[0357] The priority of the first SL-PRS is selected as the first priority.

[0358] Optionally, the target resource pool is a resource pool of the first type, the resource selection parameter includes a first PDB, and the method further includes:

[0359] If the communication device 400 has a data transmission requirement, the smaller of the data PDB and the first SL-PRS PDB is selected as the first PDB; or

[0360] If the communication device 400 has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

[0361] Optionally, the target resource pool is a resource pool of the second type, the resource selection parameter includes the first PDB, and the processing unit 410 is further configured to: select the PDB of the first SL-PRS as the first PDB.

[0362] Regarding the steps or processes executed by each unit in the communication device 400, please refer to the above method 200 and method 300 for details, which will not be described in detail here.

[0363] It should be understood that the "unit" in the communication device 400 can be implemented by hardware, can be implemented by software, and can also be implemented by hardware executing the corresponding software implementation. For example, the "unit" can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit and / or other suitable components that support the described functions. For another example, the communication unit 420 can be replaced by a transceiver transceiver circuit (for example, it can include a receiving circuit and a transmitting circuit), and the processing unit 410 can be replaced by a processor or a processing circuit.

[0364] Figure 5 shows a schematic block diagram of another communication device 500 provided in an embodiment of the present application. The device 500 can be a first terminal device, or a chip, chip system, or processor that supports the first terminal device in implementing the above method. The device can be used to implement the method described in the above method embodiment. For details, please refer to the description of the above method embodiment.

[0365] The device 500 may include one or more processors 510, which may also be referred to as processing units, and may implement certain control functions. The processor 510 may be a general-purpose processor or a dedicated processor. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control a communication device (e.g., a base station, a baseband chip, a user chip, a DU or a CU, etc.), execute software programs, and process data from the software programs.

[0366] In an optional design, the processor 510 may also store instructions and / or data, which can be executed by the processor 510 to enable the apparatus 500 to perform the method described in the above method embodiment. Optionally, the processing unit 410 in the communication apparatus 400 may be the processor 510.

[0367] In another optional design, the device 500 may include a communication interface 520 for implementing receiving and transmitting functions. For example, the communication interface 520 may be a transceiver circuit, an interface, an interface circuit, or a transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing the receiving and transmitting functions may be separate or integrated. The transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or the transceiver circuit, interface, interface circuit, or transceiver may be used for transmitting or delivering signals. Optionally, the communication unit 420 in the communication device 400 may be the communication interface 520.

[0368] Optionally, the device 500 may include one or more memories 530, which may store instructions. The instructions may be executed on the processor 510, causing the device 500 to perform the method described in the above method embodiment. Optionally, the memory 530 may also store data. Optionally, the processor 510 may also store instructions and / or data. The processor 510 and the memory 530 may be provided separately or integrated together.

[0369] Figure 6 is a schematic diagram of the structure of a first terminal device 600 provided in this application. The above-mentioned communication device 400 or communication device 500 can be configured in the terminal device 600. Alternatively, the communication device 400 or communication device 500 itself can be the first terminal device 600. In other words, the first terminal device 600 can perform the actions performed by the first terminal device in the above-mentioned method embodiment. Optionally, for ease of explanation, Figure 6 only shows the main components of the terminal device. As shown in Figure 6, the terminal device 600 includes a processor, memory, control circuitry, an antenna, and input / output devices.

[0370] The processor is primarily used to process communication protocols and communication data, as well as control the entire terminal device, execute software programs, and process software program data, for example, to support the terminal device in performing the actions described in the above method embodiments. The memory is primarily used to store software programs and data. The control circuit is primarily used to convert baseband signals into radio frequency signals and process radio frequency signals. The control circuit and antenna together are also called a transceiver, which is primarily used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, displays, and keyboards, are primarily used to receive data input by the user and output data to the user.

[0371] When the terminal device is powered on, the processor reads the software program stored in the storage unit, interprets and executes the program's instructions, and processes the program's data. When data needs to be transmitted wirelessly, the processor performs baseband processing on the data to be transmitted and outputs the baseband signal to the RF circuit. The RF circuit then performs RF processing on the baseband signal and transmits it via the antenna as electromagnetic waves. When data is sent to the terminal device, the RF circuit receives the RF signal via the antenna, converts it into a baseband signal, and outputs the baseband signal to the processor, which converts the baseband signal into data and processes it.

[0372] Those skilled in the art will appreciate that, for ease of explanation, FIG6 shows only one memory and processor. In an actual terminal device, multiple processors and memories may exist. The memory may also be referred to as a storage medium or storage device, etc., which is not limited in the present embodiment.

[0373] For example, a processor may include a baseband processor and a central processing unit (CPU). The baseband processor is primarily responsible for processing communication protocols and communication data, while the CPU is primarily responsible for controlling the entire terminal device, executing software programs, and processing data from software programs. The processor in Figure 6 integrates the functions of both the baseband processor and the CPU. Those skilled in the art will appreciate that the baseband processor and the CPU may also be independent processors interconnected via a bus or other technology. Those skilled in the art will appreciate that a terminal device may include multiple baseband processors to accommodate different network standards, multiple CPUs to enhance its processing capabilities, and that the various components of the terminal device may be connected via various buses. The baseband processor may also be referred to as a baseband processing circuit or a baseband processing chip. The CPU may also be referred to as a central processing circuit or a central processing chip. The functionality for processing communication protocols and communication data may be built into the processor or stored as a software program in a storage unit, with the processor executing the software program to implement the baseband processing functionality.

[0374] It should be understood that, in one possible design, each step in the method embodiment provided in the present application can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0375] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0376] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0377] The present application also provides a computer program product, which includes: computer program code, which, when executed on a computer, enables the computer to execute the various steps or processes executed by the first terminal device in any of the above method embodiments.

[0378] The present application also provides a computer-readable storage medium, which stores program code. When the program code runs on a computer, the computer executes the various steps or processes executed by the first terminal device in any of the above method embodiments.

[0379] The present application also provides a communication device, including a processor and an interface, wherein the interface is used to send and / or receive signals, so that the processor executes the various steps or processes executed by the first terminal device in any of the above method embodiments.

[0380] The present application also provides a communication system, which includes at least one of a first terminal device and a second terminal device.

[0381] The above-mentioned device embodiments and method embodiments are completely corresponding, and the corresponding steps are performed by the corresponding modules or units. For example, the communication unit or communication interface performs the receiving or sending steps in the method embodiment. Other steps except sending and receiving can be performed by the processing unit or processor.

[0382] In the embodiments of this application, each term and English abbreviation is provided for convenience of description and shall not constitute any limitation to this application. This application does not exclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0383] As used in this specification, the terms "component," "module," "system," and the like are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on one computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable storage media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0384] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0385] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can be based on the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0386] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0387] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0388] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0389] In the above embodiments, the functions of each functional unit can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0390] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0391] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for transmitting a sidelink positioning reference signal SL-PRS, characterized in that: The method comprises: The first terminal device selects a target resource pool from a plurality of resource pools, wherein the plurality of resource pools include a first type of resource pool and a second type of resource pool; The first terminal device selects a first resource in the target resource pool; The first terminal device transmits a first SL-PRS to a second terminal device on the first resource.

2. The method according to claim 1, characterized in that The first type of resource pool is used to transmit data and SL-PRS, and the second type of resource pool is only used to transmit SL-PRS.

3. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: A resource pool having the lowest channel busy ratio CBR is selected from the multiple resource pools as the target resource pool.

4. The method according to claim 1 or 2, characterized in that: The priority of the first SL-PRS is the first priority, and the selecting a target resource pool from a plurality of resource pools includes: A resource pool whose SL-PRS priority is the first priority is selected from multiple resource pools as the target resource pool.

5. The method according to claim 4, characterized in that The method further comprises: First information is received, where the first information is used to indicate a priority of a SL-PRS of each resource pool in the multiple resource pools.

6. The method according to claim 4, characterized in that The method further comprises: Receive second information and third information, wherein the second information is used to indicate the priority of the SL-PRS of each resource pool of the first type in the multiple resource pools, and the third information is used to indicate the priority of the SL-PRS of each resource pool of the second type in the multiple resource pools.

7. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: If the priority of the first SL-PRS is higher than a preset second priority, selecting the target resource pool from the resource pool of the second type among the multiple resource pools; or, If the priority of the first SL-PRS is lower than the preset second priority, a target resource pool is selected from the resource pools of the first type among the multiple resource pools.

8. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: If the first terminal device has a data transmission demand, selecting the target resource pool from the resource pools of the first type among the multiple resource pools; If the first terminal device has no data transmission demand, the target resource pool is selected from the resource pools of the second type in the multiple resource pools.

9. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: The target resource pool is selected from resource pools of the second type among the multiple resource pools.

10. The method according to claim 1 or 2, characterized in that: The selecting a target resource pool from the multiple resource pools includes: The first type of resource pool or the second type of resource pool whose synchronization source is the global satellite navigation system GNSS is selected from the multiple resource pools as the target resource pool.

11. The method according to any one of claims 1 to 10, characterized in that The selecting a first resource in the target resource pool includes: Selecting a first resource in the target resource pool according to a resource selection parameter; The resource selection parameter includes at least one of a first resource reservation time interval, a first hybrid automatic repeat request HARQ retransmission number, a first frequency domain resource amount, a first priority, or a first remaining packet delay budget PDB.

12. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has a data transmission requirement, the smallest transmission period between the data transmission period and the first SL-PRS transmission period is selected as the first resource reservation time interval.

13. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has a data transmission requirement, select a transmission period of data and a transmission period of the first SL-PRS that is the smallest; If the target resource pool supports the minimum transmission period, selecting the minimum transmission period as the first resource reservation time interval; or, If the target resource pool does not support the minimum transmission period, a first transmission period close to the minimum transmission period is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the first transmission period.

14. The method according to claim 11, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first resource reservation time interval, and the method includes: If the first terminal device has no data transmission requirement, selecting the transmission period of the first SL-PRS as the first resource reservation time interval; or, If the first terminal device has no data transmission demand, a second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

15. The method according to claim 11, characterized in that The target resource pool is a resource pool of the second type, and the resource selection parameter includes the first resource reservation time interval; The first resource reservation time interval is a transmission period of the first SL-PRS; or, the method includes: A second transmission period close to the transmission period of the first SL-PRS is selected from at least one transmission period supported by the target resource pool, and the first resource reservation time interval is the second transmission period.

16. The method according to any one of claims 11 to 14, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: If the first terminal device has a data transmission requirement, select the HARQ retransmission number of the data as the first HARQ retransmission number; or If the first terminal device has no data transmission demand, the first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

17. The method according to claim 16, characterized in that In the case where the first terminal device has a data transmission demand, if the data transmission of the first terminal device is successful, it means that the first SL-PRS transmission is successful.

18. The method according to claim 11 or 15, characterized in that The target resource pool is a resource pool of the second type, the resource selection parameter includes the first HARQ retransmission number, and the method further includes: The first HARQ retransmission number is selected according to at least one of the HARQ retransmission number supported by the first terminal device and the HARQ retransmission number corresponding to the channel busy ratio CBR of the target resource pool.

19. The method according to any one of claims 11 to 14 or 16, characterized in that: The target resource pool is a resource pool of the first type, the resource selection parameter includes a first frequency domain resource amount, and the method further includes: If the first terminal device has a data transmission requirement, select the number of subchannels corresponding to the data as the first frequency domain resource amount, or select the largest number of subchannels between the number of subchannels corresponding to the data and the number of subchannels corresponding to the first SL-PRS as the first frequency domain resource amount; or, If the first terminal device has no data transmission demand, the first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

20. The method according to claim 11, 15 or 18, characterized in that: The target resource pool is a resource pool of the second type, the resource selection parameter includes the first frequency domain resource amount, and the method further includes: The first frequency domain resource amount is determined according to the number of sub-channels supported by the first terminal device and the number of sub-channels supported by the target resource pool.

21. The method according to any one of claims 11 to 14 or 16 or 19, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first priority, and the method further includes: If the first terminal device has a data transmission demand, select the priority of the data as the first priority, or select the higher priority between the priority of the data and the priority of the first SL-PRS as the first priority; or If the first terminal device has no data transmission demand, the priority of the first SL-PRS is selected as the first priority.

22. The method according to claim 11 or 15 or 18 or 20, characterized in that: The target resource pool is a resource pool of the second type, the resource selection parameter includes the first priority, and the method further includes: The priority of the first SL-PRS is selected as the first priority.

23. The method according to any one of claims 11 to 14 or 16 or 19 or 21, characterized in that The target resource pool is a resource pool of the first type, the resource selection parameter includes the first PDB, and the method further includes: If the first terminal device has a data transmission requirement, select the smaller of the PDB of the data and the PDB of the first SL-PRS as the first PDB; or If the first terminal device has no data transmission requirement, the PDB of the first SL-PRS is selected as the first PDB.

24. The method according to claim 11 or 15 or 18 or 20 or 22, characterized in that: The target resource pool is the resource pool of the second type, the resource selection parameter includes the first PDB, and the method further includes: selecting the PDB of the first SL-PRS as the first PDB.

25. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 24.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 24 is implemented.

27. A chip, characterized in that: The chip comprises a processor connected to a memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the chip executes the method as claimed in any one of claims 1 to 24.

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