Method for scheduling SL-PRS transmission and related apparatus

Abstract

The present application provides a method for scheduling SL-PRS transmission and a related apparatus. The method comprises: sending downlink control information (DCI) in a first format to a first terminal device, the DCI in the first format comprising first indication information, and the first indication information being used for indicating a resource for sending an SL-PRS; and receiving ACK / NACK information from the first terminal device, the ACK / NACK information being used for indicating whether the first terminal device sends the SL-PRS on the basis of the resource indicated by the first indication information. According to the embodiments of the present application, a base station can learn about the status of SL-PRS transmission by a terminal device, and reschedule a resource for the terminal device when the SL-PRS transmission fails, ensuring that the terminal device can successfully send an SL-PRS.

Description

Method and related device for scheduling SL-PRS transmission

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 3, 2023, with application number 202311455890.0 and application name “Method and Related Apparatus for Scheduling SL-PRS Transmission”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of communication technology, and in particular to a method for scheduling SL-PRS transmission and related devices. Background Art

[0003] With the rapid development of communication and autonomous driving technologies, 3GPP (3rd Generation Partnership Project) has decided to conduct standardization research on sidelink positioning technology in Release 18 (Rel-18) to meet vehicle requirements in positioning latency, accuracy, and security.

[0004] Sidelink positioning refers to terminal-to-terminal positioning via sidelinks, including absolute positioning, relative positioning, and ranging. In sidelink positioning, a terminal measures the SL-PRS (sidelink positioning reference signal) sent by other terminals (typically multiple terminals) via sidelinks to achieve positioning.

[0005] Summary of the Invention

[0006] The embodiments of the present application disclose a method and related apparatus for scheduling SL-PRS transmission, which can enable the base station to understand the situation of the terminal device sending SL-PRS, so as to reschedule resources for the terminal device in the event of SL-PRS transmission failure, thereby ensuring that the terminal device can successfully send SL-PRS.

[0007] A first aspect discloses a method for scheduling SL-PRS transmission, which can be applied to an access network device, a module (e.g., a processor) in the access network device, or a logic module or software capable of implementing all or part of the functions of the access network device. The following description takes application to an access network device as an example, and the method for scheduling SL-PRS transmission may include: sending downlink control information (DCI) in a first format to a first terminal device, the DCI in the first format including first indication information, the first indication information being used to indicate a resource for sending the SL-PRS; and receiving ACK / NACK information from the first terminal device, the ACK / NACK information being used to indicate whether the first terminal device sends the SL-PRS based on the resource indicated by the first indication information.

[0008] In an embodiment of the present application, the access network device can schedule resources for sending SL-PRS for the first terminal device through the DCI of the first format, and the access network device can receive ACK / NACK information related to the SL-PRS fed back by the first terminal device. The access network device can determine the situation in which the first terminal device sends SL-PRS through the ACK / NACK information, which can facilitate further processing by the access network device. Exemplarily, when the access network device determines through the ACK / NACK information that the first terminal device has not sent out SL-PRS based on the previously allocated resources, the access network device can reschedule resources for the terminal device to ensure that the terminal device can successfully send out SL-PRS, thereby ensuring that side positioning can be successfully performed.

[0009] In combination with the first aspect, in a possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0010] In combination with the first aspect, in a possible implementation, the DCI of the first format also includes second indication information. In the case of independent counting of the DCI of the first format, the second indication information is used to indicate the counting information of the current DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case of combined counting of the DCI of the first format and the DCI of the second format, the second indication information is used to indicate the combined counting information of the current DCI of the first format and the DCI of the second format, or the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0011] In an embodiment of the present application, the DCI of the first format can be counted independently, and the DCI of the first format can also be counted in combination with the DCI of the second format, which has high flexibility. In the case of independent counting of the DCI of the first format, the second indication information can be used by the first terminal device to determine whether the DCI of the first format has been missed or missed, and can be used for the first terminal device to feedback multiplexed ACK / NACK information. In the case of combined counting of the DCI of the first format and the DCI of the second format, the second indication information can be used by the first terminal device to determine whether the DCI of the first format or the DCI of the second format has been missed or missed, and can be used for the first terminal device to feedback multiplexed ACK / NACK information.

[0012] In combination with the first aspect, in a possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0013] It should be understood that when transmitting multiplexed ACK / NACK information, the meaning of an ACK / NACK value in the ACK / NACK information may be different for the case where DCI in the first format is counted independently and for the case where DCI in the first format and DCI in the second format are counted together. When DCI in the first format is counted independently, one ACK / NACK value indicates the transmission status of an SL-PRS associated with one DCI in the first format. When DCI in the first format and DCI in the second format are counted together, one ACK / NACK value indicates the transmission status of an SL-PRS associated with one DCI in the first format or is used to indicate the reception status of sidelink data associated with one DCI in the second format. In addition, transmitting multiple ACK / NACK values ​​at a time can reduce the number of ACK / NACK information transmissions, thereby reducing the number of resource scheduling operations and further reducing system overhead.

[0014] In combination with the first aspect, in a possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0015] In an embodiment of the present application, multiple ACK / NACK values ​​in the multiplexed ACK / NACK information can be sorted based on the second indication information in the corresponding DCI. In this way, it can be ensured that the access network device can accurately parse the multiplexed ACK / NACK information and understand the resource scheduling situation. For example, in the case of independent counting of the first format DCI, it can be accurately understood through which resources indicated by the first format DCI the first terminal device failed to successfully send SL-PRS, and through which resources indicated by the first format DCI the SL-PRS was successfully sent.

[0016] In combination with the first aspect, in a possible embodiment, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0017] It should be understood that when the DCI in the first format and the DCI in the second format are counted together, the meaning of the CSAI field in the DCI in the second format defined in the current standard may also be changed accordingly to ensure that the second indication information in the DCI in the first format and the CSAI field in the DCI in the second format are consistent. For example, the second indication information in a DCI in the first format sent by the access network device may be 00. Thereafter, the CSAI fields in two DCIs in the second format sent sequentially by the access network device may be 01 and 10, respectively. Thereafter, the second indication information in a DCI in the first format sent by the access network device may be 11.

[0018] In combination with the first aspect, in a possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS and the DCI of the second format activated by the authorization type 2 configured by the SL.

[0019] Exemplarily, the DCI of the second format activated by the grant type 2 configured by the SL can also be understood as the DCI of the second format activated by the PSSCH grant type 2 configured by the SL.

[0020] In combination with the first aspect, in a possible implementation, the method further includes: receiving a first scheduling request from the first terminal device, the first scheduling request being used to request scheduling of resources for sending SL-PRS; and sending the first format DCI to the first terminal device includes: sending the first format DCI to the first terminal device based on the first scheduling request.

[0021] In an embodiment of the present application, after receiving a scheduling request from a first terminal device, the access network device can schedule resources for transmitting SL-PRS for the terminal device via a first-format DCI. In this manner, when the terminal device needs to perform side-track positioning, it can proactively send a scheduling request to the access network device, thereby improving the flexibility and real-time performance of side-track positioning.

[0022] With reference to the first aspect, in a possible implementation manner, the second format is a DCI 3_0 format.

[0023] With reference to the first aspect, in a possible implementation manner, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0024] In an embodiment of the present application, cyclic counting can be performed using 4 values ​​of 2 bits, which occupies fewer transmission resources and can help the first terminal device determine whether it has missed or missed detecting the DCI of the first format.

[0025] In combination with the first aspect, in a possible implementation, the ACK / NACK information includes M bits, one bit of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0026] In the embodiment of the present application, an ACK / NACK value can be represented by 1 bit, such as ACK is 1 and NACK is 0.

[0027] In combination with the first aspect, in a possible implementation, the DCI in the first format further includes third indication information, where the third indication information is used to indicate a resource for feeding back the ACK / NACK information.

[0028] In an embodiment of the present application, the access network device may further carry third indication information in the first format DCI, so that the access network device may conveniently receive ACK / NACK information fed back by the first terminal device from the resources indicated by the third indication information.

[0029] With reference to the first aspect, in a possible implementation manner, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0030] A second aspect discloses a method for scheduling SL-PRS transmission, which can be applied to a first terminal device, or to a module (e.g., a processor) in the first terminal device, or to a logic module or software capable of implementing all or part of the functions of the first terminal device. The following description takes application to the first terminal device as an example, and the method for scheduling SL-PRS transmission may include: receiving downlink control information (DCI) in a first format from an access network device, the DCI in the first format including first indication information, the first indication information being used to indicate resources for sending the SL-PRS; and sending ACK / NACK information to the access network device, the ACK / NACK information being used to indicate whether the first terminal device sends the SL-PRS based on the resources indicated by the first indication information.

[0031] In combination with the second aspect, in a possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0032] In combination with the second aspect, in a possible implementation, the DCI of the first format also includes second indication information. In the case of independent counting of the DCI of the first format, the second indication information is used to indicate the current counting information of the DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case of combined counting of the DCI of the first format and the DCI of the second format, the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0033] In combination with the second aspect, in a possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0034] In combination with the second aspect, in one possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0035] In combination with the second aspect, in a possible embodiment, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0036] In combination with the second aspect, in a possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS and the DCI of the second format activated by the authorization type 2 configured by the SL.

[0037] In combination with the second aspect, in a possible implementation, before receiving the DCI in the first format from the access network device, the method further includes: sending a first scheduling request to the access network device, where the first scheduling request is used to request scheduling resources for sending SL-PRS.

[0038] With reference to the second aspect, in a possible implementation manner, the second format is a DCI 3_0 format.

[0039] In combination with the second aspect, in a possible implementation manner, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0040] In combination with the second aspect, in a possible implementation, the ACK / NACK information includes M bits, one of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0041] In combination with the second aspect, in a possible implementation, the DCI in the first format also includes third indication information, and the third indication information is used to indicate the resources for feeding back the ACK / NACK information, and sending the ACK / NACK information to the access network device includes: sending ACK / NACK information to the access network device based on the resources indicated by the third indication information.

[0042] With reference to the second aspect, in a possible implementation manner, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0043] It should be noted that the technical solution of the second aspect of this application may correspond to the solution of the first aspect. The relevant beneficial effects can refer to the beneficial effects of the first aspect and will not be repeated here.

[0044] A third aspect discloses a communication device, which may be an access network device or a module (e.g., a processor, a communication module) in the access network device. The communication device includes: a sending unit, configured to send downlink control information DCI in a first format to a first terminal device, the DCI in the first format including first indication information, the first indication information being used to indicate a resource for sending an SL-PRS; and a receiving unit, configured to receive ACK / NACK information from the first terminal device, the ACK / NACK information being used to indicate whether the first terminal device sends an SL-PRS based on the resource indicated by the first indication information.

[0045] In combination with the third aspect, in a possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0046] In combination with the third aspect, in a possible implementation, the DCI of the first format also includes second indication information. In the case of independent counting of the DCI of the first format, the second indication information is used to indicate the current counting information of the DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case of combined counting of the DCI of the first format and the DCI of the second format, the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0047] In combination with the third aspect, in a possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0048] In combination with the third aspect, in a possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0049] In combination with the third aspect, in a possible embodiment, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0050] In combination with the third aspect, in a possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS and the DCI of the second format activated by the authorization type 2 configured by the SL.

[0051] In combination with the third aspect, in a possible implementation, the receiving unit is also used to receive a first scheduling request from the first terminal device, and the first scheduling request is used to request scheduling resources for sending SL-PRS; the sending unit is specifically used to: send a first format DCI to the first terminal device based on the first scheduling request.

[0052] In combination with the third aspect, in a possible implementation, the second format is a DCI 3_0 format.

[0053] In combination with the third aspect, in a possible implementation manner, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0054] In combination with the third aspect, in a possible implementation, the ACK / NACK information includes M bits, one of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0055] In combination with the third aspect, in a possible implementation, the DCI in the first format further includes third indication information, where the third indication information is used to indicate a resource for feeding back the ACK / NACK information.

[0056] With reference to the third aspect, in a possible implementation, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0057] A fourth aspect discloses a communication device, which may be a first terminal device or a module (e.g., a processor, a communication module) in the first terminal device. The communication device includes: a receiving unit, configured to receive downlink control information (DCI) in a first format from an access network device, the DCI in the first format including first indication information, the first indication information being used to indicate resources for sending an SL-PRS; and a sending unit, configured to send ACK / NACK information to the access network device, the ACK / NACK information being used to indicate whether the first terminal device sends an SL-PRS based on the resources indicated by the first indication information.

[0058] In combination with the fourth aspect, in a possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0059] In combination with the fourth aspect, in a possible implementation, the DCI of the first format also includes second indication information. In the case where the DCI of the first format is counted independently, the second indication information is used to indicate the current counting information of the DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case where the DCI of the first format and the DCI of the second format are counted together, the second indication information is used to indicate the combined counting information of the current DCI of the first format and the DCI of the second format, or the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0060] In combination with the fourth aspect, in a possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0061] In combination with the fourth aspect, in a possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0062] In combination with the fourth aspect, in a possible embodiment, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0063] In combination with the fourth aspect, in a possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the authorization type 2 configured by the SL-PRS and the DCI of the second format activated by the authorization type 2 configured by the SL.

[0064] In combination with the fourth aspect, in a possible implementation, before the receiving unit receives the DCI in the first format from the access network device, the sending unit is also used to send a first scheduling request to the access network device, and the first scheduling request is used to request scheduling resources for sending SL-PRS.

[0065] In combination with the fourth aspect, in a possible implementation, the second format is a DCI 3_0 format.

[0066] In combination with the fourth aspect, in a possible implementation manner, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0067] In combination with the fourth aspect, in a possible implementation, the ACK / NACK information includes M bits, one bit of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0068] In combination with the fourth aspect, in a possible implementation, the DCI in the first format also includes third indication information, and the third indication information is used to indicate the resources for feeding back the ACK / NACK information. The sending unit sends the ACK / NACK information to the access network device, including: sending the ACK / NACK information to the access network device based on the resources indicated by the third indication information.

[0069] With reference to the fourth aspect, in a possible implementation manner, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0070] The fifth aspect discloses a communication system, characterized in that the communication system includes a first terminal device and an access network device, the access network device is used to implement the method provided in the above-mentioned first aspect and any possible implementation method of the first aspect; the first terminal device is used to implement the method provided in the above-mentioned second aspect and any possible implementation method of the second aspect.

[0071] The sixth aspect discloses a communication device, characterized in that it includes a transceiver, a processor and a memory; the transceiver is used to send and receive information, and the memory is used to store computer programs or computer instructions; the processor calls the computer program or computer instructions stored in the memory to implement the method provided in the above-mentioned first aspect and any possible implementation of the first aspect, or the processor calls the computer program or computer instructions stored in the memory to implement the method provided in the above-mentioned second aspect and any possible implementation of the second aspect.

[0072] The seventh aspect discloses a computer-readable storage medium having a computer program or computer instructions stored thereon. When the computer program or computer instructions are executed, the method provided in the first aspect and any possible implementation of the first aspect is implemented, or the method provided in the second aspect and any possible implementation of the second aspect is implemented.

[0073] The eighth aspect discloses a chip, including a processor for executing a program stored in a memory. When the program is executed, the chip executes the method provided in the above-mentioned first aspect and any possible implementation of the first aspect, or executes the method provided in the above-mentioned second aspect and any possible implementation of the second aspect.

[0074] As a possible implementation, the memory is located outside the chip.

[0075] The ninth aspect discloses a computer program product, which includes a computer program code. When the computer program code is run, the method provided in the above-mentioned first aspect and any possible implementation of the first aspect is executed, or the method provided in the above-mentioned second aspect and any possible implementation of the second aspect is executed.

[0076] It should be understood that the implementation and beneficial effects of the above-mentioned multiple aspects or any possible implementation methods of the present application can be referenced to each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0078] FIG1 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0079] FIG2 is a schematic diagram of a 5G core network positioning architecture provided in an embodiment of the present application;

[0080] FIG3 is a flow chart of a method for scheduling SL-PRS transmission disclosed in an embodiment of the present application;

[0081] FIG4 is a schematic structural diagram of a communication device disclosed in an embodiment of the present application;

[0082] FIG5 is a schematic structural diagram of another communication device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0083] The present invention discloses a method and related apparatus for scheduling SL-PRS transmission, which enables a base station to understand the SL-PRS transmission status of a terminal device. This allows the base station to reschedule resources for the terminal device if SL-PRS transmission fails, ensuring that the terminal device can successfully transmit the SL-PRS. The technical solutions in the present invention will be described clearly and completely below in conjunction with the accompanying drawings.

[0084] In order to better understand the embodiments of the present application, the system architecture of the embodiments of the present application is described below.

[0085] In the embodiments of the present application, some scenarios are described using the scenarios of the NR (new radio) network in the wireless communication network as an example, but it should be understood that the solutions in the embodiments of the present application can also be applied to other wireless communication networks, and the corresponding names can also be replaced by the names of corresponding functions / devices in other wireless communication networks.

[0086] Please refer to Figure 1, which is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application. As shown in Figure 1, the communication system may include one or more access network devices (such as gNB and ng-eNB in ​​Figure 1) and one or more terminal devices (such as UE1-UE3 in Figure 1). Among them, one or more access network devices can constitute NG-RAN (next-generation-radio access network), and the access network devices can communicate through the Xn interface. The terminal device can be located within the coverage of NG-RAN (such as UE1 and UE2), or outside the coverage of NG-RAN (such as UE3).

[0087] For terminal devices located within the coverage area of ​​NG-RAN, wireless communication can be carried out between them and the access network device through the air interface (i.e., air interface, such as Uu port). In addition, a terminal device can perform uplink transmission with one access network device or with multiple access network devices at the same time, and an access network device can also perform downlink transmission with one terminal device or with multiple terminal devices at the same time. For uplink transmission or downlink transmission, the terminal device can be configured with one or more antennas for sending and receiving data / information; the access network device can be configured with multiple antennas for sending and receiving data / information. It should be understood that the access network device and the terminal device may also include multiple components related to data / information sending and receiving (for example, processors, modulators, multiplexers, demodulators or demultiplexers, etc.).

[0088] Terminal devices can communicate wirelessly, such as through the PC5 interface (sidelink). The PC5 interface is a direct communication interface between terminal devices, and the corresponding communication link is called a sidelink. A sidelink can also be called a direct link or a sidelink.

[0089] Access network equipment can be equipment that provides access for terminal equipment, and can include radio access network (RAN) equipment and access node (AN) equipment. RAN equipment is mainly wireless network equipment in 3GPP networks, and AN equipment can be access network equipment that is not defined by 3GPP. RAN equipment is a device deployed in a wireless access network to provide wireless communication functions for terminal equipment, and is mainly responsible for wireless resource management, quality of service (QoS) management, data compression and encryption and other functions on the air interface side. RAN equipment can include various forms of base stations, such as macro base stations, micro base stations (also called small stations), relay stations, access points, balloon stations, etc. In systems using different wireless access technologies, the names of radio access network equipment may be different. For example, the base transceiver station (BTS) in the global system for mobile communication (GSM) or code division multiple access (CDMA) network, the NB (NodeB) in wideband code division multiple access (WCDMA), the evolved NodeB (eNB or eNodeB) in long term evolution (LTE), the next generation NodeB (gNB) and ng-eNB (4G base station accessing the 5G core network) in the fifth generation (5G) mobile communication system. The radio access network equipment can also be a radio controller in the cloud radio access network (CRAN) scenario, a base station equipment in future networks (such as 6G, 7G, etc.), a radio access network equipment in the future evolved public land mobile network (PLMN) network, a wearable device, an in-vehicle device, a transmission and reception point (TRP), an access node in a WiFi system, etc.

[0090] In some deployments, a gNB may include a central unit (CU) and a distributed unit (DU). The gNB may also include a radio unit (RU). The CU implements some of the gNB's functions, while the DU implements some of the gNB's functions. For example, the CU may implement the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers, as well as the service data adaptation protocol (SDAP) layer. The DU implements the functions of the radio link control (RLC) and media access control (MAC) layers, and may also implement some or all of the physical (PHY) layer functions. For detailed descriptions of each of the above protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). It is understood that in some possible implementations, the access network device may be a CU node, a DU node, or a device that includes both a CU node and a DU node.

[0091] Terminal equipment, also known as terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), customer premise equipment (CPE), etc., is a device with wireless communication capabilities that can provide voice and / or data connectivity services to users. The terminal device may be a handheld terminal, a laptop computer, an RSU (road side unit), a subscriber unit, a cellular phone, a smart phone, a wireless data card, a personal digital assistant (PDA) computer, a tablet computer, a tag, a wireless modem, other processing devices connected to a wireless modem, a handheld device, a laptop computer, a cordless phone or a wireless local loop (WLL) station, a machine type communication (MTC) terminal, a wearable device (such as a smart watch, a smart bracelet, a pedometer, etc.), an in-vehicle device (such as a car, a bicycle, an electric car, an airplane, a ship, a train, a high-speed train, etc.), a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a smart home device (such as a refrigerator, a television, an air conditioner, an electric meter, etc.), an intelligent robot, a workshop device, a wireless terminal in self-driving, a remote medical device, or a similar device. Wireless terminals in smart surgery, smart grids, transportation safety, smart cities, smart homes, aerial devices (such as intelligent robots, hot air balloons, drones, airplanes), and other network-accessible devices can be fixed or mobile. Terminal devices can be deployed on land, indoors or outdoors, handheld, wearable, or in vehicles; on water (such as ships); or in the air (such as aircraft, balloons, and satellites).

[0092] It should be understood that Figure 1 is merely a schematic diagram, and the communication system may also include other devices, such as core network devices, wireless relay devices, and / or wireless backhaul devices, which are not shown in Figure 1. To facilitate a better understanding of the embodiments of the present application, the following is an exemplary description of the core network positioning architecture of an NG-RAN supporting the PC5 interface.

[0093] Please refer to Figure 2, which is a schematic diagram of a 5G core network positioning architecture provided in an embodiment of the present application. As shown in Figure 2, the 5G core network may include an AMF (access and mobility management function) and an LMF (location management function). The AMF can communicate with gNB and ng-eNB via the NG-C interface, and the AMF can communicate with the LMF via the NL1 interface.

[0094] Among them, AMF is mainly responsible for access and mobility management functions (control plane), etc., and LMF mainly provides positioning functions for terminal devices. It should be understood that the 5G core network may also include other network elements, such as UPF (userplane function) for supporting user plane functions, SMF (session management function) for session management, and other network elements related to positioning, such as E-SMLC (enhanced serving mobile location centre) and SLP (SUPL location platform). For a detailed description of these network elements, please refer to the relevant definitions in the 5G standard.

[0095] For example, the AMF may receive a location service request for a certain UE initiated by other network elements in the network, and then send the received location service request to the LMF. After receiving the location service request, the LMF may process the location service request and initiate the relevant location process.

[0096] In the embodiment of the present application, the term "wireless communication" can also be simply referred to as "communication", and the term "communication" can also be described as "data transmission", "information transmission" or "transmission".

[0097] It should be understood that the technical solutions provided in the embodiments of the present application can be applied to communication systems of various radio access technologies (RAT), such as: fifth generation (5G) systems, transition systems between LTE communication systems and 5G communication systems (the transition system may also be referred to as 4.5G communication systems), networks integrating multiple systems, Internet of Things systems, Internet of Vehicles systems, etc.; of course, it can also be future communication systems, such as sixth generation (6G) or even seventh generation (7G) systems.

[0098] It should be noted that the system architecture, network architecture, and business scenarios (or 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. Ordinary technicians in this field can know that with the evolution of communication network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0099] In order to better understand the embodiments of the present application, the following briefly introduces the relevant contents, terms or nouns involved in the present application.

[0100] 1. Sidelink Positioning

[0101] Sidelink positioning refers to a sidelink-based positioning method. In sidelink positioning, a terminal device can send an SL-PRS (sidelink positioning reference signal) to other terminal devices via a sidelink. Other terminal devices can measure the SL-PRS, such as its characteristic parameters (such as arrival angle, arrival time difference, and received power). The measured data can be used to estimate the geographical location of the terminal device.

[0102] There are two main sidelink positioning methods: time-based and angle-based. Time-based positioning methods include RTT (round trip time) and TDOA (time difference of arrival). Angle-based positioning methods include AoA (azimuth of arrival), AoD (azimuth of departure), ZoA (zenith of arrival), and ZoD (zenith of departure).

[0103] As an example, let's briefly introduce the TDOA positioning method. TDOA is a positioning method that uses time difference to estimate the location of the UE to be located based on the transmission time difference of the SL-PRS between the UE to be located and multiple other UEs (with known locations). Specifically, assuming that there are three roadside units (RSU1-RSU3) around the UE to be located, the UE to be located can send an SL-PRS, and the three roadside units can measure the arrival time of the SL-PRS. Subsequently, the arrival time difference between each roadside unit can be obtained based on the time it takes for the SL-PRS to arrive at each roadside unit. The difference in distance from two roadside units to the UE to be located is equal to the arrival time difference between the two roadside units * the signal propagation speed (generally defaulted to the speed of light, c). According to the definition of a hyperbola (the distance difference between any point on the hyperbola and two fixed points is a constant), it can be seen that the UE to be located is located on a hyperbola with two roadside units as the foci and the difference in distance from the two roadside units to the UE to be located as the major axis, and the intersection of these hyperbolas is the location of the UE to be located.

[0104] 2. Sidelink resource pool

[0105] In NR, sidelink transmission can be based on a resource pool, which generally includes a resource set, that is, a resource set used for sidelink transmission, such as a time domain and / or frequency domain resource set. For example, assuming that the resource pool includes a time domain and frequency domain resource set (referred to as a time-frequency resource set), for the frequency domain resources of the resource pool, resource scheduling can be performed in units of subcarriers, subchannels, resource blocks (RBs), etc., and for the time domain resources of the resource pool, resource scheduling can be performed in units of symbols, mini-slots, time slots, etc. Among them, a subchannel refers to dividing the frequency domain resources of a resource pool into several parts with equal bandwidth, each part being a subchannel. A symbol can also be called a time domain symbol, which can be an orthogonal frequency division multiplexing (OFDM) symbol or a single carrier frequency division multiple access (SC-FDMA) symbol.

[0106] Furthermore, since the sidelink resources need to be used for SL positioning and SL communication, the configuration of the sidelink resource pool may include two situations. One situation is: configuring a shared resource pool for SL positioning and SL communication, and the other situation is: configuring a dedicated resource pool for SL positioning on the basis of the original sidelink resource pool. This is because the original sidelink resource pool is used for sidelink communication, and there is no need to transmit SL-PRS. Therefore, if it is necessary to schedule SL-PRS transmission, a resource pool dedicated to SL positioning can be introduced on the basis of the current sidelink resource pool. Among them, for the shared resource pool, the resources of the shared resource pool can be used for SL positioning as well as for SL communication. For the SL positioning dedicated resource pool, this resource pool is only used for SL positioning, such as only for the transmission of channels / signals related to SL positioning, such as the transmission of SL-PRS and the PSCCH (physical sidelink control channel) corresponding to SL-PRS. In the embodiment of the present application, the SL positioning dedicated resource pool may also be referred to as the SL-PRS dedicated resource pool.

[0107] In some possible implementations, a resource pool may be configured for a terminal device through a higher network layer (such as an RRC layer).

[0108] 3. Sideline Resource Allocation Mechanism

[0109] There are two sidelink resource allocation mechanisms: one is centralized, which is a network-centric resource scheduling mode (also known as mode-1), such as unified resource scheduling by base stations; the other is distributed or autonomous competition mode (also known as mode-2), in which UEs independently allocate resources.

[0110] Among them, when the UE works in mode-1, the base station can configure sidelink resources (such as resources for sending SL-PRS) for the UE through the Uu port. Specifically, in the model-1 resource allocation mode, three resource configuration methods are supported, namely dynamic grant (DG), configuration grant / configuration authorization type 1 (configuration grant type-1, CG-1) and configuration grant type 2 (configuration type-2, CG-2). Among them, DG refers to dynamic allocation of resources. In this way, the UE needs to send a resource scheduling request to the base station. After receiving the resource scheduling request, the base station can schedule specific resources for the UE to send SL-PRS or sidelink data in the resource pool, such as scheduling resources for sending SL-PRS or sidelink data to the UE through downlink control information (downlink control information, DCI). CG-1 means that the base station pre-configures certain resources for the UE, and the UE can transmit directly on the pre-configured resources when it has transmission needs. For example, the base station can pre-configure resources for sending SL-PRS for the UE through RRC signaling. Later, when the UE needs to send SL-PRS, it can directly send SL-PRS on the pre-configured resources. CG-2 means that the base station pre-configures certain resources for the UE, but the UE can only use the corresponding resources after the base station activates them. For example, the base station can pre-configure a resource pool for sending SL-PRS for the UE through RRC signaling. Later, when the UE needs to send SL-PRS, it can send a resource scheduling request to the base station. After receiving the resource scheduling request, the base station can activate one or more resources in the pre-configured resource pool for the UE through DCI. Later, the UE can send SL-PRS through the activated resources.

[0111] When the UE operates in Mode-2, it can independently select which resources to use for sidelink transmission. For example, the UE can receive a dedicated SL-PRS resource pool configuration from the base station or obtain the SL-PRS dedicated resource pool configuration from a pre-configured configuration. The UE can then select resources from the dedicated SL-PRS resource pool to transmit the SL-PRS. The resource selection can be random or based on resource perception.

[0112] 4. DCI 3_0 ACK / NACK Feedback

[0113] DCI 3_0 is mainly used to schedule the physical sidelink shared channel (PSSCH) and the related physical sidelink control channel (PSCCH), that is, to allocate sidelink communication resources for the sidelink.

[0114] The information carried by DCI 3_0 may include resource pool index, time interval, SCI 1-A information, HARQ (hybrid automatic repeat request) process number, frequency domain starting subchannel position, PSFCH (physical sidelink feedback channel) to HARQ feedback positioning indication K, PUCCH (physical uplink control channel) resource indication, sidelink allocation count index, etc.

[0115] Among them, the resource pool index is used to indicate on which sidelink resource pool the sidelink scheduling occurs, the time interval is used to indicate the time interval from receiving the PDCCH to sending the sidelink data, and the SCI 1-A information can be used to indicate the resources scheduled to the UE, including time domain resources and / or frequency domain resources for sidelink communication. The HARQ process number is used to indicate which HARQ process the current transmission belongs to, and the frequency domain starting subchannel position is used to indicate the subchannel position of the initial transmission of the sidelink. The PSFCH to HARQ feedback positioning indication K is used to indicate that after the Tx UE (sender of the sidelink data) receives the ACK / NACK information fed back by the Rx UE (receiver of the sidelink data) through the PSFCH, it forwards the ACK / NACK information on the corresponding PUCCH after K time slots. The PUCCH resource indication is used to indicate the PUCCH resources occupied by the Tx UE to feedback the ACK / NACK information. The counter sidelink assignment index (CSAI) is used to indicate the count information of DCI 3_0, which can indicate the total number of DCI 3_0 transmissions or the number of DCI 3_0 currently scheduled. Currently, the CSAI field occupies 2 bits and counts in a cycle of 00, 01, 10, and 11. For example, the value of the first DCI 3_0 transmission is 00, the second DCI 3_0 transmission is 01, the third DCI 3_0 transmission is 10, the fourth DCI 3_0 transmission is 11, the fifth DCI 3_0 transmission is 00, the sixth DCI 3_0 transmission is 01, and so on. The UE can determine whether DCI 3_0 has been missed based on the C SAI field. For example, if the C SAI in the DCI 3_0 previously received by the UE is 00 and the C SAI in the currently received DCI 3_0 is 10, the UE can determine that between the two received DCI 3_0s, there may be another DCI 3_0 with a C SAI of 01 that was not successfully received for some reason.

[0116] Exemplarily, the base station may send DCI 3_0 to the Tx UE (the sender of the sidelink data), and the Tx UE may send sidelink control information (SCI) and sidelink data to the Rx UE (the receiver of the sidelink data) based on the DCI 3_0. The Rx UE may receive the SCI through blind detection and receive the sidelink data sent by the Tx UE based on the SCI. After the Rx UE successfully receives the sidelink data from the Tx UE, the Rx UE may feedback ACK to the Tx UE through the PSFCH associated with the PSSCH transmitting the sidelink data, otherwise, it may feedback NACK. After the Tx UE receives the ACK / NACK information from the Rx UE through the PSFCH, it may send the ACK / NACK information to the base station through the PUCCH or PUSCH. Based on the ACK / NACK information, the base station can determine whether the sidelink data transmission through the resources indicated in the DCI 3_0 is successful, that is, whether the Rx UE receives the sidelink data sent by the Tx UE through the resources indicated in the DCI 3_0. In some possible implementations, the Tx UE can send the ACK / NACKs corresponding to multiple DCI 3_0 schedulings in a unified manner, such as generating a codebook based on the ACK / NACKs corresponding to multiple DCI 3_0 schedulings, and then sending the codebook to the base station through the PUCCH or PUSCH. In this way, the ACK / NACK information corresponding to multiple PSSCH or DCI 3_0 schedulings can be fed back on one PUCCH or PUSCH. It should be understood that when reporting in the form of a codebook, an uplink resource used for SL HARQ information / codebook reporting may be associated with multiple PSFCH resources. For a more detailed description of DCI 3_0, please refer to the relevant content in the 5G standard.

[0117] It can be seen from the above-mentioned related technologies that in mode-1 mode, if the UE needs to send SL-PRS, the base station needs to schedule the sidelink resources for sending SL-PRS to the UE, especially for the DG situation. The successful sending of SL-PRS by the UE is a prerequisite for sidelink positioning. Therefore, in order to ensure that the sidelink positioning can be successfully carried out, the embodiment of the present application proposes an acknowledgment (ACK) / negative acknowledgment (NACK) feedback scheme for SL-PRS scheduling, which can enable the base station to understand the situation of the terminal device sending SL-PRS, so that in the case of SL-PRS sending failure, the base station can reallocate the resources used to send SL-PRS to the terminal device, ensuring that the terminal device can successfully send SL-PRS. The technical solution provided by the embodiment of the present application is described in detail below.

[0118] Based on the above system architecture, please refer to Figure 3, which is a flow chart of a method for scheduling SL-PRS transmission disclosed in an embodiment of the present application. As shown in Figure 3, the method may include but is not limited to the following steps:

[0119] 301. The access network device sends configuration information of one or more sidelink resource pools to the first terminal device.

[0120] Since sidelink transmission is generally based on a sidelink resource pool, before performing sidelink transmission, the access network device may send configuration information of one or more sidelink resource pools to the first terminal device. The configuration information of the sidelink resource pool may include time domain resources and / or frequency domain resources occupied by the sidelink resource pool, an index of the sidelink resource pool, etc.

[0121] It should be understood that the one or more sidelink resource pools may all be shared resource pools, or the one or more sidelink resource pools may include part of the SL-PRS dedicated resource pool and part of the SL communication dedicated resource pool.

[0122] In some possible implementations, configuration information of one or more sidelink resource pools may be carried in higher-layer signaling (such as RRC signaling), that is, the access network device may configure a resource pool for sidelink transmission for the first terminal device through higher-layer signaling.

[0123] It should be noted that step 301 is optional, and in some embodiments, step 301 may not be included.

[0124] 302. The first terminal device sends a first scheduling request to the access network device, where the first scheduling request is used to request scheduling of resources for sending SL-PRS.

[0125] When the first terminal device needs to send an SL-PRS in the sidelink, the first terminal device may send a first scheduling request to the access network device, where the first scheduling request is used to request scheduling of resources for sending the SL-PRS. Accordingly, the access network device may receive the first scheduling request from the first terminal device.

[0126] 303. The access network device sends a DCI in a first format to the first terminal device. The DCI in the first format includes first indication information, and the first indication information is used to indicate resources for sending SL-PRS.

[0127] When it is necessary to schedule resources for sending SL-PRS for the first terminal device, the access network device may send a DCI in a first format to the first terminal device. Accordingly, the first terminal device may receive a DCI in a first format from the access network device, and the DCI in the first format may include first indication information, and the first indication information is used to indicate the resources for sending SL-PRS. It should be understood that the DCI in the first format is used to schedule SL-PRS. Specifically, the DCI in the first format can be used to schedule resources on the SL-PRS dedicated resource pool for sending SL-PRS; or, the DCI in the first format can be used to schedule resources on the SL shared resource pool for sending SL-PRS.

[0128] In a possible implementation, after receiving the first scheduling request from the first terminal device, the access network device may send a DCI in a first format to the first terminal device based on the first scheduling request.

[0129] It should be noted that step 302 is optional. In some possible implementations, the access network device does not receive a scheduling request from the first terminal device, but may also send a DCI in a first format to the first terminal device to schedule resources for sending SL-PRS for the first terminal device. For example, the LMF may initiate a sidelink positioning process, and may instruct the access network device through the AMF to send a DCI in a first format to the first terminal device. For another example, when the access network device receives ACK / NACK information from the first terminal device, and determines based on the ACK / NACK information that the first terminal device did not send SL-PRS based on the resources indicated by the first indication information in the previously scheduled DCI in the first format, the access network device may send a DCI in the first format to the first terminal device, and re-schedule resources for sending SL-PRS for the first terminal device.

[0130] The DCI of the first format may also include second indication information. Specifically, in order to facilitate the first terminal device to determine whether the DCI of the first format is missed and to feedback the multiplexed ACK / NACK information related to the SL-PRS scheduling, the DCI of the first format may also include second indication information, and the second indication information is mainly the counting information of the DCI. Among them, for the resource scheduling of the side link, the DCI of the second format is also included. The DCI of the second format is used to schedule the resources for the side link data communication, that is, to schedule the PSSCH. The PSSCH is associated with the PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH. In addition, the DCI of the second format also has corresponding counting information. Therefore, after the DCI of the first format is introduced in the embodiment of the present application, the DCI of the first format and the DCI of the second format can be counted together, or the DCI of the first format and the DCI of the second format can be counted separately. Exemplarily, the DCI of the second format can be DCI 3_0, and the DCI of the first format can be DCI 3_2.

[0131] In the case where the DCI of the first format is counted independently, the second indication information may be used to indicate the counting information of the current DCI of the first format, or the second indication information may be used to indicate the counting information / monitoring times of the PDCCH for scheduling SL-PRS transmission when the DCI of the first format is currently sent (via) the PDCCH. Equivalently, the second indication information may indicate how many DCIs of the first format are currently sent or the number of DCIs of the first format currently scheduled.

[0132] In the case of a combined count of DCI in the first format and DCI in the second format, the second indication information may be used to indicate the combined count information of the current DCI in the first format and DCI in the second format, or the second indication information may be used to indicate the combined count information of the PDCCH that schedules SL-PRS transmission and the PDCCH that schedules PSSCH transmission when the current PDCCH sends DCI in the first format. Equivalently, the second indication information may indicate how many DCIs in the first format and the second format are currently sent, or how many DCIs in the first format and the second format are currently scheduled.

[0133] It should be noted that, in the case where the DCI of the first format and the DCI of the second format are combined, the meaning of the CSAI field in the DCI of the second format also needs to be changed accordingly, and the meaning of the CSAI field can be the same as the meaning of the second indication information in the combined counting case. The CSAI field in the DCI of the second format is used to indicate the combined counting information of the current DCI of the first format and the DCI of the second format, or to indicate the combined counting information of the PDCCH that schedules SL-PRS transmission and the PDCCH that schedules PSSCH transmission when the current PDCCH sends DCI of the first format.

[0134] Optionally, the second indication information in the DCI of the first format may be 2 bits, cyclically counted in the order of 00, 01, 10, and 11. For example, when the DCI of the first format is counted independently, when the DCI of the first format is sent for the first time, the second indication information in the DCI is 00, when the DCI of the first format is sent for the second time, it is 01, when the DCI of the first format is sent for the third time, it is 10, when the DCI of the first format is sent for the fourth time, it is 11, when the DCI of the first format is sent for the fifth time, it is 00, when the DCI of the first format is sent for the sixth time, it is 01, and so on. For another example, when the DCI of the first format and the DCI of the second format are counted together, when the first DCI (DCI of the first format or DCI of the second format) is sent, the second indication information or C SAI field in the DCI is 00, when the second DCI (DCI of the first format or DCI of the second format) is sent, the second indication information or C SAI field in the DCI is 01, when the third DCI is sent, the second indication information or C SAI field in the DCI is 10, when the fourth DCI is sent, the second indication information or C SAI field in the DCI is 11, when the fifth DCI is sent, the second indication information or C SAI field in the DCI is 00, when the sixth DCI is sent, the second indication information or C SAI field in the DCI is 01, and so on. It should be understood that the second indication information in the DCI of the first format may also be 3 bits, 4 bits, or other bits, which can be selected according to actual circumstances. For example, in the case of 3 bits, the counting can be cyclically performed as 000, 001, 010, 011, 100, 101, 110, and 111.

[0135] Optionally, in the case where the DCI of the first format is counted independently, the counting information of the DCI of the first format may not include the DCI of the first format activated by the grant type 2 (CG-2) configured by the SL-PRS. That is to say, if a DCI of the first format is used to activate the CG resource for sending SL-PRS under the CG-2 resource scheduling mode, then the DCI of the first format may be ignored and may not be counted. For example, the access network device sends 6 DCIs of the first format in sequence, of which the third DCI of the first format is the DCI of the first format activated by the grant type 2 configured by the SL-PRS. In this case, the second indication information in the first DCI of the first format may be 00, the second indication information in the second DCI of the first format may be 01, the second indication information in the fourth DCI of the first format may be 10, the second indication information in the fifth DCI of the first format may be 11, and the second indication information in the sixth DCI of the first format may be 00. The second indication information of the third DCI of the first format can be any value (such as the same as the second indication information in the previous DCI of the first format). This is because after the first terminal device receives the third DCI of the first format, it can determine that it is a DCI of the first format activated by the authorization type 2 configured by SL-PRS, and then the second indication information in the DCI can be directly ignored.

[0136] Similarly, when combining the counting of DCI in the first format and DCI in the second format, the combined counting information of the DCI in the first format and the DCI in the second format may not include DCI in the first format activated by Grant Type 2 configured for SL-PRS and DCI in the second format activated by Grant Type 2 configured for SL. That is, when combining the counting, if a DCI in the first format is used to activate a CG resource for transmitting SL-PRS under the CG-2 resource scheduling mode, then the DCI in the first format may not be counted. Furthermore, if a DCI in the second format is used to activate a CG resource for transmitting sidelink data under the CG-2 resource scheduling mode, then the DCI in the second format may not be counted. For example, an access network device sequentially transmits six DCIs, of which the first, second, fourth, and fifth are DCIs in the first format, and the third and sixth are DCIs in the second format. Furthermore, the second DCI is DCI in the first format activated by Grant Type 2 configured for SL-PRS, and the third DCI is DCI in the second format activated by Grant Type 2 configured for SL. In this case, the second indication information in the first DCI (DCI 3_2) may be 00, the second indication information in the fourth DCI (DCI 3_2) may be 01, the second indication information in the fifth DCI (DCI 3_2) may be 10, and the C SAI field in the sixth DCI (DCI 3_0) may be 11. The second indication information / C SAI field in the second DCI (DCI 3_2) may be any value (e.g., the same as the second indication information / CSAI field in the previous DCI).

[0137] Exemplarily, the information carried by the DCI in the first format may include one or more of a resource pool index, a time interval, SCI information, a HARQ process number, a frequency domain starting subchannel position, a PUCCH resource indication, and a sidelink allocation count index.

[0138] Among them, the resource pool index is used to indicate which sidelink resource pool the sidelink scheduling occurs on, the time interval is used to indicate the time interval from receiving the PDCCH to sending the SL-PRS, and the SCI information can be used to indicate the resources scheduled for the UE, including the time domain resources and / or frequency domain resources used to send the SL-PRS. In some possible implementations, the SCI information can be SCI 1-A information. The HARQ process number is used to indicate which HARQ process the current transmission belongs to, and the frequency domain starting subchannel position is used to indicate the subchannel position of the initial sidelink transmission. The PUCCH resource indication is used to indicate the PUCCH resources occupied by the Tx UE to feedback ACK / NACK information. The sidelink allocation count index (CSAI) is used to indicate the counting information of DCI 3_2, which can indicate how many DCI 3_2s have been sent in total or which DCI 3_2 is currently scheduled. It can be understood that in this case, the first indication information can include one or more of the resource pool index, time interval, SCI information, and frequency domain starting subchannel position. The second indication information can be the sidelink allocation count index.

[0139] 304. The first terminal device sends ACK / NACK information to the access network device, where the ACK / NACK information is used to indicate whether the first terminal device sends out the SL-PRS based on the resources indicated by the first indication information.

[0140] Specifically, after the first terminal device receives the DCI of the first format from the access network device, it can send the SL-PRS based on the resources indicated by the first indication information in the DCI of the first format. In addition, the first terminal device can send ACK / NACK information to the access network device based on the transmission status of the SL-PRS. Correspondingly, the access network device can receive ACK / NACK information from the first terminal device, and the ACK / NACK information is used to indicate whether the first terminal device sends the SL-PRS based on the resources indicated by the first indication information.

[0141] Among them, the ACK / NACK information may include two value cases, ACK and NACK. ACK indicates that the first terminal device sends SL-PRS based on the resources indicated by the first indication information in the DCI of the first format, and NACK indicates that the first terminal device does not send SL-PRS based on the resources indicated by the first indication information in the DCI of the first format. It should be noted that there may be many situations in which the first terminal device does not send SL-PRS based on the resources indicated by the first indication information in the DCI of the first format. For example, the first terminal device does not receive or blindly detect the DCI of the first format sent by the access network device. For another example, the first terminal device receives the DCI of the first format sent by the access network device, but cannot send SL-PRS due to other reasons. For example, the first terminal device currently needs to send uplink data to the base station or send sidelink data to other terminal devices. Since the priority of sending SL-PRS is low and the capability of the first terminal device is limited, the first terminal device can send uplink data or sidelink data without sending SL-PRS.

[0142] In some possible implementations, the first terminal device may transmit multiplexed ACK / NACK information on a PUCCH / PUSCH resource in the form of a codebook, that is, the first terminal device transmits ACK / NACK information corresponding to multiple SL-PRS scheduling on a PUCCH / PUSCH resource. In this case, the ACK / NACK information sent by the first terminal device may include multiple ACK / NACK values. Specifically, in the case of independent counting of the DCI of the first format, one ACK / NACK value in the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI of the first format, that is, to indicate whether the first terminal device sends out the SL-PRS based on the resource indicated by the DCI of the first format. In the case of combined counting of the DCI of the first format and the DCI of the second format, one ACK / NACK value in the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI of the first format or to indicate the reception status of the sideline data associated with the DCI of the second format, that is, to indicate whether the RxUE successfully receives the sideline data sent by the first terminal device based on the resource indicated by the DCI of the second format. It is understandable that the number of ACK / NACK values ​​included in the ACK / NACK information can be pre-configured, dynamically configured by the access network device, or obtained through negotiation between the access network device and the terminal device, and there is no limitation on this.

[0143] Optionally, an ACK / NACK value can be represented by 1 bit, such as ACK can be 1 and NACK can be 0. In this case, if the ACK / NACK information includes M ACK / NACK values, it is equivalent to including an M-bit sequence, where M is a positive integer. In the case where the DCI of the first format is counted independently, one of the M bits is used to indicate the transmission status of the SL-PRS associated with a DCI of the first format. In the case where the DCI of the first format and the DCI of the second format are counted together, one of the M bits is used to indicate the transmission status of the SL-PRS associated with a DCI of the first format, or to indicate the reception status of the sidelink data associated with a DCI of the second format. For example, in the case of independent counting of DCI in the first format, the ACK / NACK information includes 5 bits, corresponding to 5 DCIs in the first format respectively. If the 5 bits are 10110, it can be indicated that the SL-PRS associated with the first, third and fourth DCIs in the 5 first formats are sent, and the SL-PRS associated with the second and fifth DCIs in the 5 first formats are not sent.

[0144] In order to facilitate the access network device to parse the multiplexed ACK / NACK information, when transmitting the multiplexed ACK / NACK information, the multiple ACK / NACK values ​​in the ACK / NACK information can be sorted according to the counting information of the DCI. Specifically, in the case of independent counting of the DCI of the first format, the multiple ACK / NACK values ​​in the ACK / NACK information correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​can be sorted based on the second indication information in the multiple DCIs of the first format, that is, the multiple ACK / NACK values ​​are sorted based on the numbering order of the second indication information. For example, assuming that the first terminal device receives 5 DCIs of the first format in succession, and the second indication information in the 5 DCIs of the first format is 00, 01, 11, 00, 01 respectively, the terminal device can determine that there is a DCI of the first format between the second DCI of the first format and the third DCI of the first format, which was not successfully received for some reason. Therefore, the value corresponding to the unsuccessfully received DCI is NACK. In addition, the first terminal device does not send out SL-PRS based on the resources indicated in the third DCI among the five DCIs of the first format, and sends out SL-PRS based on the resources indicated in the other four DCIs of the first format. In this case, the value corresponding to the third DCI among the five DCIs of the first format is NACK, and the values ​​corresponding to the other four DCIs of the first format are ACK. Finally, the first terminal device can sort the ACK / NACK values ​​corresponding to the six DCIs based on the numbering order of the second indication information corresponding to the six DCIs, and the obtained ACK / NACK information can be {ACK, ACK, NACK, NACK, ACK, ACK}. It can be understood that although the second indication information in the first and fourth DCIs of the five DCIs of the first format are both 00, 00 in the first DCI is numbered first, and then it needs to go through 01, 10, and 11 before it is 00 in the fourth DCI, which is equivalent to that 00 in the first DCI and 00 in the fourth DCI are in different counting cycles (with 4 as a cycle).

[0145] In the case where DCI in the first format and DCI in the second format are counted together, multiple ACK / NACK values ​​in the ACK / NACK information may correspond to multiple DCIs in the first format, and the multiple ACK / NACK values ​​may be sorted based on the second indication information in the multiple DCIs in the first format. In the case where DCI in the first format and DCI in the second format are counted together, the multiple ACK / NACK values ​​in the ACK / NACK information may also correspond to at least one DCI in the first format and at least one DCI in the second format, and the multiple ACK / NACK values ​​may be sorted based on the second indication information in the at least one DCI in the first format and at least one DCI in the second format.

[0146] Optionally, the first terminal device can append the ACK / NACK value corresponding to the first format DCI activated by the authorization type 2 configured by SL-PRS and / or the second format DCI activated by the authorization type 2 configured by SL to the end of the ACK / NACK information, so that the access network device can understand whether the terminal device has successfully sent out the SL-PRS based on the activated CG resources and / or whether the side data transmission is successfully performed.

[0147] In some possible implementations, the DCI in the first format may further include third indication information, which may be used to indicate a resource for feedback ACK / NACK information, which may be a PUCCH resource or a PUSCH resource. In this case, the first terminal device may send ACK / NACK information to the access network device based on the resource indicated by the third indication information. Exemplarily, the third indication information may be the aforementioned PUCCH resource indication.

[0148] It should be understood that after the access network device receives the ACK / NACK information from the first terminal device, it can analyze and process the ACK / NACK information. For example, if the ACK / NACK information received by the access network device from the first terminal device is ACK, the access network device can determine that the first terminal device has successfully sent out the SL-PRS based on the allocated resources, and no processing is required. Conversely, if the ACK / NACK information received by the access network device from the first terminal device is NACK, the access network device can determine that the first terminal device has not sent out the SL-PRS based on the allocated resources, and resources can be rescheduled for the first terminal device through the first format DCI until the first terminal device successfully sends out the SL-PRS or the maximum number of allocations (such as 5) is reached.

[0149] In the above processing flow, under the model-1 resource allocation mode, the access network device can schedule resources for sending SL-PRS for the first terminal device through the first format DCI. In addition, the first terminal device can feedback ACK / NACK information related to SL-PRS to the access network device based on the sending status of SL-PRS. The access network device can determine the situation of the first terminal device sending SL-PRS based on the allocated resources through the ACK / NACK information, so that the access network device can re-schedule resources for the first terminal device when the first terminal device fails to send SL-PRS based on the previously allocated resources, so as to ensure that the first terminal device can successfully send SL-PRS, thereby ensuring that side positioning can be successfully performed.

[0150] It should be understood that in FIG3 above, the access network device and the first terminal device are used as the execution subjects of the interaction diagram to illustrate the above processing flow, but the present application does not limit the execution subjects of the interaction diagram. For example, the access network device in FIG3 may also be a chip, a chip system, or a processor that supports the access network device to implement the method, or a logic module or software that can implement all or part of the functions of the access network device. For another example, the first terminal device in FIG3 may also be a chip, a chip system, or a processor that supports the first terminal device to implement the method, or a logic module or software that can implement all or part of the functions of the first terminal device.

[0151] The above mainly introduces the method for scheduling SL-PRS transmission provided in the embodiment of the present application. It can be understood that in order to realize the corresponding functions mentioned above, the above-mentioned access network device and the first terminal device may include hardware structures and / or software modules corresponding to the execution of each function. In combination with the units and steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 to exceed the scope of the embodiments of the present application.

[0152] In the embodiment of the present application, the functional modules of the access network device, the first terminal device, etc. can be divided according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0153] FIG4 shows a possible structural diagram of a communication device 400, in which each functional module is divided according to its function. The communication device 400 includes a transmitting unit 401 and a receiving unit 402. In one possible design, the communication device 400 may be the aforementioned access network device, or may be a chip in the access network device, or may be a processing system in the access network device, etc.

[0154] A sending unit 401 is configured to send downlink control information DCI in a first format to a first terminal device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate resources for sending an SL-PRS;

[0155] The receiving unit 402 is used to receive ACK / NACK information from the first terminal device, where the ACK / NACK information is used to indicate whether the first terminal device sends an SL-PRS based on the resources indicated by the first indication information.

[0156] In one possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0157] In one possible implementation, the DCI of the first format also includes second indication information. In the case where the DCI of the first format is counted independently, the second indication information is used to indicate the counting information of the current DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case where the DCI of the first format and the DCI of the second format are counted together, the second indication information is used to indicate the combined counting information of the current DCI of the first format and the DCI of the second format, or the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0158] In one possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0159] In one possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0160] In one possible implementation, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0161] In one possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL. It should be noted that the DCI of the second format activated by the grant type 2 configured by the SL can also be understood as the DCI of the second format activated by the PSSCH grant type 2 configured by the SL.

[0162] In one possible implementation, the receiving unit 402 is further used to receive a first scheduling request from the first terminal device, and the first scheduling request is used to request scheduling resources for sending SL-PRS; the sending unit 401 is specifically used to: send a first format DCI to the first terminal device based on the first scheduling request.

[0163] In one possible implementation, the second format is the DCI 3_0 format.

[0164] In a possible implementation, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0165] In one possible implementation, the ACK / NACK information includes M bits, one of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0166] In a possible implementation, the DCI in the first format further includes third indication information, where the third indication information is used to indicate a resource for feeding back the ACK / NACK information.

[0167] In a possible implementation, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0168] The specific operations of each unit in the above-mentioned communication device 400 can be found in the above-mentioned Figure 3 and the corresponding description of the access network device in its possible embodiments, and will not be repeated here.

[0169] In one possible design, the communication device 400 may be the first terminal device described above, or may be a chip in the first terminal device, or may be a processing system in the first terminal device, etc.

[0170] A receiving unit 402 is configured to receive downlink control information DCI in a first format from an access network device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate a resource for sending an SL-PRS;

[0171] The sending unit 401 is used to send ACK / NACK information to the access network device, where the ACK / NACK information is used to indicate whether the first terminal device sends out SL-PRS based on the resources indicated by the first indication information.

[0172] In one possible implementation, the ACK / NACK information includes two values: ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

[0173] In one possible implementation, the DCI of the first format also includes second indication information. In the case where the DCI of the first format is counted independently, the second indication information is used to indicate the counting information of the current DCI of the first format, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; in the case where the DCI of the first format and the DCI of the second format are counted together, the second indication information is used to indicate the combined counting information of the current DCI of the first format and the DCI of the second format, or the second indication information is used to indicate the combined counting information of the PDCCH for scheduling SL-PRS transmission and the PDCCH for scheduling physical layer sidelink shared channel PSSCH transmission when the current PDCCH sends the DCI of the first format; wherein, the DCI of the second format is used to schedule PSSCH, and the PSSCH is associated with a physical layer sidelink feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

[0174] In one possible implementation, the ACK / NACK information includes multiple ACK / NACK values. In the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; in the case of combined counting of the DCI in the first format and the DCI in the second format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

[0175] In one possible implementation, when the DCI of the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format; when the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

[0176] In one possible implementation, in the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

[0177] In one possible implementation, when the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; when the DCI of the first format and the DCI of the second format are counted together, the combined counting information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL.

[0178] In a possible implementation, before the receiving unit 402 receives the DCI in the first format from the access network device, the sending unit 401 is further used to send a first scheduling request to the access network device, where the first scheduling request is used to request scheduling resources for sending SL-PRS.

[0179] In one possible implementation, the second format is the DCI 3_0 format.

[0180] In a possible implementation, the second indication information is 2 bits, and the second indication information is cyclically counted in the order of 00, 01, 10, and 11.

[0181] In one possible implementation, the ACK / NACK information includes M bits, one of the M bits is used to indicate the transmission status of an SL-PRS associated with a first format DCI, or to indicate the reception status of sidelink data associated with a second format DCI, where M is a positive integer.

[0182] In one possible implementation, the DCI in the first format also includes third indication information, and the third indication information is used to indicate the resources for feeding back the ACK / NACK information. The sending unit 401 sends ACK / NACK information to the access network device, including: sending ACK / NACK information to the access network device based on the resources indicated by the third indication information.

[0183] In a possible implementation, the resource indicated by the third indication information is a physical uplink control channel PUCCH resource or a physical uplink shared channel PUSCH resource.

[0184] The specific operations of each unit in the above-mentioned communication device 400 can be found in the corresponding description of the first terminal device in Figure 3 and its possible embodiments, and will not be repeated here.

[0185] Figure 5 shows a schematic diagram of a possible hardware structure of a communication device 500 provided in an embodiment of the present application. The communication device 500 may include a processor 501 and a transceiver 502. It should be noted that Figure 5 only shows the main components of the communication device 500. The communication device 500 may further include a memory 503 and input / output devices (not shown).

[0186] The processor 501 is primarily used to process communication protocols and communication data, control the entire communication device, execute software programs, and process software program data. The memory 503 is primarily used to store software programs and data. The transceiver 502 may include a control circuit and an antenna. The control circuit is primarily used to convert baseband signals into radio frequency signals and process radio frequency signals. The antenna is primarily used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as a touch screen, display, and keyboard, are primarily used to receive user input and output data to the user.

[0187] When the communication device is powered on, processor 501 can read the software program in memory 503, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, processor 501 performs baseband processing on the data to be transmitted and outputs the baseband signal to the control circuit. The control circuit performs radio frequency processing on the baseband signal and transmits the radio frequency signal outward in the form of electromagnetic waves via the antenna. When data is sent to the communication device, the control circuit receives the radio frequency signal via the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to processor 501. Processor 501 converts the baseband signal into data and processes the data.

[0188] In one possible implementation, the control circuit and antenna may be provided independently of the processor that performs baseband processing. For example, in a distributed scenario, the control circuit and antenna may be remotely arranged independent of the communication device.

[0189] The processor 501 , the transceiver 502 , and the memory 503 may be connected via a communication bus.

[0190] Exemplarily, the memory 503 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or portable compact disc read-only memory (CD-ROM).

[0191] Exemplarily, the processor 501 may be a central processing unit (CPU), a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0192] In one design, the communication device 500 can be used to perform the functions of the access network device in the aforementioned embodiment. For details, please refer to the relevant description in Figure 3 above, and no further details will be given here.

[0193] In another design, the communication device 500 can be used to perform the functions of the first terminal device in the aforementioned embodiment. For details, please refer to the relevant description in Figure 3 above, and no further details will be given here.

[0194] In one possible design, the processor 501 may store instructions, which may be computer programs. The computer programs run on the processor 501, enabling the communication device 500 to perform the operations performed by the access network device or the first terminal device in any of the above method embodiments. For details, please refer to the relevant description in Figure 3 above, which will not be repeated here.

[0195] It should be noted that the communication device 500 shown in FIG5 is only one implementation of the embodiment of the present application. In actual applications, the communication device 500 may also include more or fewer components, which is not limited here.

[0196] An embodiment of the present application also discloses a communication system, which includes a first terminal device and an access network device. The access network device is used to execute the operations performed by the access network device in any of the above method embodiments, and the first terminal device is used to execute the operations performed by the first terminal device in any of the above method embodiments.

[0197] An embodiment of the present application also discloses a chip, which includes a processor, wherein the processor is used to execute a computer program or computer instructions stored in a memory, so that the chip executes the operations performed by the access network device in the above method embodiment, or causes the chip to execute the operations performed by the first terminal device in the above method embodiment.

[0198] As a possible implementation, the memory is located outside the chip.

[0199] An embodiment of the present application further discloses a computer-readable storage medium having instructions stored thereon. When the instructions are executed, the operations performed by the access network device in the above method embodiment or the operations performed by the first terminal device in the above method embodiment are performed.

[0200] An embodiment of the present application further discloses a computer program product comprising instructions, which, when executed, perform the operations performed by the access network device in the above method embodiment or the operations performed by the first terminal device in the above method embodiment.

[0201] Obviously, the embodiments described above are only some of the embodiments of this application, and not all of them. Reference to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive with other embodiments. It is understood, both explicitly and implicitly, that the embodiments described herein can be combined with other embodiments. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. In the specification, claims, and accompanying drawings of this application, the terms "first," "second," "third," and so on are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a list of steps or elements may be included, or alternatively, steps or elements not listed may be included, or alternatively, other steps or elements inherent to the process, method, product, or device may be included. It is understandable that, in some embodiments, the equal sign of the above-mentioned conditional judgment can be taken as greater than one end or less than one end. For example, the above-mentioned conditional judgment of a threshold being greater than, less than, or equal to can also be changed to a conditional judgment of the threshold being greater than, equal to, or less than. This is not limited here. It is also understandable that, for an architecture with multiple devices or modules, if one of the devices or modules generates information and another device or module uses the information, there can be multiple ways for the other device to obtain the information. For example, the device or module that generates the information can send the information directly to the device or module that uses the information (equivalent to direct sending), or the device or module that generates the information can send the information to the device or module that uses the information through other devices or modules (equivalent to indirect sending).

[0202] It will be appreciated that only the parts relevant to the present application, not all, are shown in the accompanying drawings. It will be appreciated that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the various operations (or steps) as sequential processes, many of the operations therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the various operations can be rearranged. When its operation is completed, the process can be terminated, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0203] As used in this specification, the terms "component," "module," "system," "unit," and the like are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or distributed between two or more computers. In addition, these units can be executed from various computer-readable media having various data structures stored thereon. For example, a unit can communicate through local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit in a local system, a distributed system, and / or a network. For example, the Internet interacts with other systems via signals).

[0204] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of this application. It should be understood that the above description is only the specific implementation methods of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of this application should be included in the scope of protection of this application.

Claims

1. A method for scheduling transmission of a sidelink positioning reference signal SL-PRS, characterized in that: Applied to access network equipment, the method comprises: Sending downlink control information DCI in a first format to a first terminal device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate resources for sending the SL-PRS; Receive ACK / NACK information from the first terminal device, where the ACK / NACK information is used to indicate whether the first terminal device sends out SL-PRS based on the resources indicated by the first indication information.

2. The method according to claim 1, characterized in that: The ACK / NACK information includes two value conditions, ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

3. The method according to claim 1 or 2, characterized in that: The DCI of the first format also includes second indication information, where the second indication information is used to indicate the current counting information of the DCI of the first format when the DCI of the first format is counted independently, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; In the case of a combined count of the DCI in the first format and the DCI in the second format, the second indication information is used to indicate the combined count information of the current DCI in the first format and the DCI in the second format, or the second indication information is used to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling physical layer sideline shared channel PSSCH transmission when the current PDCCH sends the DCI in the first format; wherein, the DCI in the second format is used to schedule PSSCH, the PSSCH is associated with a physical layer sideline feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

4. The method according to any one of claims 1 to 3, characterized in that: The ACK / NACK information includes multiple ACK / NACK values, and in the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; In the case where the DCI in the first format and the DCI in the second format are counted together, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

5. The method according to any one of claims 1 to 4, characterized in that: In the case where the DCI in the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs in the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs in the first format; In the case where the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

6. The method according to any one of claims 3 to 5, characterized in that: In the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

7. The method according to any one of claims 1 to 6, characterized in that: In the case where the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; In the case of a combined count of the DCI of the first format and the DCI of the second format, the combined count information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: receiving a first scheduling request from the first terminal device, where the first scheduling request is used to request scheduling of resources for sending the SL-PRS; The sending the DCI in the first format to the first terminal device includes: Send a DCI in a first format to the first terminal device based on the first scheduling request.

9. A method for scheduling transmission of a sidelink positioning reference signal SL-PRS, characterized in that: Applied to a first terminal device, the method includes: Receiving downlink control information DCI in a first format from an access network device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate a resource for sending an SL-PRS; Send ACK / NACK information to the access network device, where the ACK / NACK information is used to indicate whether the first terminal device sends out SL-PRS based on the resources indicated by the first indication information.

10. The method according to claim 9, characterized in that The ACK / NACK information includes two value conditions, ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

11. The method according to claim 9 or 10, characterized in that: The DCI of the first format also includes second indication information, where the second indication information is used to indicate the current counting information of the DCI of the first format when the DCI of the first format is counted independently, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; In the case of a combined count of the DCI in the first format and the DCI in the second format, the second indication information is used to indicate the combined count information of the current DCI in the first format and the DCI in the second format, or the second indication information is used to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling physical layer sideline shared channel PSSCH transmission when the current PDCCH sends the DCI in the first format; wherein, the DCI in the second format is used to schedule PSSCH, the PSSCH is associated with a physical layer sideline feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

12. The method according to any one of claims 9 to 11, characterized in that: The ACK / NACK information includes multiple ACK / NACK values, and in the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; In the case where the DCI in the first format and the DCI in the second format are counted together, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

13. The method according to any one of claims 9 to 12, characterized in that: In the case where the DCI in the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs in the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs in the first format; In the case where the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

14. The method according to any one of claims 11 to 13, characterized in that: In the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

15. The method according to any one of claims 9 to 14, characterized in that: In the case where the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; In the case of a combined count of the DCI of the first format and the DCI of the second format, the combined count information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL.

16. The method according to any one of claims 9 to 15, characterized in that: Before receiving the DCI in the first format from the access network device, the method further includes: A first scheduling request is sent to the access network device, where the first scheduling request is used to request scheduling of resources for sending SL-PRS.

17. A communication device, characterized in that: include: A sending unit, configured to send downlink control information DCI in a first format to a first terminal device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate a resource for sending the SL-PRS; A receiving unit is used to receive ACK / NACK information from the first terminal device, where the ACK / NACK information is used to indicate whether the first terminal device sends out SL-PRS based on the resources indicated by the first indication information.

18. The communication device according to claim 17, characterized in that: The ACK / NACK information includes two value conditions, ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

19. The communication device according to claim 17 or 18, characterized in that: The DCI of the first format also includes second indication information, where the second indication information is used to indicate the current counting information of the DCI of the first format when the DCI of the first format is counted independently, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; In the case of a combined count of the DCI in the first format and the DCI in the second format, the second indication information is used to indicate the combined count information of the current DCI in the first format and the DCI in the second format, or the second indication information is used to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling physical layer sideline shared channel PSSCH transmission when the current PDCCH sends the DCI in the first format; wherein, the DCI in the second format is used to schedule PSSCH, the PSSCH is associated with a physical layer sideline feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

20. The communication device according to any one of claims 17 to 19, characterized in that: The ACK / NACK information includes multiple ACK / NACK values, and in the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; In the case where the DCI in the first format and the DCI in the second format are counted together, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

21. The communication device according to any one of claims 17 to 20, characterized in that: In the case where the DCI in the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs in the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs in the first format; In the case where the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

22. The communication device according to any one of claims 19 to 21, characterized in that: In the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

23. The communication device according to any one of claims 17 to 22, characterized in that: In the case where the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; In the case of a combined count of the DCI of the first format and the DCI of the second format, the combined count information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL.

24. The communication device according to any one of claims 17 to 23, characterized in that: The receiving unit is further used to receive a first scheduling request from the first terminal device, where the first scheduling request is used to request scheduling of resources for sending the SL-PRS; The sending unit is specifically used for: Send a DCI in a first format to the first terminal device based on the first scheduling request.

25. A communication device, characterized in that: include: A receiving unit, configured to receive downlink control information DCI in a first format from an access network device, where the DCI in the first format includes first indication information, where the first indication information is used to indicate a resource for sending an SL-PRS; A sending unit is used to send ACK / NACK information to the access network device, and the ACK / NACK information is used to indicate whether the first terminal device sends out SL-PRS based on the resources indicated by the first indication information.

26. The communication device according to claim 25, characterized in that The ACK / NACK information includes two value conditions, ACK and NACK. ACK indicates that the SL-PRS is sent based on the resources indicated by the first indication information, and NACK indicates that the SL-PRS is not sent based on the resources indicated by the first indication information.

27. The communication device according to claim 25 or 26, characterized in that: The DCI of the first format also includes second indication information, where the second indication information is used to indicate the current counting information of the DCI of the first format when the DCI of the first format is counted independently, or the second indication information is used to indicate the counting information of the PDCCH for scheduling SL-PRS transmission when the current physical layer downlink control channel PDCCH sends the DCI of the first format; In the case of a combined count of the DCI in the first format and the DCI in the second format, the second indication information is used to indicate the combined count information of the current DCI in the first format and the DCI in the second format, or the second indication information is used to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling physical layer sideline shared channel PSSCH transmission when the current PDCCH sends the DCI in the first format; wherein, the DCI in the second format is used to schedule PSSCH, the PSSCH is associated with a physical layer sideline feedback channel PSFCH, and the PSFCH is used to feedback the reception status of the PSSCH.

28. The communication device according to any one of claims 25 to 27, characterized in that: The ACK / NACK information includes multiple ACK / NACK values, and in the case of independent counting of the DCI in the first format, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format; In the case where the DCI in the first format and the DCI in the second format are counted together, one ACK / NACK value among the multiple ACK / NACK values ​​is used to indicate the transmission status of the SL-PRS associated with a DCI in the first format or to indicate the reception status of sidelink data associated with a DCI in the second format.

29. The communication device according to any one of claims 25 to 28, characterized in that: In the case where the DCI in the first format is counted independently, the multiple ACK / NACK values ​​correspond to multiple DCIs in the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs in the first format; In the case where the DCI of the first format and the DCI of the second format are counted together, the multiple ACK / NACK values ​​correspond to multiple DCIs of the first format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the multiple DCIs of the first format, or the multiple ACK / NACK values ​​correspond to at least one DCI of the first format and at least one DCI of the second format, and the multiple ACK / NACK values ​​are sorted based on the second indication information in the at least one DCI of the first format and at least one DCI of the second format.

30. The communication device according to any one of claims 27 to 29, characterized in that: In the case of a combined count of the DCI of the first format and the DCI of the second format, the side link allocation count index CSAI field in the DCI of the second format is used to indicate the combined count information of the current DCI of the first format and the DCI of the second format, or to indicate the combined count information of the PDCCH scheduling SL-PRS transmission and the PDCCH scheduling PSSCH transmission when the current PDCCH sends the DCI of the first format.

31. The communication device according to any one of claims 25 to 30, characterized in that: In the case where the DCI of the first format is counted independently, the counting information of the DCI of the first format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS; In the case of a combined count of the DCI of the first format and the DCI of the second format, the combined count information of the DCI of the first format and the DCI of the second format does not include the DCI of the first format activated by the grant type 2 configured by the SL-PRS and the DCI of the second format activated by the grant type 2 configured by the SL.

32. The communication device according to any one of claims 25 to 31, characterized in that: Before the receiving unit receives the DCI in the first format from the access network device, the sending unit is further used to send a first scheduling request to the access network device, where the first scheduling request is used to request scheduling of resources for sending SL-PRS.

33. A communication system, characterized in that: The communication system includes a first terminal device and an access network device, wherein the access network device is used to implement the method described in any one of claims 1 to 8; and the first terminal device is used to implement the method described in any one of claims 9 to 16.

34. A communication device, characterized in that: It includes a transceiver, a processor and a memory; the transceiver is used to send and receive information, and the memory is used to store computer programs or computer instructions; the processor calls the computer program or computer instructions stored in the memory to implement the method described in any one of claims 1 to 8, or the processor calls the computer program or computer instructions stored in the memory to implement the method described in any one of claims 9 to 16.

35. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or computer instructions, and the computer program or computer instructions are executed by a processor to implement the method described in any one of claims 1 to 8; or, the computer program or computer instructions are executed by a processor to implement the method described in any one of claims 9 to 16.

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