CN116828427A

CN116828427A - Method, apparatus, communication device and readable storage medium for discovering and selecting auxiliary terminal

Info

Publication number: CN116828427A
Application number: CN202210289337.3A
Authority: CN
Inventors: 王文
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2022-03-22
Filing date: 2022-03-22
Publication date: 2023-09-29
Also published as: WO2023179596A1

Abstract

The application discloses a method, a device, a communication device and a readable storage medium for discovering and selecting auxiliary terminals, wherein the method comprises the following steps: the method comprises the steps that a first terminal sends a first message to a second terminal, the first message is used for indicating the capability of an auxiliary terminal of the first terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measurement information and/or measurement results are returned to the second terminal and/or the third terminal.

Description

Method, apparatus, communication device and readable storage medium for discovering and selecting auxiliary terminal

Technical Field

The application belongs to the technical field of communication, and particularly relates to a method and a device for discovering and selecting an auxiliary terminal, communication equipment and a readable storage medium.

Background

With the development of communication technology, side Link (SL) transmission is widely used. If the distance between the terminal #1 (or called the observation terminal) and the terminal #2 (or called the target terminal) in the sidelink is too large or is not the line of sight, direct interaction between the two terminals cannot be caused.

Therefore, when the terminal #1 and the terminal #2 cannot directly interact with each other, it is further difficult to perform mutual ranging or positioning between the terminal #1 and the terminal # 2.

Disclosure of Invention

The embodiment of the application provides a communication processing method, a device, communication equipment and a readable storage medium, which solve the problem that the two terminals cannot directly perform mutual distance measurement or positioning due to overlarge distance or non-line-of-sight between the terminal #1 and the terminal # 2.

In a first aspect, a method for discovering and selecting an auxiliary terminal is provided, including:

the method comprises the steps that a first terminal sends a first message to a second terminal, the first message is used for indicating the capability of an auxiliary terminal of the first terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measurement information and/or measurement results are returned to the second terminal and/or the third terminal.

In a second aspect, a method for discovering and selecting an auxiliary terminal is provided, including:

the second terminal receives a first message, wherein the first message is used for indicating the capability of the first terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measuring information and/or a measuring result are returned to the second terminal and/or the third terminal;

And the second terminal selects an auxiliary terminal according to the first message.

In a third aspect, a method for discovering and selecting an auxiliary terminal is provided, including:

a third terminal receives a second message sent by a first terminal, wherein the second message is used for indicating that the first terminal has the capability of an auxiliary terminal, and the auxiliary terminal is used for assisting in ranging and/or positioning a secondary link to the second terminal and/or the third terminal and returning measurement information and/or measurement results to the second terminal and/or the third terminal;

the third terminal transmits a third message in response to the second message.

In a fourth aspect, an apparatus for discovering and selecting an auxiliary terminal is provided, and is applied to a terminal, where the terminal is a first terminal, and the apparatus includes:

the first sending module is used for sending a first message to the second terminal, the first message is used for indicating the capability of the first terminal with an auxiliary terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measuring information and/or measuring results are returned to the second terminal and/or the third terminal.

In a fifth aspect, an apparatus for discovering and selecting an auxiliary terminal is provided, and is applied to a terminal, where the terminal is a second terminal, and the apparatus includes:

The third receiving module is used for receiving a first message, the first message is used for indicating the capability of an auxiliary terminal of a first terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measuring information and/or a measuring result are returned to the second terminal and/or the third terminal;

and the second processing module is used for selecting the auxiliary terminal according to the first message.

In a sixth aspect, an apparatus for discovering and selecting an auxiliary terminal is provided, and applied to a terminal, where the terminal is a third terminal, and the apparatus includes:

a fourth receiving module, configured to receive a second message sent by a first terminal, where the second message is used to indicate that the first terminal has a capability of an auxiliary terminal, and the auxiliary terminal is configured to assist in ranging and/or positioning a sidelink for the second terminal and/or a third terminal, and return measurement information and/or a measurement result to the second terminal and/or the third terminal;

and a fourth sending module, configured to send a third message in response to the second message.

In a seventh aspect, there is provided a communication device comprising: a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor implements the steps of the method according to the first or second or third aspect.

In an eighth aspect, there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the method according to the first or second or third aspects.

In a ninth aspect, there is provided a chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being for running a program or instructions to implement the steps of the method according to the first or second or third aspects.

In a tenth aspect, there is provided a computer program/program product stored in a non-transitory storage medium, the program/program product being executed by at least one processor to implement the steps of the method according to the first or second or third aspect.

An eleventh aspect provides a communication system comprising a first terminal for performing the steps of the method as described in the first aspect, a second terminal for performing the steps of the method as described in the second aspect, and a third terminal for performing the steps of the method as described in the third aspect.

In the embodiment of the application, when the distance measurement and/or the positioning cannot be directly performed between the second terminal and the third terminal, the first terminal can report the capability of the first terminal with the auxiliary terminal to the second terminal, so that the second terminal discovers the first terminal and selects the auxiliary terminal to participate in the distance measurement and/or the positioning of the auxiliary link to the second terminal (equivalent to the observation terminal) and/or the third terminal (equivalent to the target terminal), thereby realizing the positioning and the distance measurement under the condition that the terminals cannot directly interact with each other and improving the reliability of the communication system.

Drawings

Fig. 1 is a block diagram of a wireless communication system to which embodiments of the present application are applicable;

FIG. 2 is one of the flowcharts providing a method of discovering and selecting auxiliary terminals in accordance with an embodiment of the present application;

FIG. 3 is a second flowchart of a method for discovering and selecting auxiliary terminals according to an embodiment of the present application;

FIG. 4 is a third flowchart providing a method of discovering and selecting auxiliary terminals in accordance with an embodiment of the present application;

FIG. 5 is a fourth flowchart providing a method of discovering and selecting auxiliary terminals in accordance with an embodiment of the present application;

FIG. 6 is a fifth flowchart providing a method of discovering and selecting auxiliary terminals in accordance with an embodiment of the present application;

FIG. 7 is one of the schematic diagrams of the apparatus for discovering and selecting auxiliary terminals provided by the embodiment of the present application;

FIG. 8 is a second schematic diagram of an apparatus for discovering and selecting auxiliary terminals according to an embodiment of the present application;

FIG. 9 is a third exemplary diagram of an apparatus for discovering and selecting auxiliary terminals according to an embodiment of the present application

Fig. 10 is a schematic diagram of a terminal according to an embodiment of the present application;

fig. 11 is a schematic diagram of a communication device according to an embodiment of the present application.

Detailed Description

The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/" generally means a relationship in which the associated object is an "or" before and after.

It should be noted that the techniques described in the embodiments of the present application are not limited to long term evolution (Long Term Evolution, LTE)/LTE evolution (LTE-Advanced, LTE-a) systems, but may be used for other wireless communicationInformation systems such as code division multiple access (Code Division Multiple Access, CDMA), time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (Frequency Division Multiple Access, FDMA), orthogonal frequency division multiple access (Orthogonal Frequency Division Multiple Access, OFDMA), single-carrier frequency division multiple access (SC-carrier Frequency Division Multiple Access, FDMA), and other systems. The terms "system" and "network" in embodiments of the application are often used interchangeably, and the techniques described may be used for both the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New air interface (NR) system for purposes of example and uses NR terminology in much of the description that follows, but these techniques are also applicable to applications other than NR system applications, such as generation 6 (6) ^th Generation, 6G) communication system.

In an alternative embodiment of the present application, the obtaining may be understood as obtaining from configuration, receiving after request, obtaining through self-learning, deriving from unreceived information, or obtaining after processing according to received information, which may be specifically determined according to actual needs, and the embodiment of the present application is not limited thereto.

Fig. 1 shows a block diagram of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal 11, a terminal 12, a terminal 13, and a network-side device 14. The terminals 11, 12 and 13 may be mobile phones, tablet computers (Tablet Personal Computer), laptops (Laptop computers) or called notebook computers, personal digital assistants (Personal Digital Assistant, PDA), palm computers, netbooks, ultra-mobile personal computers (ultra-mobile personal Computer, UMPC), mobile internet appliances (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/Virtual Reality (VR) devices, robots, wearable devices (VUE), vehicle-mounted devices (VUE), pedestrian terminals (PUE), smart home (home devices with wireless communication function such as refrigerator, television, washing machine or furniture), game machines, personal computers (personal Computer, PC), teller machines or self-service machines, and the like, and the Wearable devices include: intelligent wrist-watch, intelligent bracelet, intelligent earphone, intelligent glasses, intelligent ornament (intelligent bracelet, intelligent ring, intelligent necklace, intelligent anklet, intelligent foot chain etc.), intelligent wrist strap, intelligent clothing etc.. It should be noted that the specific types of the terminal 11, the terminal 12, and the terminal 13 are not limited in the embodiment of the present application. The network-side device 13 may comprise an access network device or a core network device, wherein the network-side device 13 may also be referred to as a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a radio access network element. The access network device 13 may include a base station, a WLAN access point, a WiFi node, or the like, which may be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service set (Basic Service Set, BSS), an extended service set (Extended Service Set, ESS), a home node B, a home evolved node B, a transmission/reception point (Transmitting Receiving Point, TRP), or some other suitable terminology in the art, and the base station is not limited to a specific technical vocabulary so long as the same technical effect is achieved, and it should be noted that in the embodiment of the present application, only a base station in the NR system is described as an example, and the specific type of the base station is not limited.

The method, apparatus, communication device and readable storage medium for discovering and selecting auxiliary terminals according to the embodiments of the present application are described in detail below with reference to the accompanying drawings, by means of some embodiments and application scenarios thereof.

Referring to fig. 2, an embodiment of the present application provides a method for discovering and selecting an auxiliary terminal, and specific steps include step 201.

Step 201: the method comprises the steps that a first terminal sends a first message to a second terminal, the first message is used for indicating the capability of an auxiliary terminal to the second terminal, the auxiliary terminal is used for assisting in Ranging (Ranging) and/or positioning a secondary link (Sidelink) of the second terminal and/or a third terminal, and measurement information and/or measurement results are returned to the second terminal and/or the third terminal.

It will be appreciated that the first message corresponds to a discovery message such that the second terminal is able to discover that the first terminal has the capabilities of the auxiliary terminal.

In the present application, ranging (Ranging) and/or Sidelink (Sidelink) positioning of the second terminal and/or the third terminal may be understood as performing Ranging (Ranging) and/or Sidelink (Sidelink) positioning of the second terminal and/or the third terminal through an absolute position of the second terminal and/or the third terminal, that is, performing Ranging or positioning (obtaining absolute position information) through determining an absolute position of the terminal; ranging and/or sidelink positioning by relative positions between terminals may also be understood. In ranging and/or sidelink positioning by the relative position, the absolute position of the terminals is not required, and only the relative position relation among the terminals is required to be determined. For example, the relative distance of any two of the second terminal, the third terminal and the auxiliary terminal is determined by the auxiliary terminal, or the relative position of any two of the second terminal, the third terminal and the auxiliary terminal is determined by the auxiliary terminal.

In one embodiment of the present application, before the first terminal sends the first message, the method further includes:

in the case that the first terminal has the capability of the auxiliary terminal (i.e., in the case that the first terminal may be a candidate auxiliary terminal), the first terminal transmits a second message to the third terminal, the second message being used to indicate to the third terminal that the first terminal has the capability of the auxiliary terminal;

and the first terminal receives a third message sent by the third terminal in response to the second message.

It will be appreciated that the second message corresponds to a discovery message enabling the third terminal to discover that the first terminal has the capabilities of the auxiliary terminal.

In one embodiment of the application, the second message comprises at least one of:

(1) The second terminal identifier;

(2) The third terminal identifier;

(3) The first terminal identifier;

(4) First ranging and/or sidelink positioning service requirement information;

(5) And the first terminal position information.

In one embodiment of the present application, the first ranging and/or sidelink location service requirement information includes at least one of:

(1) Ranging and/or sidelink location service information, such as ranging or sidelink location service identification, application code, etc.;

wherein the application code may be network side configured or preconfigured.

(2) First information (or described as a first auxiliary terminal mode indication) indicating that the first terminal assists in ranging and/or sidelink positioning for the second and/or third terminal;

(3) Second information (or described as a second auxiliary terminal mode indication) instructing the first terminal to return measurement information obtained by ranging and/or sidelink positioning to the second terminal and/or the third terminal;

(4) Third information (or described as an auxiliary terminal calculation mode indication), the third information indicating that the first terminal calculates a measurement result according to measurement information obtained by ranging and/or sidelink positioning, and returns the measurement result to the second terminal and/or the third terminal;

(5) The capability information of the first terminal and/or the sidelink ranging mode;

(6) The measurement accuracy requirement and/or the positioning accuracy requirement represent the measurement accuracy and/or the positioning accuracy that the auxiliary terminal is capable of providing.

In one embodiment of the present application, the third message includes at least one of:

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(4) And the ranging and/or sidelink positioning service information of the third terminal.

In one embodiment of the present application, the ranging and/or sidelink location service information of the third terminal includes at least one of the following:

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

In one embodiment of the present application, the capability information of the third terminal includes at least one of the following:

(1) The third terminal supports distance measurement and/or calculation;

(2) The third terminal supports direction measurement and/or calculation;

(3) The third terminal supports distance measurement and/or calculation meeting preset precision requirements (such as high precision);

(4) The third terminal supports directional measurements and/or calculations that meet preset accuracy requirements, such as high accuracy.

the first terminal receives a fourth message from the second terminal, wherein the fourth message is used for indicating the requirement of performing ranging and/or sidelink positioning on the second terminal and/or a third terminal;

And the first terminal determines whether to serve as a candidate auxiliary terminal according to the fourth message.

It will be appreciated that in case the first terminal determines that the auxiliary terminal is a candidate, i.e. the first terminal has auxiliary terminal capabilities, the first terminal may send the first message to the second terminal and/or the second message to the third terminal.

In one embodiment of the present application, the fourth message includes at least one of:

(1) The second terminal identifier;

(2) The third terminal identifier;

(3) The second ranging and/or sidelink location service requirement information.

In one embodiment of the present application, the second ranging and/or sidelink location service requirement information includes at least one of:

(1) Fourth information (or described as Ranging/Sidelink positioning assistance indication) indicating that an assistance terminal is required to assist (or participate in) Ranging and/or Sidelink positioning for the first terminal and/or the second terminal;

(2) Ranging and/or sidelink location service information;

(3) A service mode of the first terminal;

(4) A measurement accuracy requirement and/or a positioning accuracy requirement;

namely, the measurement accuracy requirement and/or the positioning accuracy requirement of the second terminal;

(5) The first terminal identifier;

(6) And the capability of the second terminal and/or the sidelink ranging mode.

Optionally, the first terminal determines whether to be a candidate auxiliary terminal according to the measurement accuracy requirement of the second terminal, the capability information of the first terminal, and/or whether the measurement information or the measurement result is required by the second terminal.

In one embodiment of the application, the first message comprises at least one of:

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(4) First ranging and/or sidelink positioning service auxiliary information;

(5) And the ranging and/or sidelink positioning service information of the third terminal.

In one embodiment of the present application, the first ranging and/or sidelink positioning service assistance information comprises at least one of the following:

(1) Ranging and/or sidelink location service information;

(2) A service mode of the first terminal;

(3) The capability information of the first terminal and/or the sidelink ranging mode;

(4) And the ranging accuracy and/or the sidelink positioning accuracy provided by the first terminal.

In one embodiment of the present application, the capability information of the first terminal includes at least one of the following:

(1) The first terminal supports distance measurement and/or calculation;

(2) The first terminal supports direction measurement and/or calculation;

(3) The first terminal supports distance measurement and/or calculation meeting preset precision requirements (such as high precision);

(4) The first terminal supports directional measurements and/or calculations that meet preset accuracy requirements, such as high accuracy.

(1) The first terminal identifier;

(2) The third terminal identifier;

(3) The second ranging and/or sidelink location service assistance information.

In one embodiment of the present application, the second ranging and/or sidelink location service assistance information comprises at least one of:

(1) Fifth information (or described as Ranging/Sidelink positioning assistance indication) indicating that the first terminal assists in Ranging and/or Sidelink positioning for the first terminal and/or the second terminal;

(2) The capability information of the first terminal and/or the sidelink ranging mode;

(3) A service mode of the first terminal;

(4) Ranging and/or sidelink location service information;

such as ranging or identification of sidelink location services, application identification, application codes, etc.;

(5) Ranging accuracy and/or sidelink positioning accuracy (e.g., high accuracy) provided by the first terminal;

(6) And the position information of the first terminal.

In one embodiment of the present application, the service mode of the first terminal includes: a first mode (or described as an auxiliary terminal auxiliary mode) and a second mode (or described as an auxiliary terminal calculation mode);

in the first mode, the first terminal assists in ranging and/or positioning a sidelink to the second terminal and/or the third terminal, and returns measurement information obtained by ranging and/or positioning the sidelink to the second terminal and/or the third terminal;

in the second mode, the first terminal assists in ranging and/or positioning of a secondary link to the second terminal and/or the third terminal, calculates a measurement result according to measurement information obtained by ranging and/or positioning of the secondary link, and returns the measurement result to the second terminal and/or the third terminal.

In the embodiment of the application, when the ranging and/or the sidelink positioning cannot be directly performed between the second terminal and the third terminal, the first terminal can report the capability of the first terminal with the auxiliary terminal to the second terminal, so that the second terminal discovers and selects the auxiliary terminal to participate in the ranging and/or the sidelink positioning to the second terminal (equivalent to the observation terminal) and/or the third terminal (equivalent to the target terminal), and the reliability of the communication system is improved.

Referring to fig. 3, an embodiment of the present application provides a method for discovering and selecting an auxiliary terminal, and specific steps include steps 301 and 302.

Step 301: the second terminal receives a first message, wherein the first message is used for indicating the capability of the first terminal to the second terminal, the auxiliary terminal is used for assisting in ranging and/or positioning a sidelink of the second terminal and/or a third terminal, and measuring information and/or a measuring result are returned to the second terminal and/or the third terminal;

step 302: and the second terminal selects the auxiliary terminal according to the first message.

For example, the second terminal may select the first terminal to assist in ranging and/or sidelink positioning for the second terminal and/or the third terminal based on the capability information of the first terminal.

It may be appreciated that in embodiments of the present application, the second terminal may receive a plurality of first messages, and then select an auxiliary terminal to assist in ranging and/or positioning the second and/or third terminals based on the received plurality of first messages.

In one embodiment of the application, the method further comprises:

the second terminal sends a fourth message indicating a need to perform ranging and/or sidelink positioning for the second terminal and/or the third terminal.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(4) First ranging and/or sidelink positioning service auxiliary information;

(1) The first terminal identifier;

(2) The third terminal identifier;

(3) The second ranging and/or sidelink location service assistance information.

It should be noted that, in the embodiment shown in fig. 3, the content described above, such as the first ranging and/or the auxiliary link positioning service auxiliary information, the second ranging and/or the auxiliary link positioning service auxiliary information, etc., may refer to the embodiment shown in fig. 2, and will not be described herein.

In the embodiment of the application, when the ranging and/or the sidelink positioning cannot be directly performed between the second terminal and the third terminal, the first terminal can report the capability of the first terminal with the auxiliary terminal to the second terminal, so that the second terminal can find and select the auxiliary terminal to participate in the ranging and/or the sidelink positioning to the second terminal (equivalent to the observation terminal) and/or the third terminal (equivalent to the target terminal) from one or more first terminals, and the reliability of the communication system is improved.

Referring to fig. 4, an embodiment of the present application provides a method for discovering and selecting an auxiliary terminal, which includes the following specific steps: step 401 and step 402.

Step 401: a third terminal receives a second message sent by a first terminal, wherein the second message is used for indicating that the first terminal has the capability of an auxiliary terminal, and the auxiliary terminal is used for assisting in ranging and/or positioning a secondary link to the second terminal and/or the third terminal and returning measurement information and/or measurement results to the second terminal and/or the third terminal;

step 402: the third terminal transmits a third message in response to the second message.

In one embodiment of the application, the method further comprises:

and the third terminal selects an auxiliary terminal according to the second message.

For example, the third terminal may select an auxiliary terminal to assist in ranging and/or positioning the second terminal and/or the third terminal according to the capability information of the auxiliary terminal.

It may be appreciated that in the embodiment of the present application, the third terminal may receive a plurality of second messages, and then select an auxiliary terminal to assist in ranging and/or positioning the second terminal and/or the third terminal based on the received plurality of second messages.

(1) The second terminal identifier;

(2) The third terminal identifier;

(3) The first terminal identifier;

(4) First ranging and/or sidelink positioning service requirement information;

(5) And the first terminal position information.

(1) Ranging or sidelink positioning service information;

(2) First information indicating that the first terminal assists in ranging and/or sidelink positioning for the second and/or third terminal;

(3) The second information indicates the first terminal to return measurement information obtained by ranging and/or sidelink positioning to the second terminal and/or a third terminal;

(4) Third information, which calculates a measurement result according to measurement information obtained by ranging and/or sidelink positioning, and returns the measurement result to the second terminal and/or the third terminal;

(6) Measurement accuracy requirements and/or positioning accuracy requirements.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

It should be noted that, in the embodiment shown in fig. 3, the content described above, such as ranging and/or sidelink positioning service information of the third terminal, may refer to the embodiment shown in fig. 2, which is not described herein.

In the embodiment of the application, when the ranging and/or the sidelink positioning cannot be directly performed between the second terminal and the third terminal, the first terminal can report the capability of the first terminal with the auxiliary terminal to the third terminal, so that the third terminal can find and select the auxiliary terminal from one or more first terminals to participate in the ranging and/or the sidelink positioning to the second terminal (equivalent to the observation terminal) and/or the third terminal (equivalent to the target terminal), and the reliability of the communication system is improved.

Embodiments of the present application will be described below with reference to example one and example two.

Implement one

The second terminal cannot directly perform ranging and mutual sidelink positioning with the third terminal, and it is determined that the second terminal and/or the third terminal are/is subjected to ranging and/or sidelink positioning through assistance (or described as participation or intervention) of the auxiliary terminal. It is thus first necessary to discover the auxiliary terminals and to select an appropriate auxiliary terminal.

Referring to fig. 5, the specific steps are as follows:

step 1 (which may include steps 1a, 1b and/or 1 c): the second terminal sends a first discovery message (corresponding to a fourth message) to the first terminal (including the first terminal #1, the first terminal #2 and/or the first terminal # 3), the first discovery message carrying at least one of the following:

(1) A second terminal identifier;

(2) A third terminal identifier;

(3) The first Ranging/Sidelink positioning service requirement information;

the first terminal #1, the first terminal #2 and/or the first terminal #3 have the capability of an auxiliary terminal. Optionally, the first Ranging/locating service requirement information carries at least one of the following:

(1) A Ranging/locating auxiliary indication is used for assisting the terminal to intervene in the Ranging and locating between the second terminal and the third terminal;

(2) Ranging/sip locating service information, such as ID of service, application code (network side configuration or pre-configuration);

(3) An auxiliary terminal auxiliary mode, namely, an auxiliary terminal only performs measurement and positioning on the second terminal and/or the third terminal, and measurement information is returned to the second terminal and/or the third terminal;

(4) An auxiliary terminal calculation mode, namely, an auxiliary terminal performs measurement and positioning on the second terminal and/or the third terminal, and calculates a measurement result to the second terminal and/or the third terminal;

(5) Measurement accuracy requirement (high accuracy);

(6) And (5) auxiliary terminal identification.

Step 2 (which may include steps 2a, 2b and/or 2 c): after receiving a first discovery message sent by a second terminal, a first terminal (including the first terminal #1, the first terminal #2 and/or the first terminal # 3) determines whether to be or not as a candidate auxiliary terminal for Ranging/Sidelink positioning between the second terminal and a third terminal based on first Ranging/Sidelink positioning service requirement information in the first discovery message, and if it is determined that the auxiliary terminal is a candidate auxiliary terminal, sends a second discovery message (equivalent to the second message), where the second discovery message carries at least one of the following:

(1) A second terminal identifier;

(2) A third terminal identifier;

(3) A first terminal identifier;

(4) The second Ranging/Sidelink positioning service requirement information;

optionally, the second Ranging/locating service requirement information carries at least one of the following:

(1) Ranging/sip locating service information, such as service ID, application code (network side configuration or pre-configuration)

(2) Auxiliary mode indication of the auxiliary terminal, namely, the first terminal is indicated to only execute measurement and positioning on the second terminal and/or the third terminal, and measurement information is returned to the second terminal and/or the third terminal;

(3) The auxiliary terminal calculates a mode indication, namely, the first terminal is instructed to execute measurement and positioning on the second terminal and/or the third terminal, and a measurement result is calculated to the second terminal and/or the third terminal;

(4) The measurement accuracy requirement (high accuracy) indicates the measurement accuracy that the first terminal can provide.

step 3: the third terminal receives the second discovery message of the first terminal (including the first terminal #1, the first terminal #2 and/or the first terminal # 3), and sends a second discovery reply message (corresponding to the third message) to the first terminal (including the first terminal #1, the first terminal #2 and/or the first terminal # 3), wherein the second discovery reply message carries at least one of the following:

(1) A second terminal ID;

(2) A third terminal ID;

(3) A first terminal ID;

(4) The Ranging/Sidelink positioning service information of the third terminal;

optionally, the Ranging/locating service information of the third terminal carries at least one of the following:

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

Optionally, the capability information of the third terminal carries at least one of the following:

(1) Support distance measurement and/or calculation;

(2) Support direction measurement and calculation;

(3) Support high accuracy distance measurement and/or calculation;

(4) Support high precision directional measurements and/or calculations;

step 4: the first terminal (including the first terminal #1, the first terminal #2, and/or the first terminal # 3) transmits a first discovery reply message (equivalent to the first message) to the second terminal;

optionally, the first discovery reply message includes at least one of:

(1) A second terminal identifier;

(2) A third terminal identifier;

(3) A first terminal identifier;

(4) Ranging/sip positioning service auxiliary information;

(5) And the Ranging/locating service information of the third terminal.

Optionally, the Ranging/Sidelink positioning service auxiliary information carries at least one of the following:

(2) An auxiliary terminal auxiliary mode, which means that the first terminal only performs measurement and positioning on the second terminal and/or the third terminal, and measurement information is returned to the second terminal and/or the third terminal;

(4) Capability information of the first terminal and/or a sidelink ranging mode;

(5) The first terminal provides the accuracy of the measurement.

Optionally, the capability information of the first terminal carries at least one of:

(1) Supporting distance measurement and/or calculation

(2) Supporting direction measurement and calculation

(3) Supporting high precision distance measurement and/or calculation

(4) Supporting high precision directional measurements and/or calculations

Step 5: after receiving the first discovery reply message of the first terminal, the second terminal executes the selection of the auxiliary terminal based on the first terminal identifier in the first discovery reply message and/or the Ranging/sip link positioning service auxiliary information of the first terminal, for example:

(1) Selecting an auxiliary terminal according to the identification of the first terminal;

(2) And selecting an auxiliary terminal according to the Ranging/Sidelink positioning service auxiliary information.

Optionally, the information for selecting the auxiliary terminal in the Ranging/Sidelink positioning service auxiliary information includes at least one of the following:

(1) Capability information of the first terminal, such as selecting an auxiliary terminal supporting high-precision measurement capability;

(2) Auxiliary terminal auxiliary mode, namely the second terminal selects those auxiliary terminals which can provide measurement information;

(3) Auxiliary terminal calculation mode, namely the second terminal selects the auxiliary terminals which can provide calculation results;

(4) The secondary link ranging mode, that is, the second terminal selects those secondary terminals that can provide a set secondary link ranging mode meeting the requirement.

Example two

As an auxiliary terminal having a ranging and/or sidelink positioning function, it is determined to perform ranging and/or sidelink positioning between the second terminal and/or the third terminal according to service requirements, and it is first required that the second terminal be able to discover and select the auxiliary terminal.

Referring to fig. 6, the specific steps include:

step 1: the first terminal (including the first terminal #1 and/or the first terminal # 2) transmits a third discovery message (corresponding to the first message), and the third discovery message carries at least one of the following:

(1) A first terminal identifier;

(2) A third terminal identifier;

(3) Ranging/Sidelink positioning service assistance information.

(1) Auxiliary indication of Ranging/sip positioning service indicates that the UE is an auxiliary terminal for providing Ranging/sip positioning service

(2) Capability information of the first terminal and/or a sidelink ranging mode;

(3) A mode of a Ranging/Sidelink positioning service supported by the first terminal;

(4) A Ranging/Sidelink positioning service identifier, an application code and the like, which are used for identifying a certain specific Ranging/Sidelink positioning service;

(5) Measurement accuracy, which means the accuracy (high accuracy) of the measurement result provided by the first terminal;

(6) First terminal position information.

Optionally, the first terminal capability information carries at least one of the following:

(1) Support distance measurement and/or calculation;

(2) Support direction measurement and calculation;

(3) Support high accuracy distance measurement and/or calculation;

(4) High precision directional measurements and/or calculations are supported.

Optionally, the mode of the Ranging/Sidelink positioning service supported by the first terminal includes at least one of the following:

(1) And an auxiliary terminal auxiliary mode, which means that the first terminal only performs measurement and positioning on the second terminal and/or the third terminal, and obtains measurement information, wherein the measurement information is returned to the second terminal and/or the third terminal.

(2) The auxiliary terminal calculates a mode indication, i.e. instructs the first terminal to perform measurement and positioning of the second terminal and/or the third terminal, obtains measurement information, and can calculate a measurement result to the second terminal and/or the third terminal according to the measurement information.

Step 2: the second terminal monitors the third discovery message of the first terminal, and performs discovery and selection of the auxiliary terminal based on the first terminal identifier, the third terminal identifier and/or Ranging/locating positioning service auxiliary information in the third discovery message.

Referring to fig. 7, an embodiment of the present application provides an apparatus for discovering and selecting an auxiliary terminal, which is applied to a terminal, wherein the terminal is a first terminal, and an apparatus 700 includes:

a first sending module 701, configured to send a first message to a second terminal, where the first message is used to indicate to the second terminal that the first terminal has a capability of an auxiliary terminal, where the auxiliary terminal is used to assist in ranging and/or positioning a sidelink for the second terminal and/or a third terminal, and return measurement information and/or measurement result to the second terminal and/or the third terminal.

In one embodiment of the present application, before the first terminal sends the first message, the apparatus 700 further includes:

a second sending module, configured to send a second message to the third terminal, where the first terminal has the capability of the auxiliary terminal, and the second message is used to indicate to the third terminal that the first terminal has the capability of the auxiliary terminal;

and the first receiving module is used for receiving a third message sent by the third terminal in response to the second message.

(1) The second terminal identifier;

(2) The third terminal identifier;

(3) The first terminal identifier;

(4) First ranging and/or sidelink positioning service requirement information;

(5) And the first terminal position information.

(3) The second information indicates the first terminal to return the measurement information obtained by ranging and/or sidelink positioning to the second terminal and/or the third terminal;

(4) Third information indicating the first terminal to calculate a measurement result according to the measurement information obtained by ranging and/or sidelink positioning, and returning the measurement result to the second terminal and/or the third terminal;

(6) Measurement accuracy requirements and/or positioning accuracy requirements.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

(1) The third terminal supports distance measurement and/or calculation;

(2) The third terminal supports direction measurement and/or calculation;

(3) The third terminal supports distance measurement and/or calculation meeting the preset precision requirement;

(4) And the third terminal supports direction measurement and/or calculation meeting the preset precision requirement.

a second receiving module, configured to receive a fourth message from the second terminal, where the fourth message is used to indicate a requirement for performing ranging and/or sidelink positioning on the second terminal and/or a third terminal;

And the first processing module is used for determining whether to be a candidate auxiliary terminal according to the fourth message.

(1) The second terminal identifier;

(2) The third terminal identifier;

(1) Fourth information indicating that an auxiliary terminal is required to participate in ranging and/or sidelink positioning for the first terminal and/or the second terminal;

(2) Ranging and/or sidelink location service information;

(3) A service mode of the first terminal;

(5) The first terminal identifier;

(6) And the capability of the second terminal and/or the sidelink ranging mode.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(4) First ranging and/or sidelink positioning service auxiliary information;

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

(1) Ranging and/or sidelink location service information;

(2) A service mode of the first terminal;

(1) The first terminal supports distance measurement and/or calculation;

(2) The first terminal supports direction measurement and/or calculation;

(3) The first terminal supports distance measurement and/or calculation meeting the preset precision requirement;

(4) The first terminal supports direction measurement and/or calculation meeting preset precision requirements.

(1) The first terminal identifier;

(2) The third terminal identifier;

(3) The second ranging and/or sidelink location service assistance information.

(1) Fifth information indicating that the first terminal assists in ranging and/or sidelink positioning for the first terminal and/or second terminal;

(3) A service mode of the first terminal;

(4) Ranging and/or sidelink location service information;

(5) The ranging accuracy and/or the sidelink positioning accuracy provided by the first terminal;

(6) And the position information of the first terminal.

In one embodiment of the present application, the service mode of the first terminal includes: a first mode and a second mode;

The device provided by the embodiment of the application can realize each process realized by the embodiment of the method of fig. 2 and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

Referring to fig. 8, an embodiment of the present application provides an apparatus for discovering and selecting an auxiliary terminal, which is applied to a terminal, wherein the terminal is a second terminal, and an apparatus 800 includes:

a third receiving module 801, configured to receive a first message, where the first message is used to indicate, to the second terminal, that the first terminal has a capability of an auxiliary terminal, where the auxiliary terminal is used to assist in ranging and/or positioning a sidelink for the second terminal and/or the third terminal, and return measurement information and/or measurement results to the second terminal and/or the third terminal;

a second processing module 802, configured to select an auxiliary terminal according to the first message.

In one embodiment of the present application, the apparatus 800 further comprises:

and the third sending module is used for sending a fourth message, and the fourth message is used for indicating the requirement of performing ranging and/or sidelink positioning on the second terminal and/or the third terminal.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(4) First ranging and/or sidelink positioning service auxiliary information;

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

(1) The first terminal identifier;

(2) The third terminal identifier;

(3) The second ranging and/or sidelink location service assistance information.

The device provided by the embodiment of the application can realize each process realized by the embodiment of the method of fig. 3 and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

Referring to fig. 9, an embodiment of the present application provides an apparatus for discovering and selecting an auxiliary terminal, which is applied to a terminal, where the terminal is a third terminal, and apparatus 900 includes:

a fourth receiving module 901, configured to receive a second message sent by a first terminal, where the second message is used to indicate that the first terminal has a capability of an auxiliary terminal, and the auxiliary terminal is used to assist in ranging and/or positioning a sidelink for the second terminal and/or a third terminal, and return measurement information and/or measurement result to the second terminal and/or the third terminal;

A fourth sending module 902, configured to send a third message in response to the second message.

In one embodiment of the present application, the apparatus 900 further includes:

and the third processing module is used for selecting the auxiliary terminal according to the second message.

(1) The second terminal identifier;

(2) The third terminal identifier;

(3) The first terminal identifier;

(4) First ranging and/or sidelink positioning service requirement information;

(5) And the first terminal position information.

(1) Ranging or sidelink positioning service information;

(6) Measurement accuracy requirements and/or positioning accuracy requirements.

(1) The first terminal identifier;

(2) The second terminal identifier;

(3) The third terminal identifier;

(1) Capability information of the third terminal;

(2) And the position information of the third terminal.

The device provided by the embodiment of the application can realize each process realized by the embodiment of the method of fig. 4 and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

The embodiment of the application also provides a terminal, and fig. 9 is a schematic diagram of a hardware structure of the terminal for implementing the embodiment of the application.

The terminal 900 includes, but is not limited to: at least some of the components of the radio frequency unit 901, the network module 902, the audio output unit 903, the input unit 904, the sensor 905, the display unit 906, the user input unit 907, the interface unit 908, the memory 909, and the processor 910, etc.

Those skilled in the art will appreciate that the terminal 900 may further include a power source (e.g., a battery) for powering the various components, and the power source may be logically coupled to the processor 910 by a power management system so as to perform functions such as managing charging, discharging, and power consumption by the power management system. The terminal structure shown in fig. 9 does not constitute a limitation of the terminal, and the terminal may include more or less components than shown, or may combine some components, or may be arranged in different components, which will not be described in detail herein.

It should be appreciated that in embodiments of the present application, the input unit 904 may include a graphics processing unit (Graphics Processing Unit, GPU) 9041 and a microphone 9042, with the graphics processor 9041 processing image data of still pictures or video obtained by an image capture device (e.g., a camera) in a video capture mode or an image capture mode. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. Touch panel 9071, also referred to as a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and so forth, which are not described in detail herein.

In the embodiment of the present application, after receiving downlink data from a network side device, the radio frequency unit 901 may transmit the downlink data to the processor 910 for processing; in addition, the radio frequency unit 901 may send uplink data to the network side device. Typically, the radio frequency unit 901 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

The memory 909 may be used to store software programs or instructions as well as various data. The memory 909 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area may store an operating system, application programs or instructions (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory 909 may include a volatile memory or a nonvolatile memory, or the memory 909 may include both volatile and nonvolatile memories. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM), static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (ddr SDRAM), enhanced SDRAM (Enhanced SDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). Memory 909 in embodiments of the application includes, but is not limited to, these and any other suitable types of memory.

Processor 910 may include one or more processing units; optionally, the processor 910 integrates an application processor that primarily processes operations involving an operating system, user interface, application programs, etc., and a modem processor that primarily processes wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 910.

The terminal provided by the embodiment of the present application can implement each process implemented by the embodiment of the method of fig. 2, 3 or 4, and achieve the same technical effects, and in order to avoid repetition, a detailed description is omitted here.

Optionally, as shown in fig. 10, the embodiment of the present application further provides a communication device 1000, including a processor 1001 and a memory 1002, where the memory 1002 stores a program or instructions that can be executed on the processor 1001, for example, when the communication device 1000 is a terminal, the program or instructions implement, when executed by the processor 1001, the steps of the method embodiment of fig. 2, fig. 3, or fig. 4, and the same technical effects can be achieved, so that repetition is avoided and no further description is given here.

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, the method of fig. 2 or fig. 3 or fig. 4 and the processes of the foregoing embodiments are implemented, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.

Wherein the processor is a processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.

The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or instructions, implement the processes shown in fig. 2, fig. 3, or fig. 4 and described above in each embodiment of the method, and achieve the same technical effects, so that repetition is avoided, and no further description is provided herein.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, or the like.

Embodiments of the present application further provide a computer program/program product stored in a storage medium, where the computer program/program product is executed by at least one processor to implement the processes of the embodiments of the methods shown in fig. 2, 3, or 4 and described above, and achieve the same technical effects, so that repetition is avoided and no further description is given here.

The embodiment of the present application further provides a communication system, where the communication system includes a first terminal, a second terminal, and a third terminal, where the first terminal, the second terminal, and the third terminal may be used to execute the processes of the embodiments of the methods shown in fig. 2, fig. 3, fig. 4, and the embodiments of the methods described above, and the same technical effects can be achieved, so that repetition is avoided and redundant descriptions are omitted herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. A method of discovering and selecting an auxiliary terminal, comprising:

2. The method of claim 1, wherein prior to the first terminal sending the first message, the method further comprises:

in the case that the first terminal has the capability of the auxiliary terminal, the first terminal sends a second message to the third terminal, wherein the second message is used for indicating the first terminal to have the capability of the auxiliary terminal to the third terminal;

3. The method of claim 2, wherein the second message comprises at least one of:

the second terminal identifier;

the third terminal identifier;

the first terminal identifier;

First ranging and/or sidelink positioning service requirement information;

and the first terminal position information.

4. A method according to claim 3, wherein the first ranging and/or sidelink location service requirement information comprises at least one of:

ranging and/or sidelink location service information;

first information indicating that the first terminal assists in ranging and/or sidelink positioning for the second and/or third terminal;

the second information indicates the first terminal to return the measurement information obtained by ranging and/or sidelink positioning to the second terminal and/or the third terminal;

third information indicating the first terminal to calculate a measurement result according to the measurement information obtained by ranging and/or sidelink positioning, and returning the measurement result to the second terminal and/or the third terminal;

the capability information of the first terminal and/or the sidelink ranging mode;

measurement accuracy requirements and/or positioning accuracy requirements.

5. The method of claim 2, wherein the third message comprises at least one of:

the first terminal identifier;

the second terminal identifier;

The third terminal identifier;

and the ranging and/or sidelink positioning service information of the third terminal.

6. The method of claim 5, wherein the ranging and/or sidelink location service information of the third terminal comprises at least one of:

capability information of the third terminal;

and the position information of the third terminal.

7. The method of claim 6, wherein the capability information of the third terminal comprises at least one of:

the third terminal supports distance measurement and/or calculation;

the third terminal supports direction measurement and/or calculation;

the third terminal supports distance measurement and/or calculation meeting the preset precision requirement;

and the third terminal supports direction measurement and/or calculation meeting the preset precision requirement.

8. The method of claim 1, wherein prior to the first terminal sending the first message, the method further comprises:

9. The method of claim 8, wherein the fourth message comprises at least one of:

the second terminal identifier;

the third terminal identifier;

the second ranging and/or sidelink location service requirement information.

10. The method of claim 9, wherein the second ranging and/or sidelink location service requirement information comprises at least one of:

fourth information indicating that an auxiliary terminal is required to assist in ranging and/or sidelink positioning for the first terminal and/or the second terminal;

ranging and/or sidelink location service information;

a service mode of the first terminal;

a measurement accuracy requirement and/or a positioning accuracy requirement;

the first terminal identifier;

and the capability of the second terminal and/or the sidelink ranging mode.

11. The method according to any of claims 2-10, wherein the first message comprises at least one of:

the first terminal identifier;

the second terminal identifier;

the third terminal identifier;

first ranging and/or sidelink positioning service auxiliary information;

12. The method of claim 11, wherein the first ranging and/or sidelink location service assistance information comprises at least one of:

ranging and/or sidelink location service information;

a service mode of the first terminal;

and the ranging accuracy and/or the sidelink positioning accuracy provided by the first terminal.

13. The method of claim 12, wherein the capability information of the first terminal comprises at least one of:

the first terminal supports distance measurement and/or calculation;

the first terminal supports direction measurement and/or calculation;

the first terminal supports distance measurement and/or calculation meeting the preset precision requirement;

the first terminal supports direction measurement and/or calculation meeting preset precision requirements.

14. The method of claim 1, wherein the first message comprises at least one of:

the first terminal identifier;

the third terminal identifier;

the second ranging and/or sidelink location service assistance information.

15. The method of claim 14, wherein the second ranging and/or sidelink location service assistance information comprises at least one of:

Fifth information indicating that the first terminal assists in ranging and/or sidelink positioning for the first terminal and/or second terminal;

a service mode of the first terminal;

ranging and/or sidelink location service information;

the ranging accuracy and/or the sidelink positioning accuracy provided by the first terminal;

and the position information of the first terminal.

16. The method according to claim 10 or 12 or 15, wherein the service mode of the first terminal comprises: a first mode and a second mode;

17. A method of discovering and selecting an auxiliary terminal, comprising:

18. The method of claim 17, wherein the method further comprises:

19. The method according to any of claims 17-18, wherein the first message comprises at least one of:

the first terminal identifier;

the second terminal identifier;

the third terminal identifier;

first ranging and/or sidelink positioning service auxiliary information;

20. The method of claim 17, wherein the first message comprises at least one of:

The first terminal identifier;

the third terminal identifier;

the second ranging and/or sidelink location service assistance information.

21. A method of discovering and selecting an auxiliary terminal, comprising:

the third terminal transmits a third message in response to the second message.

22. The method of claim 21, wherein the method further comprises:

23. The method according to claim 21 or 22, wherein the second message comprises at least one of:

the second terminal identifier;

the third terminal identifier;

the first terminal identifier;

first ranging and/or sidelink positioning service requirement information;

and the first terminal position information.

24. The method of claim 23, wherein the first ranging and/or sidelink location service requirement information comprises at least one of:

Ranging or sidelink positioning service information;

the second information indicates the first terminal to return measurement information obtained by ranging and/or sidelink positioning to the second terminal and/or a third terminal;

third information, which calculates a measurement result according to measurement information obtained by ranging and/or sidelink positioning, and returns the measurement result to the second terminal and/or the third terminal;

measurement accuracy requirements and/or positioning accuracy requirements.

25. The method of claim 21, wherein the third message comprises at least one of:

the first terminal identifier;

the second terminal identifier;

the third terminal identifier;

26. The method of claim 25, wherein the ranging and/or sidelink location service information of the third terminal comprises at least one of:

Capability information of the third terminal;

and the position information of the third terminal.

27. An apparatus for discovering and selecting an auxiliary terminal, applied to a terminal, the terminal being a first terminal, comprising:

28. An apparatus for discovering and selecting an auxiliary terminal, applied to a terminal, the terminal being a second terminal, comprising:

29. An apparatus for discovering and selecting an auxiliary terminal, applied to a terminal, the terminal being a third terminal, comprising:

30. A communication device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor implements the steps of the method of any one of claims 1 to 26.

31. A readable storage medium, characterized in that it has stored thereon a program or instructions which, when executed by a processor, implement the steps of the method according to any of claims 1 to 26.