Communication method and apparatus

Abstract

A communication method and apparatus, which are applied to the technical field of wireless communications. The method comprises: a first terminal device generating a plurality of OFDM symbols, wherein the plurality of OFDM symbols are symbols used for sidelink (SL) transmission in a slot, and the plurality of OFDM symbols comprise one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol or an SL CSI-RS symbol, and the plurality of OFDM symbols further comprise SL PRS symbols, the SL PRS symbols being the last M symbols among the plurality of OFDM symbols other than the one or more of the symbols, M being 1 or M being an integer greater than 1, and when M is greater than 1, the M symbols being continuous M symbols; and transmitting the plurality of OFDM symbols. By means of the method provided in the present application, the position of an SL PRS symbol can be determined, and thus the performance of SL positioning can be improved.

Description

Communication method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on September 27, 2023, with application number 202311271055.1 and application name “A Communication Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of wireless communication technology, and in particular to a communication method and device. Background Art

[0004] To meet the diverse needs of vehicles for positioning services in terms of latency, accuracy, and safety, the Third Generation Partnership Project (3GPP) has included sidelink (SL) positioning technology as an extension and enhancement of new radio (NR) positioning technology in its wireless communication standards, and has carried out research and standardization of related technologies. SL positioning, combined with its own characteristics, can reuse NR communication-related positioning methods as much as possible, including but not limited to: round trip time (RTT), sidelink time difference of arrival (SL TDOA), sidelink angle of arrival (SL AOA), or sidelink angle of departure (SL AOD) positioning methods.

[0005] SL positioning and SL communication can share a resource pool, that is, SL positioning and SL communication can use the same resource pool in a time division multiplexing manner or a frequency division multiplexing manner. At present, for SL positioning and SL communication sharing a resource pool, within a time slot, the sidelink positioning reference signal (SL PRS) symbol and the automatic gain control (AGC) symbol, gap symbol, physical sidelink control channel (PSCCH) symbol, and physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) symbol are all different symbols, and SL PRS occupies M consecutive symbols. In this way, there are multiple possibilities for the position of the SL PRS symbol, making it impossible for the terminal device to determine the position of the SL PRS symbol.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a communication method and apparatus for determining the position of SL PRS symbols, thereby improving the performance of SL positioning.

[0008] In the first aspect, the present application provides a communication method, which can be executed by a first terminal device, or by a component (such as a chip, etc.) in the first terminal device, without limitation. Taking the execution by the first terminal device as an example, the method includes: the first terminal device generates a plurality of orthogonal frequency division multiplexing (OFDM) symbols, the plurality of OFDM symbols being symbols for sidelink transmission within a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: AGC symbols, gap (hereinafter referred to as GAP) symbols, PSCCH symbols, PSSCH DMRS symbols, or SL CSI-RS symbols, the plurality of OFDM symbols also include SL PRS symbols, the SL PRS symbols being the last M symbols of the plurality of OFDM symbols except for the one or more symbols, the M being 1, or the M being an integer greater than 1, wherein when the M is greater than 1, the M symbols are M consecutive symbols; and, sending the plurality of OFDM symbols.

[0009] Exemplarily, the first terminal device generating multiple OFDM symbols may be replaced by: the first terminal device mapping the SL PRS to M symbols among the multiple OFDM symbols.

[0010] In one possible implementation, the SL CSI-RS symbol is a semi-statically configured symbol, and the first terminal device may also send the first information. For example, the first terminal device may send the first information to the second terminal device. The first information may be used to instruct the first terminal device to send the SL CSI-RS, or to instruct the first terminal device not to send the SL CSI-RS. The SL CSI-RS is carried by the SL CSI-RS symbol, or the SL CSI-RS is mapped to the SL CSI-RS symbol. In one example, regardless of whether the first terminal device sends the SL CSI-RS, that is, regardless of whether the first information is used to instruct the first terminal device to send the SL CSI-RS or to instruct the first terminal device not to send the SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols. In another example, when the first terminal device sends SL CSI-RS, that is, when the first information is used to indicate the sending of SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols; when the first terminal device does not send SL CSI-RS, that is, when the first information is used to indicate not to send SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols.

[0011] Through the above implementation method, the SL CSI-RS symbol is a semi-statically configured symbol. Regardless of whether the first terminal device sends the SL CSI-RS, the SL PRS symbol is time-divided with the SL CSI-RS symbol; or, only when the first terminal device sends the SL CSI-RS, the SL PRS symbol is time-divided with the SL CSI-RS symbol, which means that when the first terminal device does not send the SL CSI-RS, the SL PRS can be mapped to the symbol originally configured for the SL CSI-RS, which can improve resource utilization.

[0012] In the second aspect, the present application provides a communication method, which can be executed by a second terminal device, or by a component (such as a chip, etc.) in the second terminal device, without limitation. Taking the execution by the first terminal device as an example, the method includes: receiving multiple OFDM symbols, the multiple OFDM symbols are symbols for sidelink transmission in a time slot, wherein the multiple OFDM symbols include one or more of the following symbols: AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, or SL CSI-RS symbol, the multiple OFDM symbols also include SL PRS symbol, the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, the M is 1, or the M is an integer greater than 1, wherein, when the M is greater than 1, the M symbols are M consecutive symbols; and determining the SL PRS symbol.

[0013] Exemplarily, the SL PRS symbol is the last M symbols in the multiple OFDM symbols except the one or more symbols, which can be replaced by: the SL PRS symbol and the one or more symbols are different symbols, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols; or it can also be replaced by: the SL PRS symbol and the one or more symbols are time-divided, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols. The symbols that can be used by SL PRS are the symbols in the multiple OFDM symbols except the one or more symbols.

[0014] Exemplarily, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, GAP symbol, PSCCH symbol, and PSSCH DMRS symbol. Alternatively, the SL PRS symbol may also be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and SL CSI-RS symbol.

[0015] Through the method provided in the present application, the SL PRS symbol is the last M symbols of multiple OFDM symbols used for SL transmission in a time slot, except for the above-mentioned one or more symbols. The value of M can be pre-configured, or can be configured through high-layer signaling and / or sidelink control information (SCI), which means that the terminal device (for example, the first terminal device, or the second terminal device) can uniquely determine the position of the SL PRS symbol in the multiple OFDM symbols, thereby realizing the determination of the position of the SL PRS symbol and improving the performance of SL positioning.

[0016] In one possible implementation, the SL CSI-RS symbol is a semi-statically configured symbol, and the second terminal device may also receive the first information. For example, the second terminal device may receive the first information from the first terminal device. The first information may be used to instruct the first terminal device to send SL CSI-RS, or to instruct the first terminal device not to send SL CSI-RS. The SL CSI-RS is carried by the SL CSI-RS symbol, or the SL CSI-RS is mapped to the SL CSI-RS symbol. In one example, regardless of whether the first terminal device sends SL CSI-RS, that is, regardless of whether the first information is used to instruct the first terminal device to send SL CSI-RS or to instruct the first terminal device not to send SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols. In another example, when the first terminal device sends SL CSI-RS, that is, when the first information is used to indicate the sending of SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols; when the first terminal device does not send SL CSI-RS, that is, when the first information is used to indicate not to send SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols.

[0017] Based on the first aspect or the second aspect, in a possible implementation, the positions of the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol in the multiple OFDM symbols may be as follows:

[0018] The AGC symbol may be the first symbol of the multiple OFDM symbols;

[0019] The GAP symbol may be the last symbol of the multiple OFDM symbols;

[0020] The PSCCH symbol may include the second symbol and the third symbol of the multiple OFDM symbols, or the PSCCH symbol may also include the second symbol, the third symbol and the fourth symbol of the multiple OFDM symbols;

[0021] The PSSCH DMRS symbol may include the second symbol and the sixth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fourth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fifth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the fifth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the fifth symbol, and the eighth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the sixth symbol, and the tenth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the seventh symbol, and the twelfth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol also includes the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols;

[0022] The SL CSI-RS symbol may be a symbol from the fourth symbol to the second-to-last symbol among the multiple OFDM symbols. Assuming that the multiple OFDM symbols are recorded as Y OFDM symbols, where Y is an integer greater than or equal to 7 and less than or equal to 14, then the SL CSI-RS symbol may be a symbol from the fourth symbol to the Y-1th symbol among the Y symbols.

[0023] Through the above implementation, the terminal device (eg, the first terminal device or the second terminal device) can determine the positions of the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol in the multiple OFDM symbols.

[0024] Based on the first or second aspect, in a possible implementation, when the multiple OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, and an SL PRS symbol, the position of the SL PRS symbol in the multiple OFDM symbols may be as follows:

[0025] The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols, or when M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol, and the tenth symbol of the 14 OFDM symbols;

[0026] Alternatively, the multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol, and the tenth symbol of the 14 OFDM symbols;

[0027] Alternatively, the multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 12 OFDM symbols, or when the M is 4, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol, and the eighth symbol of the 12 OFDM symbols;

[0028] Alternatively, the multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 11 OFDM symbols; or,

[0029] The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when M is 1, the SL PRS symbol is the eighth symbol of the 10 OFDM symbols, or when M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols;

[0030] Alternatively, the multiple OFDM symbols are 9 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 9 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 9 OFDM symbols;

[0031] Alternatively, the multiple OFDM symbols are 8 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 8 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 8 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 8 OFDM symbols;

[0032] Alternatively, the multiple OFDM symbols are 7 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 7 OFDM symbols, and the SL CSI-RS symbol is the fourth symbol of the 7 OFDM symbols; wherein, when M is 1, the SL PRS symbol is the fifth symbol of the 7 OFDM symbols;

[0033] The AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

[0034] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, and SL PRS symbols, for different numbers of the multiple OFDM symbols and different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0035] Based on the first aspect or the second aspect above, in a possible implementation, the multiple OFDM symbols may also include a sidelink phase tracking reference signal (SL PT-RS) symbol; the SL PRS symbol is the last M symbols in the multiple OFDM symbols except for the one or more symbols. Specifically, it can be: the SL PRS symbol is the last M symbols in the multiple OFDM symbols except for the SL PT-RS symbol and the one or more symbols. Optionally, the SL PT-RS symbol can be time-divided with the PSCCH symbol, and the SL PT-RS symbol can also be time-divided with the PSSCH DMRS symbol.

[0036] Through the above implementation, the SL PRS symbol can also be a different symbol from the SL PT-RS symbol. For example, the SL PRS symbol can be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and SL PT-RS symbol. For another example, the SL PRS symbol can also be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, and SL PT-RS symbol.

[0037] Based on the first or second aspect, in a possible implementation, when the multiple OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, a SL CSI-RS symbol, a SL PT-RS symbol, and a SL PRS symbol, the position of the SL PRS symbol in the multiple OFDM symbols may be as follows:

[0038] The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols;

[0039] Alternatively, the multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols;

[0040] Alternatively, the multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 12 OFDM symbols;

[0041] Alternatively, the multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 11 OFDM symbols;

[0042] Alternatively, the multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the sixth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols;

[0043] Among them, the AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, the SL PT-RS symbol is the eighth symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

[0044] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, SL PT-RS symbols and SL PRS symbols, for different numbers of the multiple OFDM symbols and different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0045] Based on the first aspect or the second aspect above, in a possible implementation, the multiple OFDM symbols may further include a physical sidelink feedback channel (PSFCH) symbol; the SL PRS symbol is the last M symbols of the multiple OFDM symbols excluding the one or more symbols. Specifically, the SL PRS symbol is the last M symbols of the multiple OFDM symbols excluding the PSFCH symbol and the one or more symbols. Optionally, the PSFCH symbol may be the second to last symbol of the multiple OFDM symbols, or the PSFCH symbol may include the second to last symbol and the third to last symbol of the multiple OFDM symbols.

[0046] Through the above implementation, the SL PRS symbol can also be a different symbol from the PSFCH symbol. For example, the SL PRS symbol can be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, and PSFCH symbol. For another example, the SL PRS symbol can also be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, and PSFCH symbol. For another example, the SL PRS symbol can also be the last M symbols in the multiple OFDM symbols except the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL PT-RS symbol, and PSFCH symbol. For another example, the SL PRS symbol may also be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, SL PT-RS symbol, and PSFCH symbol.

[0047] Based on the first or second aspect, in a possible implementation, when the multiple OFDM symbols are 14 OFDM symbols, and the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, a PSFCH symbol, and an SL PRS symbol, the position of the SL PRS symbol in the 14 OFDM symbols may be as follows:

[0048] The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols;

[0049] Alternatively, the M is 2, and the SL PRS symbol includes the eighth symbol and the ninth symbol of the 14 OFDM symbols;

[0050] Alternatively, the M is 4, and the SL PRS symbol includes the sixth symbol, the seventh symbol, the eighth symbol, and the ninth symbol of the 14 OFDM symbols;

[0051] Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth signal of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

[0052] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, PSFCH symbols and SL PRS symbols, for different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0053] Based on the first or second aspect, in a possible implementation, when the multiple OFDM symbols are 14 OFDM symbols, and the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, a SL CSI-RS symbol, a SL PT-RS symbol, a PSFCH symbol, and a SL PRS symbol, the position of the SL PRS symbol in the 14 OFDM symbols may be as follows:

[0054] The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or,

[0055] The M is 2, and the SL PRS symbol includes the sixth symbol and the seventh symbol of the 14 OFDM symbols;

[0056] Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth signal of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

[0057] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, SL PT-RS symbols, PSFCH symbols and SL PRS symbols, for different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0058] Based on the first or second aspect above, in a possible implementation method, the SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, which can be specifically: the SL PRS symbol is the M symbols after the last M symbols are offset by X symbols, and the M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except the one or more symbols, and X is a positive integer.

[0059] Through the above implementation, the position of the SL PRS symbol in the multiple OFDM symbols can be obtained by offsetting the last M symbols by X symbols.

[0060] Based on the first or second aspect, in a possible implementation, the multiple OFDM symbols are 14 OFDM symbols, where the 14 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, an SL CSI-RS symbol, and an SL PRS symbol. When X is 2, the position of the SL PRS symbol in the 14 OFDM symbols may be as follows:

[0061] The M is 1, and the SL PRS symbol is the tenth symbol among the 14 OFDM symbols;

[0062] Alternatively, the M is 2, and the SL PRS symbol includes the seventh symbol and the eighth symbol of the 14 OFDM symbols;

[0063] Alternatively, the M is 4, and the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol, and the eighth symbol of the 14 OFDM symbols;

[0064] Among them, the AGC is the first symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols.

[0065] Through the above implementation method, when multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols and SL PRS symbols, and X is 2, for different values ​​of M, the terminal device (for example, the first terminal device or the second terminal device) can determine the position of the SL PRS symbol in the multiple OFDM symbols.

[0066] Based on the first or second aspect above, in one possible implementation, the terminal device (e.g., the first terminal device or the second terminal device) may further receive second information indicating X. In this way, the terminal device (e.g., the first terminal device or the second terminal device) may determine the value of X.

[0067] Based on the first or second aspect above, in one possible implementation, the terminal device (e.g., the first terminal device or the second terminal device) may further receive third information, where the third information is used to indicate M. In this way, the terminal device (e.g., the first terminal device or the second terminal device) may determine the value of M.

[0068] Based on the above-mentioned first aspect or second aspect, in a possible implementation method, the third information can indicate the M in the following manner: the third information is used to indicate the pattern between M and N, the pattern between M and N is used to indicate the M, the N is the number of comb teeth of the SL PRS, the SL PRS is carried by the SL PRS, and the N is a positive integer.

[0069] Through the above implementation, the third information can directly indicate M, or can also indirectly indicate M through a pattern between M and N, and the implementation is flexible.

[0070] Based on the above-mentioned first aspect or second aspect, in a possible implementation manner, the third information may be an identifier of the time domain resource of the SL PRS.

[0071] Based on the first aspect or the second aspect above, in a possible implementation manner, the maximum number of time domain resources of the SL PRS is determined according to the M and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to the M, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, the maximum number of time domain resources of the SL PRS is determined according to the M, the symbols available for the SL PRS, and X; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between the M and N, the symbols available for the SL PRS, and X; or, The maximum number of time domain resources of the PRS is determined based on the M, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; or, the maximum number of time domain resources of the SL PRS is determined based on the pattern between the M and N, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; wherein the SL PRS is carried by the SL PRS, the N is the number of comb teeth of the SL PRS, the X is the offset of the SL PRS symbol, the symbols that can be used by the SL PRS symbol are the symbols in the multiple OFDM symbols except the one or more symbols, and both N and X are positive integers.

[0072] Through the above implementation, the terminal device (eg, the first terminal device or the second terminal device) can use multiple methods to determine the maximum number of time domain resources of the SL PRS, and the implementation is flexible.

[0073] In a third aspect, the present application provides a communication device. The communication device is configured to execute the method described in the first aspect and any possible implementation thereof. The communication device is, for example, a first terminal device, or a functional module in the first terminal device, such as a baseband device or a chip system.

[0074] In a possible implementation, the communication device includes a baseband device and a radio frequency device.

[0075] In another possible implementation, the communication device includes a processing module (sometimes also referred to as a processing unit) and a transceiver module (sometimes also referred to as a transceiver unit). The transceiver module can implement both sending and receiving functions. When the transceiver module implements the sending function, it can be referred to as a sending module (sometimes also referred to as a sending unit); when the transceiver module implements the receiving function, it can be referred to as a receiving module (sometimes also referred to as a receiving unit). The sending module and the receiving module can be the same functional module, referred to as a transceiver module, which can implement both sending and receiving functions; alternatively, the sending module and the receiving module can be different functional modules, with the transceiver module being a general term for these functional modules.

[0076] In a fourth aspect, the present application provides a communication device. The communication device is configured to execute the method described in the second aspect and any possible implementation thereof. The communication device is, for example, a second terminal device, or a functional module in the second terminal device, such as a baseband device or a chip system.

[0077] In a possible implementation, the communication device includes a baseband device and a radio frequency device.

[0078] In another possible implementation, the communication device includes a processing module (sometimes also referred to as a processing unit) and a transceiver module (sometimes also referred to as a transceiver unit). The transceiver module can implement both sending and receiving functions. When the transceiver module implements the sending function, it can be referred to as a sending module (sometimes also referred to as a sending unit); when the transceiver module implements the receiving function, it can be referred to as a receiving module (sometimes also referred to as a receiving unit). The sending module and the receiving module can be the same functional module, referred to as a transceiver module, which can implement both sending and receiving functions; alternatively, the sending module and the receiving module can be different functional modules, with the transceiver module being a general term for these functional modules.

[0079] In a fifth aspect, the present application further provides a communication device. The communication device may include at least one processor. Optionally, the communication device may also include a memory. The memory is configured to store one or more computer programs or instructions. The at least one processor is configured to execute the one or more computer programs or instructions stored in the memory, so that the communication device performs the method described in any of the first or second aspects above and any possible implementation thereof.

[0080] In a sixth aspect, the present application further provides a chip system. The chip system may include at least one processor. Optionally, the at least one processor is coupled to a memory. The at least one processor is configured to execute one or more computer programs or instructions in the memory to implement the method described in any of the first or second aspects above and any possible implementation thereof. Optionally, the chip system may be composed of a chip, or may include a chip and other discrete devices. Optionally, the chip system may also include a memory.

[0081] In a seventh aspect, the present application further provides a communication system, which includes one or more of the following: the communication device described in the third aspect, or the communication device described in the fourth aspect.

[0082] In an eighth aspect, the present application also provides a computer-readable storage medium, which is used to store computer programs or instructions. When the computer-readable storage medium is executed, the method described in any one of the first or second aspects above and any possible implementation thereof is implemented.

[0083] In a ninth aspect, the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the method described in any one of the first or second aspects and any possible implementation thereof to be implemented.

[0084] For the technical effects that can be achieved by the above-mentioned third to ninth aspects and any possible implementation methods, please refer to the technical effects that can be achieved by the above-mentioned first or second aspect and any possible implementation methods, and no repetition will be given. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] FIG1 is a schematic diagram of the architecture of a communication system applicable to an embodiment of the present application;

[0086] FIG2 is a schematic diagram showing the location of an SL PRS symbol;

[0087] FIG3 is a flow chart of a communication method provided in an embodiment of the present application;

[0088] FIG4 is a schematic diagram of the position of an SL PRS symbol provided in an embodiment of the present application;

[0089] FIG5 is a schematic diagram of the position of an SL PRS symbol provided in an embodiment of the present application;

[0090] FIG6 is a schematic diagram of the position of an SL PRS symbol provided in an embodiment of the present application;

[0091] FIG7 is a schematic diagram of the position of an SL PRS symbol provided in an embodiment of the present application;

[0092] FIG8 is a schematic diagram of the position of another SL PRS symbol provided in an embodiment of the present application;

[0093] FIG9 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0094] FIG10 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0095] FIG11 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0096] FIG12 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0097] FIG13 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0098] FIG14 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0099] FIG15 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0100] FIG16 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0101] FIG17 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0102] FIG18 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0103] FIG19 is a schematic diagram showing the position of another SL PRS symbol provided in an embodiment of the present application;

[0104] FIG20 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0105] FIG21 is a schematic structural diagram of another communication device provided in an embodiment of the present application;

[0106] FIG22 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0107] The embodiments of the present application will be presented around a system including multiple devices, components, modules, etc. It should be understood that the system may include other devices, components, modules, etc. not mentioned, or may only include some of the devices, components, or modules, etc. mentioned in the embodiments.

[0108] The embodiments of the present application provide a communication method and apparatus for determining the location of SL PRS symbols, thereby improving SL positioning performance. The method and apparatus described herein are based on the same technical concept. Since the method and apparatus solve similar problems, the implementation of the apparatus and method can refer to each other, and any repetitions will not be repeated.

[0109] In the embodiments of the present application, "multiple" may refer to two or more. In view of this, in the embodiments of the present application, "multiple" may also be understood as "at least two". "At least one" may be understood as one or more, for example, one, two or more. For example, "including at least one" means including one, two or more. For example, including at least one of A, B and C, then included may be A, B, C, A and B, A and C, B and C, or A, B and C. "And / or" describes the association relationship of associated objects. Specifically, there may be three relationships. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0110] In addition, the terms "system" and "network" in the embodiments of the present application may be used interchangeably, and "according to" and "based on" may be used interchangeably.

[0111] In the embodiments of this application, ordinal numbers such as "first" and "second" are generally used to distinguish different objects and are not used to define the order, timing, priority, or importance of multiple objects. For example, "first terminal device" and "second terminal device" are used to distinguish different terminal devices and do not define the priority or importance of the two terminal devices combined.

[0112] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0113] The technical solutions provided in the embodiments of the present application are mainly applicable to wireless communication systems. The wireless communication system may comply with the wireless communication standards of the third generation partnership project (3GPP). For example, the solutions provided in the embodiments of the present application may be applied to fourth generation (4G) communication systems, such as long term evolution (LTE) communication systems, and may also be applied to fifth generation (5G) communication systems, such as 5G new radio (NR) communication systems, or to various future communication systems, such as sixth generation (6G) communication systems. The technical solutions provided in the embodiments of the present application may also comply with other wireless communication standards, such as the wireless communication standards of the 802 series (such as 802.11, 802.15, or 802.20) of the Institute of Electrical and Electronics Engineers (IEEE).

[0114] The method provided in the embodiments of the present application can also be applied to Bluetooth systems, wireless high-fidelity (Wi-Fi) systems, long-range radio (LoRa) systems, or vehicle-to-everything (V2X) systems. The method provided in the embodiments of the present application can also be applied to satellite communication systems, wherein the satellite communication system can be integrated with the above communication systems.

[0115] The network architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. It is known to those skilled in the art that with the evolution of network architecture and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems. The embodiments of the present application are described using the communication system shown in Figure 1 as an example. When applying the technical solutions of the embodiments of the present application to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, and modules in other communication systems without limitation.

[0116] Figure 1 illustrates an exemplary architecture diagram of several possible communication systems applicable to embodiments of the present application. Figure 1 uses two terminal devices (denoted as terminal device 1 and terminal device 2) and one network device as an example for illustration, and the communication system may also include a larger number of terminal devices and network devices.

[0117] (1) in FIG1 shows the architecture within the coverage of the network device. The terminal devices can establish a connection with each other through the proximity communication 5 (PC5) interface, and each terminal device establishes a connection with the network device (such as a base station) respectively. It should be understood that each terminal device can be connected to the same network device or to different network devices. (1) in FIG1 takes the example of terminal device 1 and terminal device 2 being connected to the same network device. In the embodiment of the present application, the terminal device and the network device can establish a connection through the Uu interface.

[0118] (2) in FIG1 shows a partially covered architecture of a network device. Terminal devices can establish connections with each other through the PC5 interface. At the same time, some terminal devices do not establish connections with the network device (e.g., a base station), while the remaining terminal devices establish connections with the network device (e.g., a base station). (2) in FIG1 is shown as an example in which terminal device 1 establishes a connection with the network device, while terminal device 2 does not establish a connection with the network device.

[0119] (3) in FIG1 shows an architecture outside the coverage of a network device, where terminal devices can establish connections with each other through the PC5 interface, and all terminal devices do not establish connections with the network device.

[0120] In FIG1 , after a connection is established between terminal devices, the terminal devices can directly communicate with each other via a sidelink (SL).

[0121] Exemplarily, the network device may include an access network device and / or a core network device. Unless otherwise specified, the network device in the embodiment of the present application is an access network device. The network device may also be referred to as an access network device, an access network network element, a network device, a radio access network (RAN) entity, a RAN node, or an access node, etc., to help the terminal device achieve wireless access. Optionally, the RAN may be a 3GPP-related cellular system, for example, a 4G mobile communication system (such as an LTE system), a 5G mobile communication system (such as an NR system), or a future-oriented evolution system (such as a 6G mobile communication system). The RAN may also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN may also be a communication system that integrates two or more of the above systems.

[0122] In one possible scenario, the network device may be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. The network device may also be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the network device may also be a server, a wearable device, a vehicle or an onboard device. For example, the access network device in vehicle to everything (V2X) technology may be a road side unit (RSU).

[0123] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0124] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0125] In the embodiments of the present application, the functions of the network device may be performed by a module (such as a chip) in the network device, or by a control subsystem that includes the network device functions. The control subsystem that includes the network device functions may be a control center in the aforementioned application scenarios such as smart grid, industrial control, smart transportation, and smart city.

[0126] The terminal device may also be referred to as a terminal, a terminal apparatus, a user equipment (UE), a mobile station, or a mobile terminal. The terminal device can be widely used in various scenarios, for example, device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, or smart city. For example, the terminal device may 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, or a smart home device. The embodiments of the present application do not limit the device form of the terminal device.

[0127] In the embodiment of the present application, the functions of the terminal device can also be performed by a module in the terminal (such as a chip or a modem), or by a device that includes terminal functions.

[0128] Network devices and terminal devices can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; and in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of network devices and terminal devices.

[0129] Next, the technical features involved in the embodiments of this application are introduced.

[0130] SL positioning and SL communication share a resource pool, which can be understood as SL positioning and SL communication can use the same resource pool in a time division multiplexing manner or a frequency division multiplexing manner. At present, for the SL positioning and SL communication shared resource pool, in one time slot, the sidelink positioning reference signal (SL PRS) symbol is different from the automatic gain control (AGC) symbol, the gap (GAP) symbol, the physical sidelink control channel (PSCCH) symbol, and the physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) symbol, and the SL PRS occupies M consecutive symbols.

[0131] For example, assuming that M is 2, the number of orthogonal frequency division multiplexing (OFDM) symbols used for SL transmission in a time slot is 10. The 10 OFDM symbols include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, and an SL PRS symbol. The AGC symbol is the first symbol of the 10 symbols, the PSCCH symbol includes the second and third symbols of the 10 symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 10 symbols, and the GAP symbol is the last symbol of the 10 symbols. Given that the SL PRS symbol is a symbol that is different from the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol, in one embodiment, the SL PRS symbol may include the fifth and sixth symbols of the 10 symbols, as shown in (1) in FIG2 ; or, in another embodiment, the SL PRS symbol may also include the sixth and seventh symbols of the 10 symbols, as shown in (2) in FIG2 ; or, in another embodiment, the SL PRS symbol may also include the seventh and eighth symbols of the 10 symbols, as shown in (3) in FIG2 . It can be seen that, according to the current implementation method, there are multiple possibilities for the position of the SL PRS symbol, which makes it impossible for the terminal device to determine the position of the SL PRS symbol, affecting the performance of SL positioning.

[0132] In view of this, an embodiment of the present application provides a communication method and apparatus for determining the position of SL PRS symbols, which can improve the performance of SL positioning. The method can be applied to the communication system shown in Figure 1 without limitation. For easy understanding, the method is demonstrated by taking the execution subject as the first terminal device and the second terminal device as an example. The first terminal device can be the terminal device involved in the aforementioned Figure 1, or a unit, module or chip (system) inside the terminal device. The second terminal device can be the terminal device involved in the aforementioned Figure 1, or a unit, module or chip (system) inside the terminal device. For example, the first terminal device can be the terminal device 1 in Figure 1, and the second terminal device can be the terminal device 2 in Figure 1; or, the first terminal device can also be the terminal device 2 in Figure 1, and the second terminal device can also be the terminal device 1 in Figure 1.

[0133] Figure 3 exemplarily shows a flow chart of a communication method provided by an embodiment of the present application. As shown in Figure 3 , the method may include the following contents.

[0134] S301: The first terminal device generates multiple OFDM symbols.

[0135] The multiple OFDM symbols include SL PRS symbols. The SL PRS symbol can be used for SL positioning. The multiple OFDM symbols are symbols used for SL transmission (or SL communication) in a time slot. The number of the multiple OFDM symbols may be greater than or equal to 7 and less than or equal to 14. Exemplarily, the number (or quantity, or number, etc.) of the multiple OFDM symbols may be configured by high-level signaling, such as by sl-LengthSymbols configuration, without limitation. For ease of description, the multiple OFDM symbols may be denoted as Y, and Y may be an integer greater than or equal to 7 and less than or equal to 14. Accordingly, S301 may be replaced with: the first terminal device generates Y OFDM symbols. Hereinafter, the terms "multiple OFDM symbols" and "Y OFDM symbols" may be used interchangeably. Among them, the high-level signaling configuration may be understood as being configured by the network device.

[0136] In addition to the SL PRS symbol, the multiple OFDM symbols may also include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or a SL CSI-RS symbol. The SL PRS symbol is the last M symbols in the multiple OFDM symbols excluding the one or more symbols. The fact that the SL PRS symbol is the last M symbols in the multiple OFDM symbols excluding the one or more symbols can be understood as: the SL PRS symbol is the M symbols counted forward (or to the left) from the last symbol in the multiple OFDM symbols excluding the one or more symbols.

[0137] Wherein, M is a positive integer. Moreover, when M is greater than 1, the M symbols are M consecutive symbols, that is, the SL PRS symbols are M consecutive symbols. Accordingly, the SL PRS symbols are the last M symbols in multiple OFDM symbols except for the above one or more symbols, which can be replaced by: the SL PRS symbols are the last M consecutive symbols in multiple OFDM symbols except for the above one or more symbols. Exemplarily, the M can be 1, or 2, or 4, etc., without limitation.

[0138] It should be pointed out that the first terminal device generates multiple OFDM symbols, which can be replaced by: the first terminal device maps the SL PRS to M symbols in the multiple OFDM symbols, and the multiple OFDM symbols include the above-mentioned one or more symbols, and the M symbols are the last M symbols in the multiple OFDM symbols except for the one or more symbols; or it can also be replaced by: the first terminal device maps the fourth information to multiple OFDM symbols, and the fourth information includes SL PRS, and the fourth information can also include one or more of the following information: AGC, GAP, PSCCH, PSSCH DMRS, or SL CSI-RS, and the SL PRS occupies the last M symbols in the multiple OFDM symbols except for the symbols mapped (or occupied, used) by the one or more information.

[0139] In one embodiment, the M may be pre-configured, or may be indicated (or configured) by a third information, without limitation. The third information may be, for example, high-layer signaling, or may be sidelink control information (SCI), without limitation. For example, the first terminal device (or the second terminal device) may receive third information, and the third information is used to indicate (or configure) the M. The third information may directly indicate the M, or may indirectly indicate the M, without limitation. For example, the third information may be used to indicate a pattern (or pattern, legend, etc.) between M and N, and the pattern between M and N may be used to indicate the M. N is the number of teeth of the SL PRS, and N is a positive integer. In this way, the first terminal device (or the second terminal device) can determine the M through the pattern between M and N. For another example, the third information may be an identifier of the time domain resource of the SL PRS (such as the SL PRS Resource ID). The identifier of the time domain resource of the SL PRS can be used to indicate M, and / or the identifier of the time domain resource of the SL PRS can be used to indicate a pattern between M and N. The time domain resource of the SL PRS can be understood as the position of the SL PRS symbol. The SL PRS is carried by the SL PRS symbol, or the SL PRS is mapped into the SL PRS symbol. Optionally, the third information can also be used to indicate the position of the SL PRS starting symbol.

[0140] The following introduces one or more symbols included in the multiple OFDM symbols.

[0141] (1) An AGC symbol can be used at the receiving end to adjust the operating point so that the gain of the amplifier circuit is automatically adjusted according to the signal strength. For example, the AGC symbol can be the first symbol in the multiple OFDM symbols.

[0142] (2) A GAP symbol is a time interval used to perform a transmit / receive switch. For example, the GAP symbol may be the last symbol of the multiple OFDM symbols; or the GAP symbol may be the Yth symbol (or the last symbol) of the Y OFDM symbols.

[0143] (3) PSCCH symbols can be used to transmit SCI. Exemplarily, the number of PSCCH symbols can be 2 or 3. The number of PSCCH symbols can be configured by higher-layer signaling, such as by sl-TimeResourcePSCCH, and is not limited. For example, the PSCCH symbol can include the second and third symbols of the multiple OFDM symbols. For another example, the PSCCH symbol can include the second, third, and fourth symbols of the multiple OFDM symbols.

[0144] (4) PSSCH DMRS symbols, which can be used to demodulate the PSSCH. For example, the number of PSSCH DMRS symbols can be 2, 3, or 4. The position (or sequence number) of the PSSCH DMRS symbol can be configured by higher-layer signaling, such as by sl-PSSCH-DMRS-TimePatternList, and is not limited. For example, the PSSCH DMRS symbol may include the second symbol and the sixth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may include the fourth symbol and the eleventh symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the fifth symbol and the ninth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the fifth symbol and the eleventh symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols; or, the PSSCH DMRS symbol may also include the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols; or, the PSSCH The DMRS symbol may also include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol in the multiple OFDM symbols, as shown in Table 1. Table 1 exemplarily shows the position (or sequence number, or index) of the PSSCH DMRS symbol. Table 1 takes the OFDM symbol index as an example, where the numbering starts from 0. That is, the index of the second symbol in the multiple OFDM symbols is 1, the index of the sixth symbol in the multiple OFDM symbols is 5, and so on, which are not listed one by one. In addition, the l in Table 1 is d =Y-1. d OFDM symbols can be understood as the remaining symbols in the multiple OFDM symbols except the GAP symbol.

[0145] Table 1

[0146] Exemplarily, the multiple OFDM symbols may include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol. The GAP symbol is the last symbol in the multiple OFDM symbols. The AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol) and the sixth symbol in the multiple OFDM symbols. For example, the AGC symbol is the first symbol in the multiple OFDM symbols, the PSCCH symbol includes the second and third symbols in the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second and sixth symbols in the multiple OFDM symbols.

[0147] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the ninth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fourth symbol and the ninth symbol of the multiple OFDM symbols.

[0148] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fourth symbol and the eleventh symbol of the multiple OFDM symbols.

[0149] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the fifth symbol, and the eighth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, and the eighth symbol of the multiple OFDM symbols.

[0150] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the sixth symbol, and the tenth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the sixth symbol, and the tenth symbol of the multiple OFDM symbols.

[0151] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the seventh symbol, and the twelfth symbol of the multiple OFDM symbols.

[0152] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first three symbols (i.e., the first symbol, the second symbol, and the third symbol), the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols.

[0153] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol) and the sixth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol and the sixth symbol of the multiple OFDM symbols.

[0154] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the ninth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fifth symbol and the ninth symbol of the multiple OFDM symbols.

[0155] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the eleventh symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the fifth symbol and the eleventh symbol of the multiple OFDM symbols.

[0156] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, the fourth symbol, and the fifth symbol) and the eighth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, and the eighth symbol of the multiple OFDM symbols.

[0157] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the sixth symbol, and the tenth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the sixth symbol, and the tenth symbol of the multiple OFDM symbols.

[0158] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first four symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the seventh symbol, and the eleventh symbol of the multiple OFDM symbols.

[0159] Alternatively, the AGC symbol, the PSCCH symbol, and the PSSCH DMRS symbol include the first five symbols (i.e., the first symbol, the second symbol, the third symbol, and the fourth symbol), the seventh symbol, and the twelfth symbol of the multiple OFDM symbols. For example, the AGC symbol is the first symbol of the multiple OFDM symbols, the PSCCH symbol includes the second symbol, the third symbol, and the fourth symbol of the multiple OFDM symbols, and the PSSCH DMRS symbol may include the second symbol, the fifth symbol, the eighth symbol, and the eleventh symbol of the multiple OFDM symbols.

[0160] (5) SL CSI-RS symbol, which can be used to obtain sidelink channel state information. Exemplarily, the number of the SL CSI-RS symbol can be 1. The position (or sequence number) of the PSSCH DMRS symbol can be configured by high-layer signaling, such as by sl-CSI-RS-FirstSymbol, without limitation. For example, the SL CSI-RS symbol can be a symbol from the fourth symbol to the second-to-last symbol of the multiple OFDM symbols; or the SL CSI-RS symbol can be a symbol from the fourth symbol to the (Y-1)th symbol of the Y OFDM symbols.

[0161] It should be pointed out that in the embodiment of the present application, the zz symbol can be understood as: the symbol occupied (or used) by zz; or it can also be understood as: the symbol to which zz is mapped; or it can also be understood as: the symbol used to carry zz, without limitation. The zz symbol is the i-th symbol in multiple OFDM symbols, which can be understood as: zz occupies (or uses) the i-th symbol in the multiple OFDM symbols. The zz symbol includes the i-th symbol and the j-th symbol in the multiple OFDM symbols, which means: the zz symbol includes the i-th symbol in the multiple OFDM symbols and the j-th symbol in the multiple OFDM symbols. And, the zz symbol includes the i-th symbol and the j-th symbol in the multiple OFDM symbols, which can be understood as: zz occupies (or uses) the i-th symbol and the j-th symbol in the multiple OFDM symbols. The rest of the cases are deduced accordingly and will not be listed here. And, similar descriptions in the following text can refer to the description here, which will not be repeated in the following text. Among them, zz can be any one of AGC, GAP, PSCCH, PSSCH DMRS, SL CSI-RS, or SL PRS.

[0162] The aforementioned SL PRS symbol is the last M symbols in a plurality of OFDM symbols other than the one or more symbols mentioned above. Exemplarily, if, in addition to the SL PRS symbol, the plurality of OFDM symbols also include an AGC symbol, then the SL PRS symbol may be the last M symbols in the plurality of OFDM symbols other than the AGC symbol. Alternatively, if, in addition to the SL PRS symbol, the plurality of OFDM symbols also include an AGC symbol and a GAP symbol, then the SL PRS symbol may be the last M symbols in the plurality of OFDM symbols other than the AGC symbol and the GAP symbol. Alternatively, if, in addition to the SL PRS symbol, the plurality of OFDM symbols also include an AGC symbol, a GAP symbol, and a PSCCH symbol, then the SL PRS symbol may be the last M symbols in the plurality of OFDM symbols other than the AGC symbol, the GAP symbol, and the PSCCH symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, and the PSSCH DMRS symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, and a SL CSI-RS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol. The rest of the cases are analogous and not listed one by one.

[0163] In FIG3 , the SL PRS symbols are taken as an example, which are the last M symbols in multiple OFDM symbols except for the AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols and SL CSI-RS symbols.

[0164] It should be pointed out that the SL PRS symbol is the last M symbols in multiple OFDM symbols except for the one or more symbols mentioned above, which can be understood as: the SL PRS symbol is a different symbol from the one or more symbols mentioned above, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols; or it can also be understood as: the SL PRS symbol is time-divided with the one or more symbols mentioned above, and the SL PRS symbol is the last M symbols of the symbols that can be used by SL PRS in the multiple OFDM symbols. The symbols that can be used by the SL PRS can be symbols in the multiple OFDM symbols except for the one or more symbols mentioned above.

[0165] In one embodiment, the SL CSI-RS symbol may be a semi-statically configured symbol, for example, the SL CSI-RS symbol is configured by a network device. Exemplarily, the first terminal device may send the first information. For example, the first terminal device sends the first information to the second terminal device; accordingly, the second terminal device receives the first information. The first information may be used to instruct the first terminal device to send the SL CSI-RS, or to instruct the first terminal device not to send the SL CSI-RS. If the first information is used to indicate the sending of the SL CSI-RS, the first terminal device uses the semi-statically configured SL CSI-RS symbol to send the SL CSI-RS; or, if the first information is used to indicate not to send the SL CSI-RS, the first terminal device does not send the SL CSI-RS. In one example, the multiple OFDM symbols include SL CSI-RS symbols. In other words, regardless of whether the first information is used to instruct the first terminal device to send the SL CSI-RS or to instruct the first terminal device not to send the SL CRI-RS, that is, regardless of whether the first terminal device sends the SL CSI-RS, the multiple OFDM symbols include SL CSI-RS symbols. In another example, when the first information is used to indicate that the first terminal device sends SL CSI-RS, that is, when the first terminal device sends SL CSI-RS, the multiple OFDM symbols all include SL CSI-RS symbols. Alternatively, when the first information is used to indicate that the first terminal device does not send SL CSI-RS, that is, when the first terminal device does not send SL CSI-RS, the multiple OFDM symbols may not include SL CSI-RS symbols. In this way, when the first terminal device does not send SL CSI-RS, SL PRS can be mapped to the symbol originally configured for SL CSI-RS, which can improve resource utilization.

[0166] Table 2 exemplifies the relevant information of SL CSI-RS. As shown in Table 2, for SL CSI-RS, one thing that needs to be clarified is whether CSI-RS refers to the CSI-RS symbols configured by the higher layer or its actual existence is indicated by the SCI. We believe that for simplicity, CSI-RS symbols should be considered only when the SCI indicates that the CSI-RS is transmitted. When SL CSI-RS is transmitted, the SL CSI-RS symbols should be regarded as similar to the PSSCH DMRS symbols, which are symbols that cannot be mapped by the SL PRS. Therefore, it is recommended that when determining the symbols mapped with the SL PRS, the actually transmitted SL CSI-RS symbols should be excluded.

[0167] Table 2

[0168] Below, taking multiple OFDM symbols (i.e., Y OFDM symbols) including AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, and SL PRS symbols as an example, the position of SL PRS symbols is introduced for different values ​​of Y and different values ​​of M.

[0169] As an example, assuming Y=14 (ie, the number of OFDM symbols is 14 OFDM symbols), l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols, as shown in (1) of Figure 4; or, when M=2, the SL PRS symbol can include the ninth and tenth symbols of the 14 OFDM symbols, as shown in (2) of Figure 4; or, when M is 4, the SL PRS symbol can include the seventh, eighth, ninth, and tenth symbols of the 14 OFDM symbols, as shown in (3) of Figure 4.

[0170] Another example, assuming Y=13, l d=12, the AGC symbol is the first symbol of the 13 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 13 OFDM symbols, the GAP symbol is the last symbol of the 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 13 OFDM symbols, as shown in (1) of Figure 5; or, when M is 2, the SL PRS symbol can include the ninth and tenth symbols of the 13 OFDM symbols, as shown in (2) of Figure 5; or, when M is 4, the SL PRS symbol includes the seventh, eighth, ninth, and tenth symbols of the 14 OFDM symbols, as shown in (3) of Figure 5.

[0171] Another example, assuming Y = 12, l d =11, the AGC symbol is the first symbol of the 12 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 12 OFDM symbols, the GAP symbol is the last symbol of the 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 12 OFDM symbols, as shown in (1) of Figure 6; or, when M is 2, the SL PRS symbol can include the seventh and eighth symbols of the 12 OFDM symbols, as shown in (2) of Figure 6; or, when M is 4, the SL PRS symbol can include the fifth, sixth, seventh, and eighth symbols of the 12 OFDM symbols, as shown in (3) of Figure 6.

[0172] Another example, assuming Y=11, l d=10, the AGC symbol is the first symbol of the 11 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 11 OFDM symbols, the GAP symbol is the last symbol of the 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the eighth symbol of the 11 OFDM symbols, as shown in (1) of Figure 7; or, when M is 2, the SL PRS symbol can include the seventh and eighth symbols of the 11 OFDM symbols, as shown in (2) of Figure 7; or, when M is 2, the SL PRS symbol can include the fifth, sixth, seventh, and eighth symbols of the 11 OFDM symbols, as shown in (3) of Figure 7.

[0173] Another example, assuming Y = 10, l d =9, the AGC symbol is the first symbol of the 10 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 10 OFDM symbols, the GAP symbol is the last symbol of the 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the eighth symbol of the 10 OFDM symbols, as shown in (1) of Figure 8; or, when M is 2, the SL PRS symbol can include the fifth and sixth symbols of the 10 OFDM symbols, as shown in (2) of Figure 8.

[0174] Another example, assuming Y = 9, l d =8, the AGC symbol is the first symbol of the 9 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 9 OFDM symbols, the GAP symbol is the last symbol of the 9 OFDM symbols, the PSSCH DMRS symbol includes the second and sixth symbols of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the seventh symbol of the 9 OFDM symbols, as shown in (1) of Figure 9; or, when M is 2, the SL PRS symbol can include the fourth and fifth symbols of the 9 OFDM symbols, as shown in (2) of Figure 9.

[0175] Another example, assuming Y=8, l d=7, the AGC symbol is the first symbol of the 8 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 8 OFDM symbols, the GAP symbol is the last symbol of the 8 OFDM symbols, the PSSCH DMRS symbol includes the second and sixth symbols of the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 8 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the fifth symbol of the 8 OFDM symbols, as shown in (1) of Figure 10; or, when M is 2, the SL PRS symbol can include the fourth and fifth symbols of the 8 OFDM symbols, as shown in (2) of Figure 10.

[0176] Another example, assuming Y=7, l d =6, the AGC symbol is the first of the seven OFDM symbols, the PSCCH symbol includes the second and third of the seven OFDM symbols, the GAP symbol is the last of the seven OFDM symbols, the PSSCH DMRS symbol includes the second and sixth of the seven OFDM symbols, and the SL CSI-RS symbol is the fourth of the seven OFDM symbols. Therefore, when M is 1, the SL PRS symbol can be the fifth of the seven OFDM symbols, as shown in Figure 11.

[0177] It should be noted that in Figures 4 to 11, PSSCH DMRS is used as DMRS and SL CSI-RS is used as CSI-RS. It should be understood that any embodiment shown in Figures 4 to 11 is an example and does not limit the position of SL PRS symbols. For example, assuming Y = 14, l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the second, sixth, and tenth symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols; or, when M=2, the SL PRS symbol can include the eleventh and twelfth symbols of the 14 OFDM symbols.

[0178] S302: The first terminal device sends multiple OFDM symbols. For example, the first terminal device sends multiple OFDM symbols to the second terminal device, and correspondingly, the second terminal device receives the multiple OFDM symbols from the first terminal device.

[0179] Exemplarily, the first terminal device may send a plurality of OFDM symbols to the second terminal device via the PC5 interface; correspondingly, the second terminal device may receive the plurality of OFDM symbols from the first terminal device via the PC5 interface.

[0180] S303: The second terminal device determines the SL PRS symbol.

[0181] S303 is an optional step, which is indicated by a dotted line in Figure 3. For example, after the second terminal device receives a plurality of OFDM symbols, it can determine (or parse) the SL PRS symbol (or determine the SL PRS) from the plurality of OFDM symbols. For example, the second terminal device can determine the SL PRS symbol (or determine the SL PRS) from the plurality of OFDM symbols based on the position of the SL PRS symbol. The position of the SL PRS symbol can refer to the content of S301 and will not be repeated here.

[0182] As mentioned above, multiple OFDM symbols include SL PRS symbols, and the multiple OFDM symbols may also include one or more of the following symbols: AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, or SL CSI-RS symbols. In another embodiment, the multiple OFDM symbols may also include sidelink phase tracking reference signal (SL PT-RS) symbols. Among them, the SL PT-RS symbol can be used to track the changes in the phase noise of the sidelink channel. Exemplarily, the SL PT-RS symbol can be time-divided with the PSCCH symbol, and the SL PT-RS can also be time-divided with the PSSCH DMRS symbol. The position of the SL PT-RS symbol can be configured by high-level signaling, such as by sl-PTRS-TimeDensity configuration, without limitation. In this embodiment, the SL PRS symbol can be the last M symbols in the multiple OFDM symbols except the SL PT-RS symbol and the above-mentioned one or more symbols. That is, the SL PRS symbol and the SL PT-RS symbol are different symbols, or in other words, the SL PRS symbol and the SL PT-RS symbol are time-divided. The description of the M symbols can refer to the above content and will not be repeated here.

[0183] For example, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol and the SL PT-RS symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, and the SL PT-RS symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol and the SL PT-RS symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, and the SL PT-RS symbol. Alternatively, if, in addition to the SL PRS symbol and the SL PT-RS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL PT-RS symbol. Alternatively, if, in addition to the SL PRS symbol and the SL PT-RS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, and a SL CSI-RS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL PT-RS symbol. The rest of the cases are analogous and not listed one by one.

[0184] Below, taking multiple OFDM symbols (i.e., Y OFDM symbols) including AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL CSI-RS symbols, SL PT-RS symbols, and SL PRS symbols as an example, the position of SL PRS symbols is introduced for different values ​​of Y and different values ​​of M.

[0185] As an example, assuming Y=14 (ie, the number of OFDM symbols is 14 OFDM symbols), l d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols, as shown in (1) of Figure 12; or, when M is 2, the SL PRS symbol can include the ninth and tenth symbols of the 14 OFDM symbols, as shown in (2) of Figure 12.

[0186] Another example, assuming Y=13, l d =12, the AGC symbol is the first symbol of the 13 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 13 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 13 OFDM symbols, the GAP symbol is the last symbol of the 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 13 OFDM symbols, as shown in (1) of Figure 13; or, when M is 2, the SL PRS symbol can include the ninth and tenth symbols of the 13 OFDM symbols, as shown in (2) of Figure 13.

[0187] Another example, assuming Y = 12, l d =11, the AGC symbol is the first symbol of the 12 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 12 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 12 OFDM symbols, the GAP symbol is the last symbol of the 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols. Then, when M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, as shown in (1) of Figure 14; or, when M is 2, the SL PRS symbol includes the sixth and seventh symbols of the 12 OFDM symbols, as shown in (2) of Figure 14.

[0188] Another example, assuming Y = 11, ld =10, the AGC symbol is the first symbol of the 11 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 11 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 11 OFDM symbols, the GAP symbol is the last symbol of the 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols. Then, when M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, as shown in (1) of Figure 15; or, when M is 2, the SL PRS symbol includes the sixth and seventh symbols of the 11 OFDM symbols, as shown in (2) of Figure 15.

[0189] Another example, assuming Y = 10, l d =9, the AGC symbol is the first symbol of the 10 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 10 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 10 OFDM symbols, the GAP symbol is the last symbol of the 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth and ninth symbols of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols. Then, when M is 1, the SL PRS symbol is the sixth symbol of the 10 OFDM symbols, as shown in (1) of Figure 16; or, when M is 2, the SL PRS symbol includes the fifth and sixth symbols of the 10 OFDM symbols, as shown in (2) of Figure 16.

[0190] It should be noted that in Figures 12 to 16, PSSCH DMRS is DMRS, SL CSI-RS is CSI-RS, and SL PT-RS is PT-RS. It should be understood that any embodiment shown in Figures 12 to 16 is an example and does not limit the position of SL PRS symbols. For example, assuming Y = 14, l d=13, the AGC symbol is the first of the 14 OFDM symbols, the PSCCH symbol includes the second and third of the 14 OFDM symbols, the SL PT-RS symbol is the eighth of the 14 OFDM symbols, the GAP symbol is the last of the 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth and eleventh of the 14 OFDM symbols. Therefore, when M=1, the SL PRS symbol may be the thirteenth of the 14 OFDM symbols; or, when M=2, the SL PRS symbol may include the twelfth and thirteenth of the 14 OFDM symbols.

[0191] In another embodiment, the multiple OFDM symbols may also include a physical sidelink feedback channel (PSFCH) symbol. The PSFCH symbol may be used for unicast or multicast hybrid automatic repeat request (HARQ) feedback. Exemplarily, the number of PSFCH symbols may be 1 or 2. For example, the PSFCH symbol may be the second to last symbol of the multiple OFDM symbols; or the PSFCH symbol may be the (Y-1)th symbol of the Y OFDM symbols. For another example, the PSFCH symbol may also be the second to last symbol and the third to last symbol of the multiple OFDM symbols; or the PSFCH symbol may also be the (Y-1)th symbol and the (Y-2)th symbol of the Y OFDM symbols. Optionally, whether the PSFCH symbol exists may be configured by higher-layer signaling, such as by sl-PSFCH-Period configuration, without limitation. In this embodiment, the SL PRS symbol may be the last M symbols of the multiple OFDM symbols excluding the PSFCH symbol and the one or more symbols mentioned above. That is, the SL PRS symbol and the PSFCH symbol are different symbols, or in other words, the SL PRS symbol and the PSFCH symbol are time-divided. The description of the M symbols can be referred to the above content and will not be repeated here.

[0192] Exemplarily, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols excluding the AGC symbol and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, the GAP symbol, and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol and the PSFCH symbol, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols excluding the AGC symbol, the GAP symbol, the PSCCH symbol, and the PSFCH symbol. Alternatively, if, in addition to the SL PRS symbol and the PSFCH symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the PSFCH symbol. Alternatively, if, in addition to the SL PRS symbol and the PSFCH symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and a SL CSI-RS symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, the SL CSI-RS symbol, and the PSFCH symbol. The rest of the cases are analogous and not listed one by one.

[0193] For example, suppose Y=14, l d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth and thirteenth symbols of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the ninth symbol of the 14 OFDM symbols, as shown in (1) of Figure 17; or, when M is 2, the SL PRS symbol can include the eighth and ninth symbols of the 14 OFDM symbols, as shown in (2) of Figure 17; or, when M is 4, the SL PRS symbol can include the sixth, seventh, eighth, and ninth symbols of the 14 OFDM symbols, as shown in (3) of Figure 17.

[0194] It should be noted that FIG17 shows an example in which PSSCH DMRS is DMRS and SL CSI-RS is CSI-RS. It should be understood that the embodiment shown in FIG17 is an example and does not limit the position of SL PRS symbols. For example, assuming Y=14, l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol is the thirteenth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the eighth and ninth symbols of the 14 OFDM symbols; or, when M is 4, the SL PRS symbol can include the sixth, seventh, eighth, and ninth symbols of the 14 OFDM symbols.

[0195] In another embodiment, the multiple OFDM symbols may also be SL PT-RS symbols and PSFCH symbols. The SL PT-RS symbols and PSFCH symbols can refer to the above content and will not be repeated here. In this embodiment, the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except for the SL PT-RS symbol, the PSFCH symbol and the above one or more symbols. That is, the SL PRS symbol is different from the SL PT-RS symbol and the PSFCH symbol, or the SL PRS symbol is time-divided from the SL PT-RS symbol and the PSFCH symbol.

[0196] For example, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol, the SL PT-RS symbol, and the PSFCH symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the SL PT-RS symbol, and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol, the SL PT-RS symbol, and the PSFCH symbol, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols except the AGC symbol, the GAP symbol, the SL PT-RS symbol, and the PSFCH symbol. Alternatively, if the multiple OFDM symbols include AGC symbols, GAP symbols, and PSCCH symbols in addition to the SL PRS symbols, SL PT-RS symbols, and PSFCH symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols in addition to the AGC symbols, GAP symbols, PSCCH symbols, SL PT-RS symbols, and PSFCH symbols. Alternatively, if the multiple OFDM symbols include AGC symbols, GAP symbols, PSCCH symbols, and PSSCH DMRS symbols in addition to the SL PRS symbols, SL PT-RS symbols, and PSFCH symbols, then the SL PRS symbol may be the last M symbols in the multiple OFDM symbols in addition to the AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, SL PT-RS symbols, and PSFCH symbols. Alternatively, if in addition to the SL PRS symbol, SL PT-RS symbol, and PSFCH symbol, the multiple OFDM symbols also include AGC symbols, GAP symbols, PSCCH symbols, PSSCH DMRS symbols, and SL CSI-RS symbols, then the SL PRS symbol can be the last M symbols in the multiple OFDM symbols except for the AGC symbol, GAP symbol, PSCCH symbol, PSSCH DMRS symbol, SL CSI-RS symbol, SL PT-RS symbol, and PSFCH symbol. The remaining cases are similar and are not listed one by one.

[0197] For example, suppose Y=14, l d=13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth and thirteenth symbols of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the ninth symbol of the 14 OFDM symbols, as shown in (1) of Figure 18; or, when M is 2, the SL PRS symbol can include the sixth and seventh symbols of the 14 OFDM symbols, as shown in (2) of Figure 18.

[0198] It should be noted that FIG18 shows an example in which PSSCH DMRS is DMRS, SL CSI-RS is CSI-RS, and SL PT-RS is PT-RS. It should be understood that the embodiment shown in FIG18 is an example and does not limit the position of SL PRS symbols. For example, assuming Y=14, l d =13, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the PSFCH symbol is the thirteenth symbol of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, and the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols. Then, when M=1, the SL PRS symbol can be the twelfth symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth and seventh symbols of the 14 OFDM symbols.

[0199] In another embodiment, the SL PRS symbol is the last M symbols in a plurality of OFDM symbols except for the one or more symbols mentioned above, which can be specifically: the SL PRS symbol is the M symbols after the last M symbols in a plurality of OFDM symbols except for the one or more symbols mentioned above are offset (or shifted) by X symbols. For example, the SL PRS symbol can be the M symbols after the last M symbols in a plurality of OFDM symbols except for the one or more symbols mentioned above are offset (or shifted) by X symbols forward (or left). The M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except for the one or more symbols. M is a positive integer. And when M is greater than 1, the M symbols after the last M symbols are offset by X symbols are M consecutive symbols.

[0200] Among them, X can be an integer greater than or equal to 0, in other words, X can be configured to be 0. Optionally, X can be pre-configured, or can be indicated (or configured) by the second information, without limitation. The second information can be, for example, high-layer signaling, or can be SCI, without limitation. For example, the first terminal device (or the second terminal device) can receive the second information, and the second information is used to indicate (or configure) X. For example, the second information can be an identifier of the time domain resource of the SL PRS (such as SL PRS Resource ID), and the identifier of the time domain resource of the SL PRS can be used to indicate X.

[0201] For example, if the multiple OFDM symbols include an AGC symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols excluding the AGC symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol and a GAP symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols excluding the AGC symbol and the GAP symbol. Alternatively, if the multiple OFDM symbols include an AGC symbol, a GAP symbol, and a PSCCH symbol in addition to the SL PRS symbol, the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols excluding the AGC symbol, the GAP symbol, and the PSCCH symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, and a PSSCH DMRS symbol, then the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols excluding the AGC symbol, the GAP symbol, the PSCCH symbol, and the PSSCH DMRS symbol. Alternatively, if, in addition to the SL PRS symbol, the multiple OFDM symbols further include an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, and a SL CSI-RS symbol, then the SL PRS symbol may be M symbols offset by X symbols from the last M symbols in the multiple OFDM symbols excluding the AGC symbol, the GAP symbol, the PSCCH symbol, the PSSCH DMRS symbol, and the SL CSI-RS symbol. The same applies to other cases, which are not listed one by one.

[0202] For example, suppose Y=14, l d=13, X=2, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 14 OFDM symbols, as shown in (1) of Figure 19; or, when M is 2, the SL PRS symbol can include the seventh and eighth symbols of the 14 OFDM symbols, as shown in (2) of Figure 19; or, when M is 4, the SL PRS symbol can include the fifth, sixth, seventh, and eighth symbols of the 14 OFDM symbols, as shown in (3) of Figure 19.

[0203] It should be noted that FIG19 shows an example in which PSSCH DMRS is DMRS and SL CSI-RS is CSI-RS. It should be understood that the embodiment shown in FIG19 is an example and does not limit the position of SL PRS symbols. For example, assuming Y=14, l d =13, X=3, the AGC symbol is the first of the 14 OFDM symbols, the PSCCH symbol includes the second and third of the 14 OFDM symbols, the GAP symbol is the last of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth of the 14 OFDM symbols. Therefore, when M is 1, the SL PRS symbol can be the ninth of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth and seventh of the 14 OFDM symbols.

[0204] For another example, suppose Y=14, l d=13, X=2, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second and third symbols of the 14 OFDM symbols, the GAP symbol is the last symbol of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh symbols of the 14 OFDM symbols, the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols, and the SL PT-RS is the eighth symbol of the 14 OFDM symbols. Then, when M is 1, the SL PRS symbol can be the tenth symbol of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth and seventh symbols of the 14 OFDM symbols.

[0205] For another example, suppose Y=14, l d =13, X=2, the AGC symbol is the first of the 14 OFDM symbols, the PSCCH symbol includes the second and third of the 14 OFDM symbols, the GAP symbol is the last of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth and third of the 14 OFDM symbols. Therefore, when M is 1, the SL PRS symbol can be the seventh of the 14 OFDM symbols; or, when M is 2, the SL PRS symbol can include the sixth and seventh of the 14 OFDM symbols.

[0206] For another example, suppose Y=14, l d =13, X=2, the AGC symbol is the first of the 14 OFDM symbols, the PSCCH symbol includes the second and third of the 14 OFDM symbols, the GAP symbol is the last of the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth and eleventh of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth of the 14 OFDM symbols, the SL PT-RS symbol is the eighth of the 14 OFDM symbols, and the PSFCH symbol includes the twelfth and third of the 14 OFDM symbols. Therefore, when M is 1, the SL PRS symbol can be the seventh of the 14 OFDM symbols.

[0207] It should be pointed out that the SL PRS symbol is the last M symbols in multiple OFDM symbols except for the above one or more symbols. It can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the SL PT-RS symbol and the above one or more symbols are offset (or shifted) by X symbols; or it can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the PSFCH symbol and the above one or more symbols are offset (or shifted) by X symbols; or it can also be: the SL PRS symbol is the M symbols after the last M symbols in multiple OFDM symbols except for the SL PT-RS symbol, PSFCH symbol and the above one or more symbols are offset (or shifted) by X symbols. The specific implementation process can refer to the above content and will not be listed here one by one.

[0208] In one embodiment, the maximum number of time domain resources of the SL PRS is determined according to M and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N and the symbols available for the SL PRS; or, the maximum number of time domain resources of the SL PRS is determined according to M, the number of multiple OFDM symbols (i.e., the value of Y, or l d ), and the pattern of one or more symbols mentioned above; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the value of Y, and the pattern of one or more symbols mentioned above; or, the maximum number of time domain resources of SL PRS is determined according to M, the symbols available for SL PRS, and X; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the symbols available for SL PRS, and X; or, the maximum number of time domain resources of SL PRS is determined according to M, the value of Y, the pattern of one or more symbols mentioned above, and X; or, the maximum number of time domain resources of SL PRS is determined according to the pattern between M and N, the value of Y, the pattern of one or more symbols mentioned above, and X, without limitation.

[0209] Among them, SL PRS is carried by SL PRS symbols, or SL PRS is mapped in SL PRS symbols. The symbols that can be used by SL PRS can be symbols other than the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than SL PT-RS symbols and the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than PSFCH symbols and the one or more symbols mentioned above in the multiple OFDM symbols; or they can also be symbols other than SL PT-RS symbols, PSFCH symbols and the one or more symbols mentioned above in the multiple OFDM symbols. N is the number of comb teeth of SL PRS, X is the offset of SL PRS symbol, and N, X, and Y are all positive integers. Among them, the pattern between M and N can determine M. The value of Y and the image of the one or more symbols mentioned above can determine the symbols that can be used by SL PRS.

[0210] For example, suppose Y=14, l d =13, the symbols that SL PRS can use are the fifth, sixth, seventh, eighth, ninth, tenth, and twelfth symbols of the 14 OFDM symbols. If the value of M is one of 1, 2, and 4, the maximum number of time domain resources for SL PRS is 3; or, if the value of M is one of 1 and 2 (or 1 and 4, or 2 and 4), the maximum number of time domain resources for SL PRS is 2; or, if the value of M is only 1 (or only 2, or only 4), the maximum number of time domain resources for SL PRS is 1.

[0211] Optionally, the number of bits occupied by the identifier of the time domain resource of the SL PRS can be determined by the maximum number of time domain resources of the SL PRS. For example, the number of bits occupied by the identifier of the time domain resource of the SL PRS can be Among them, R max is the maximum number of time domain resources of SL PRS, This is a round-up operation.

[0212] In the above embodiment of the present application, the SL PRS symbol is the last M symbols of multiple OFDM symbols used for SL transmission in a time slot, excluding the above one or more symbols. The value of M is configured through high-level signaling and / or SCI, which means that the terminal device (for example, the first terminal device, or the second terminal device) can uniquely determine the position of the SL PRS symbol in the multiple OFDM symbols, thereby realizing the determination of the position of the SL PRS symbol and improving the performance of SL positioning.

[0213] In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of the interaction between the first terminal device and the second terminal device. Among them, the steps performed by the terminal device (for example, the first terminal device or the second terminal device) can be implemented by different functional entities that constitute the terminal device. The terminal device (for example, the first terminal device or the second terminal device) may include a hardware structure and / or a software module to implement the above-mentioned functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above-mentioned functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0214] The following describes the communication device used to implement the above method in the embodiment of the present application with reference to the accompanying drawings. Therefore, the above contents can be used in subsequent embodiments, and repeated contents will not be repeated.

[0215] 20 shows a schematic structural diagram of a communication device 2000. The communication device 2000 can implement the functions or steps implemented by the terminal device (eg, the first terminal device or the second terminal device) in the above-mentioned various method embodiments.

[0216] In one embodiment, the communication device 2000 may include a processing module 2001 and a transceiver module 2002. The processing module 2001 may be configured to perform data processing, such as executing the steps of any communication device (e.g., the first terminal device or the second terminal device) in any of the above method embodiments. The transceiver module 2002 may be configured to implement corresponding communication functions, such as receiving or sending relevant data, information, or messages. The transceiver module 2002 may also be referred to as a communication interface, a communication module, a transceiver unit, or the like.

[0217] It should be noted that the communication device 2000 may include the processing module 2001 but not the transceiver module 2002. Alternatively, the communication device 2000 may include the transceiver module 2002 but not the processing module 2001. The specific implementation depends on whether the above solution executed by the communication device 2000 includes both processing actions and transceiver actions.

[0218] Optionally, the communication device 2000 may further include a storage module, which is not shown in Figure 20. The storage module may be used to store instructions and / or data, and the processing module 2001 may read the instructions and / or data in the storage module to enable the communication device 2000 to implement the aforementioned method embodiment.

[0219] Optionally, the transceiver module 2002 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0220] It should be noted that the communication device 2000 may include a sending module but not a receiving module. Alternatively, the communication device 2000 may include a receiving module but not a sending module. The specific implementation depends on whether the above solution executed by the communication device 2000 includes a sending action and a receiving action.

[0221] In one embodiment, a communication device 2000 can implement the functions or steps implemented by the first terminal device in any of the above-described method embodiments. The communication device 2000 can be the first terminal device, or it can be a component configured in the first terminal device. The processing module 2001 is configured to perform processing-related operations on the first terminal device side in the above-described method embodiments. The transceiver module 2002 is configured to perform transceiver-related operations on the first terminal device side in the above-described method embodiments.

[0222] Optionally, the communication device 2000 can be used to perform the actions performed by the first terminal device in the embodiment shown in FIG3 . For details, please refer to the relevant introduction of the embodiment shown in FIG3 , which will not be repeated here. For example, the communication device 2000 can perform the following scheme:

[0223] The processing module 2001 may be configured to generate a plurality of OFDM symbols, where the plurality of OFDM symbols are symbols used for sidelink transmission within a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or a SL CSI-RS symbol, and the plurality of OFDM symbols also include an SL PRS symbol, where the SL PRS symbol is the last M symbols of the plurality of OFDM symbols excluding the one or more symbols, where M is 1 or a positive integer greater than 1, and when M is greater than 1, the M symbols are M consecutive symbols. The transceiver module 2002 is configured to transmit the plurality of OFDM symbols;

[0224] The transceiver module 2002 can be used to send multiple OFDM symbols to the second terminal device.

[0225] Optionally, the SL CSI-RS symbol is a semi-statically configured symbol, and the transceiver module 2002 is further used to send first information, where the first information is used to instruct the first terminal device to send SL CSI-RS, or to instruct the first terminal device not to send SL CSI-RS.

[0226] Optionally, the transceiver module 2002 is further used to receive second information, where the second information is used to indicate X.

[0227] Optionally, the transceiver module 2002 is further used to receive third information, where the third information is used to indicate M.

[0228] In another embodiment, a communication device 2000 can implement the functions or steps implemented by the second terminal device in any of the above-mentioned method embodiments. The communication device 2000 can be a second terminal device, or a component configured in a second terminal device. The processing module 2001 is configured to perform processing-related operations on the second terminal device side in the above-mentioned method embodiments. The transceiver module 2002 is configured to perform transceiver-related operations on the second terminal device side in the above-mentioned method embodiments.

[0229] Optionally, the communication device 2000 can be used to perform the actions performed by the second terminal device in the embodiment shown in FIG3 above. For details, please refer to the relevant introduction of the embodiment shown in FIG3 above, which will not be repeated here. For example, the communication device 2000 can perform the following scheme:

[0230] The transceiver module 2002 is configured to receive a plurality of OFDM symbols, where the plurality of OFDM symbols are symbols used for sidelink transmission within a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or a SL CSI-RS symbol, and the plurality of OFDM symbols also include an SL PRS symbol, where the SL PRS symbol is the last M symbols of the plurality of OFDM symbols other than the one or more symbols, where M is 1, or an integer greater than 1, wherein when M is greater than 1, the M symbols are M consecutive symbols. For example, the transceiver module 2002 is configured to receive a plurality of OFDM symbols from a first terminal device;

[0231] The processing module 2001 is configured to determine an SL PRS symbol.

[0232] Optionally, the SL CSI-RS symbol is a semi-statically configured symbol, and the transceiver module 2002 is further used to receive first information, where the first information is used to instruct the first terminal device to send SL CSI-RS, or to instruct the first terminal device not to send SL CSI-RS.

[0233] Optionally, the transceiver module 2002 is further used to receive second information, where the second information is used to indicate X.

[0234] Optionally, the transceiver module 2002 is further used to receive third information, where the third information is used to indicate M.

[0235] It should be understood that a more detailed description of the corresponding processes executed by each module can be directly obtained by referring to the relevant description in the method embodiment shown in Figure 3. For the sake of brevity, it is not repeated here.

[0236] The processing module 2001 in the above embodiment can be implemented by at least one processor or processor-related circuits. The transceiver module 2002 can be implemented by a transceiver or transceiver-related circuits. The storage module can be implemented by at least one memory.

[0237] As shown in Figure 21, an embodiment of the present application provides a schematic structural diagram of a communication device 2100. The communication device 2100 may include a processor 2120 for implementing or supporting the communication device 2100 in implementing the functions of the first terminal device or the second terminal device in any method embodiment of the present application. For details, please refer to the detailed description of the aforementioned method embodiment, which is not repeated here. For example, the processor 2120 is used to read and execute program instructions through a communication interface to enable the communication device 2100 to implement the corresponding method. The processor 2120 may include one or more processors, without limitation.

[0238] Specifically, the communication device 2100 can be a first terminal device or a functional module located in the first terminal device, which can implement the function of the first terminal device in any method embodiment of the present application; or, the communication device 2100 can be a second terminal device or a functional module located in the second terminal device, which can implement the function of the second terminal device in any method embodiment of the present application.

[0239] It should be noted that the functional modules mentioned above can be implemented by hardware or by a combination of hardware and software, without limitation. Also, when the communication device 2100 includes a processor 2120, the communication device 2100 can be a chip or a chip system.

[0240] For example, the communication device 2100 may be a chip system, wherein the chip system may be composed of a chip, or may include a chip and other discrete components, without limitation.

[0241] Optionally, the communication device 2100 may further include a memory 2130 for storing program instructions and / or data. The memory 2130 is coupled to the processor 2120. Coupling can be understood as an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, for information exchange between the devices, units, or modules. The processor 2120 may operate in conjunction with the memory 2130. The processor 2120 and the memory 2130 may be integrated or separately provided.

[0242] Furthermore, the processor 2120 is configured to execute program instructions stored in the memory 2130 so that the communication device 2100 implements a corresponding method.

[0243] One or more memories in the memory 2130 may be included in the processor, or the memory 2130 may exist independently, such as an off-chip memory, and be connected to the processor 2120 via a communication bus (represented by a thick line 2140 in FIG. 21 ). The memory 2130 and the processor 2120 may also be integrated together.

[0244] Optionally, the communication device 2100 further includes a communication interface 2110 (indicated by a dotted line in FIG. 21 ) for communicating with other devices via a transmission medium, thereby enabling the device in the communication device 2100 to communicate with the other device. For example, when the communication device is a first terminal device, the other device may be a second terminal device, etc. The processor 2120 may use the communication interface 2110 to send and receive data. For example, the processor 2120 may be configured to control the communication interface 2110 to receive and / or send signals.

[0245] Optionally, when the communication device 2100 is a chip or a chip system, the communication interface 2110 may be an input / output interface.

[0246] Specifically, the communication interface 2110 may be a transceiver. In hardware implementation, the transceiver may be used to implement the functionality of the transceiver module 2002 described above. The transceiver is integrated into the communication device 2100 to form the communication interface 2110. For example, the transceiver may include a transmitter and a receiver to transmit and receive signals; alternatively, the transceiver may include a transmitter but not a receiver to transmit signals; alternatively, the transceiver may include a receiver but not a transmitter to receive signals.

[0247] It should be noted that the specific connection medium between the communication interface 2110, processor 2120, and memory 2130 is not limited in the embodiments of the present application. In FIG21 , the memory 2130, processor 2120, and communication interface 2110 are connected via a communication bus 2140. The connection methods between other components are merely schematic and not limiting. The communication bus 2140 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, FIG21 shows only one thick line, but this does not mean that there is only one communication bus or only one type of communication bus.

[0248] In the embodiments of the present application, the processor 2120 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor or any conventional processor. The methods disclosed in conjunction with the embodiments of the present application may be executed by hardware in the processor, or by a combination of hardware and software in the processor.

[0249] In the embodiment of the present application, the memory 2130 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or a volatile memory, such as a random-access memory (RAM). The memory may also be any other medium for carrying or storing program code in the form of instructions or data structures and accessible by a computer; or a circuit or any other device capable of performing a storage function, for storing program instructions and / or data.

[0250] Based on the same concept, referring to FIG22 , an embodiment of the present application also provides another communication device 2200, including: an input / output interface 2210 and a logic circuit 2220; the input / output interface 2210 is used to receive code instructions and transmit them to the logic circuit 2220; the logic circuit 2220 is used to run code instructions to execute the method executed by the first terminal device or the second terminal device in any of the above embodiments.

[0251] The following describes in detail the operations performed by the communication device when applied to the terminal device or the second terminal device.

[0252] In an optional embodiment, the communication apparatus 2200 may be applied to a first terminal device to execute the method executed by the first terminal device, such as the method executed by the first terminal device in the embodiment shown in FIG3 . For example, the communication apparatus 2200 generates a plurality of OFDM symbols and transmits the plurality of OFDM symbols.

[0253] Since the communication device 2200 provided in this embodiment can be applied to the first terminal device to complete the method performed by the first terminal device, the technical effects that can be obtained can be referred to the above method embodiment and will not be repeated here.

[0254] In another optional embodiment, the communication device 2200 may be applied to a second terminal device to execute the method executed by the second terminal device, such as the method executed by the second terminal device in the embodiment shown in Figure 3. For example, the communication device 2200 receives multiple OFDM symbols and determines the SL PRS symbol.

[0255] Since the communication device 2200 provided in this embodiment can be applied to the second terminal device to complete the method performed by the second terminal device, the technical effects that can be obtained can be referred to the above method embodiment and will not be repeated here.

[0256] The present application also provides a communication system, which may include one or more of the following: a first terminal device, or a second terminal device. The first terminal device or the second terminal device can be described in the aforementioned method embodiments and will not be described in detail.

[0257] A computer-readable storage medium is also provided in an embodiment of the present application, including program instructions, which, when executed on a computer, enables the computer to execute the method or steps of any communication device (for example, the first terminal device, or the second terminal device) in the above-mentioned embodiments.

[0258] A computer program product is also provided in an embodiment of the present application, including program instructions, which, when executed on a computer, enables the computer to execute the method or steps of any communication device (e.g., the first terminal device, or the second terminal device) in the above embodiments.

[0259] An embodiment of the present application provides a chip system, which includes a processor for implementing the functions of the first terminal device or the second terminal device in the aforementioned method (for example, executing the corresponding method or step). The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0260] Optionally, the chip system further includes a memory for storing program instructions so that the above-mentioned processor reads and executes them to implement the corresponding method.

[0261] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0262] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can 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.

[0263] 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 refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0264] 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.

[0265] 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.

[0266] 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.

[0267] 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 part that essentially contributes to the technical solution of the present application or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or 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.

[0268] The above description is merely a specific embodiment of the present application, but the scope of protection of the embodiments of the present application is not limited thereto. Any person skilled in the art can easily conceive of changes or substitutions within the technical scope disclosed in the embodiments of the present application, and such changes or substitutions should be included in the scope of protection of the embodiments of the present application. Therefore, the scope of protection of the embodiments of the present application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: The method comprises: Generate a plurality of orthogonal frequency division multiplexing OFDM symbols, wherein the plurality of OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an automatic gain control AGC symbol, a gap GAP symbol, a physical sidelink control channel PSCCH symbol, a physical sidelink shared channel demodulation reference signal PSSCH DMRS symbol, or a sidelink channel state information reference channel SL CSI-RS symbol, and the plurality of OFDM symbols also include a sidelink positioning reference signal SL PRS symbol, and the SL PRS symbol is the last M symbols of the plurality of OFDM symbols except the one or more symbols, wherein M is 1, or the M is an integer greater than 1, wherein when the M is greater than 1, the M symbols are M consecutive symbols; The plurality of OFDM symbols are transmitted.

2. The method according to claim 1, characterized in that The SL CSI-RS symbol is a semi-statically configured symbol, and the method further includes: Sending first information, wherein the first information is used to instruct the first terminal device to send a SL CSI-RS, or to instruct the first terminal device not to send a SL CSI-RS, wherein the SL CSI-RS is carried by the SL CSI-RS symbol.

3. The method according to claim 2, characterized in that The multiple OFDM symbols include the SL CSI-RS symbol; or, When the first information is used to instruct the first terminal device to send the SL CSI-RS, the multiple OFDMs include the SL CSI-RS symbols.

4. A communication method, characterized in that: The method comprises: Receive a plurality of OFDM symbols, where the plurality of OFDM symbols are symbols used for sidelink transmission in a time slot, wherein the plurality of OFDM symbols include one or more of the following symbols: an AGC symbol, a GAP symbol, a PSCCH symbol, a PSSCH DMRS symbol, or an SL CSI-RS symbol, and the plurality of OFDM symbols also include an SL PRS symbol, where the SL PRS symbol is the last M symbols of the plurality of OFDM symbols except the one or more symbols, where M is 1, or the M is a positive integer greater than 1, wherein when the M is greater than 1, the M symbols are M consecutive symbols; The SL PRS symbol is determined.

5. The method according to claim 4, characterized in that The SL CSI-RS symbol is a semi-statically configured symbol, and the method further includes: First information is received, where the first information is used to instruct the first terminal device to send a SL CSI-RS, or to instruct the first terminal device not to send a SL CSI-RS, wherein the SL CSI-RS is carried by the SL CSI-RS symbol.

6. The method according to claim 5, characterized in that The multiple OFDM symbols include the SL CSI-RS symbol; or, When the first information is used to instruct the first terminal device to send the SL CSI-RS, the multiple OFDMs include the SL CSI-RS symbols.

7. The method according to any one of claims 1 to 6, characterized in that The AGC symbol is the first symbol among the multiple OFDM symbols; The GAP symbol is the last symbol of the multiple OFDM symbols; The PSCCH symbol includes the second symbol and the third symbol of the multiple OFDM symbols, or the PSCCH symbol includes the second symbol, the third symbol and the fourth symbol of the multiple OFDM symbols; The PSSCH DMRS symbol includes the second symbol and the sixth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fifth symbol and the ninth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the fifth symbol and the eleventh symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the sixth symbol and the tenth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the seventh symbol and the twelfth symbol of the multiple OFDM symbols, or the PSSCH DMRS symbol includes the second symbol, the fifth symbol and the eighth symbol of the multiple OFDM symbols the first symbol, the eighth symbol, and the eleventh symbol; The SL CSI-RS symbol is a symbol from the fourth symbol to the second to last symbol in the multiple OFDM symbols.

8. The method according to any one of claims 1 to 7, characterized in that The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols, or when the M is 4, the SL PRS symbol includes the seventh symbol, the eighth symbol, the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 12 OFDM symbols, or when the M is 4, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 12 OFDM symbols; or, The multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the seventh symbol and the eighth symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol and the eighth symbol of the 11 OFDM symbols; or, The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the eighth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols; or, The multiple OFDM symbols are 9 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 9 OFDM symbols, and the SL CSI-RS symbol is the eighth symbol of the 9 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 9 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 9 OFDM symbols; or, The multiple OFDM symbols are 8 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 8 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 8 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 8 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fourth symbol and the fifth symbol of the 8 OFDM symbols; or, The multiple OFDM symbols are 7 OFDM symbols, the PSSCH DMRS symbol includes the second symbol and the sixth symbol of the 7 OFDM symbols, and the SL CSI-RS symbol is the fourth symbol of the 7 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the fifth symbol of the 7 OFDM symbols; The AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

9. The method according to any one of claims 1 to 7, characterized in that The multiple OFDM symbols also include a sidelink phase tracking reference signal SL PT-RS symbol; The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is a symbol other than the SL PT-RS symbol and the one or more symbols in the multiple OFDM symbols. The last M symbols.

10. The method according to claim 9, characterized in that The SL PT-RS symbol is time-divided with the PSCCH symbol, and the SL PT-RS symbol is also time-divided with the PSSCH DMRS symbol.

11. The method according to claim 9 or 10, characterized in that: The multiple OFDM symbols are 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol of the 14 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the twelfth symbol of the 14 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 14 OFDM symbols; or, The multiple OFDM symbols are 13 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 13 OFDM symbols, and the SL CSI-RS symbol is the twelfth symbol of the 13 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 13 OFDM symbols, or when the M is 2, the SL PRS symbol includes the ninth symbol and the tenth symbol of the 13 OFDM symbols; or, The multiple OFDM symbols are 12 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol of the 12 OFDM symbols, and the SL CSI-RS symbol is the ninth symbol of the 12 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the tenth symbol of the 12 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 12 OFDM symbols; or, The multiple OFDM symbols are 11 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 11 OFDM symbols, and the SL CSI-RS symbol is the tenth symbol of the 11 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the seventh symbol of the 11 OFDM symbols, or when the M is 2, the SL PRS symbol includes the sixth symbol and the seventh symbol of the 11 OFDM symbols; or, The multiple OFDM symbols are 10 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the ninth symbol of the 10 OFDM symbols, and the SL CSI-RS symbol is the seventh symbol of the 10 OFDM symbols; wherein, when the M is 1, the SL PRS symbol is the sixth symbol of the 10 OFDM symbols, or when the M is 2, the SL PRS symbol includes the fifth symbol and the sixth symbol of the 10 OFDM symbols; Among them, the AGC symbol is the first symbol among the multiple OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the multiple OFDM symbols, the SL PT-RS symbol is the eighth symbol among the multiple OFDM symbols, and the GAP symbol is the last symbol among the multiple OFDM symbols.

12. The method according to any one of claims 1 to 7, 9 and 10, characterized in that: The multiple OFDM symbols also include a physical sidelink feedback channel PSFCH symbol; The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the PSFCH symbol and the one or more symbols.

13. The method according to claim 12, characterized in that The PSFCH symbol is the second to last symbol among the multiple OFDM symbols, or the PSFCH symbol includes the second to last symbol and the third to last symbol among the multiple OFDM symbols.

14. The method according to claim 12 or 13, characterized in that When the multiple OFDM symbols are 14 OFDM symbols: The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the eighth symbol and the ninth symbol of the 14 OFDM symbols; or, The M is 4, and the SL PRS symbol includes the sixth symbol, the seventh symbol, the eighth symbol, and the ninth symbol of the 14 OFDM symbols; Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

15. The method according to claim 12 or 13, characterized in that The multiple OFDM symbols further include a SL PT-RS symbol. When the multiple OFDM symbols are 14 OFDM symbols: The M is 1, and the SL PRS symbol is the ninth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the sixth symbol and the seventh symbol of the 14 OFDM symbols; Among them, the AGC symbol is the first symbol of the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol of the 14 OFDM symbols, the PSSCH DMRS symbol is the fourth symbol and the eleventh symbol of the 14 OFDM symbols, the SL PT-RS symbol is the eighth symbol of the 14 OFDM symbols, the SL CSI-RS symbol is the tenth symbol of the 14 OFDM symbols, the PSFCH symbol includes the twelfth symbol and the thirteenth symbol of the 14 OFDM symbols, and the GAP symbol is the last symbol of the 14 OFDM symbols.

16. The method according to any one of claims 1 to 7, 9, 10, 12 and 13, characterized in that The SL PRS symbol is the last M symbols of the multiple OFDM symbols except the one or more symbols, including: The SL PRS symbol is M symbols after the last M symbols are offset by X symbols, and the M symbols after the last M symbols are offset by X symbols belong to the multiple OFDM symbols except the one or more symbols, and X is a positive integer.

17. The method according to claim 16, characterized in that When the multiple OFDM symbols are 14 OFDM symbols and X is 2: The M is 1, and the SL PRS symbol is the tenth symbol among the 14 OFDM symbols; or, The M is 2, and the SL PRS symbol includes the seventh symbol and the eighth symbol of the 14 OFDM symbols; or, The M is 4, and the SL PRS symbol includes the fifth symbol, the sixth symbol, the seventh symbol, and the eighth symbol of the 14 OFDM symbols; Among them, the AGC is the first symbol among the 14 OFDM symbols, the GAP symbol is the last symbol among the 14 OFDM symbols, the PSCCH symbol includes the second symbol and the third symbol among the 14 OFDM symbols, the PSSCH DMRS symbol includes the fourth symbol and the eleventh symbol among the 14 OFDM symbols, and the SL CSI-RS symbol is the thirteenth symbol among the 14 OFDM symbols.

18. The method according to claim 16 or 17, characterized in that The method further comprises: Second information is received, where the second information is used to indicate the X.

19. The method according to any one of claims 1 to 18, characterized in that The method further comprises: Receive third information, where the third information is used to indicate the M.

20. The method according to claim 19, characterized in that The third information is used to indicate the M, including: The third information is used to indicate a pattern between M and N, the pattern between M and N is used to indicate M, N is the number of comb teeth of SL PRS, the SL PRS is carried by the SL PRS, and N is a positive integer.

21. The method according to claim 19 or 20, characterized in that The third information is an identifier of the time domain resource of the SL PRS.

22. The method according to any one of claims 1 to 21, characterized in that The maximum number of time domain resources of the SL PRS is determined according to the M and the symbols available for the SL PRS; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N and the symbols available for use by the SL PRS; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the number of the multiple OFDM symbols, and the pattern of the one or more symbols; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the symbols available for the SL PRS, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the symbols available for the SL PRS, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the M, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; or, The maximum number of time domain resources of the SL PRS is determined according to the pattern between M and N, the number of the multiple OFDM symbols, the pattern of the one or more symbols, and X; The SL PRS is carried by the SL PRS, N is the number of comb teeth of the SL PRS, X is the offset of the SL PRS symbol, the symbols that can be used by the SL PRS symbol are the symbols in the multiple OFDM symbols except the one or more symbols, and N and X are both positive integers.

23. A communication device, characterized in that: The communication device comprises a module for executing the method according to any one of claims 1 to 3, 7 to 22, or a module for executing the method according to any one of claims 4 to 22.

24. A communication device, characterized in that: comprising at least one processor and a memory; The memory is used to store one or more computer programs or instructions, and the at least one processor is used to execute the one or more computer programs or instructions stored in the memory, so that the communication device performs the method as described in any one of claims 1 to 3, 7 to 22, or performs the method as described in any one of claims 4 to 22.

25. A chip system, characterized in that: The chip system includes at least one processor for executing one or more computer programs or instructions in a memory to implement the method as described in any one of claims 1 to 3, 7 to 22, or the method as described in any one of claims 4 to 22.

26. A communication system, characterized in that: It comprises a first terminal device and a second terminal device, wherein the first terminal device is used to execute the method as claimed in any one of claims 1 to 3 and 7 to 22, and the second terminal device is used to execute the method as claimed in any one of claims 4 to 22.

27. A computer-readable storage medium, characterized in that: A computer program or instruction is stored, wherein the computer program or instruction is used to implement the method according to any one of claims 1 to 3, 7 to 22, or implement the method according to any one of claims 4 to 22.

28. A computer program product, characterized in that The method comprises program instructions, which, when executed on a computer, implement the method according to any one of claims 1 to 3, 7 to 22, or implement the method according to any one of claims 4 to 22.

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