CN118524454A

CN118524454A - Method, device and terminal for transmitting SL-PRS conflict information

Info

Publication number: CN118524454A
Application number: CN202310184141.2A
Authority: CN
Inventors: 任晓涛; 任斌; 达人
Original assignee: Datang Mobile Communications Equipment Co Ltd
Current assignee: Datang Mobile Communications Equipment Co Ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2024-08-20
Also published as: WO2024169867A1

Abstract

The invention provides a transmission method, a device and a terminal of SL-PRS conflict information, wherein the method comprises the following steps: the first terminal transmits SL-PRS conflict information through a first channel; the SL-PRS conflict information is used for indicating that resource conflict exists in target SL-PRS transmission; wherein the time domain position of the first channel is related to the time domain position of the target SL-PRS and/or the time domain position of the first channel is related to the time domain position of the first direct link control information SCI; the first SCI is used for indicating resources reserved for the target SL-PRS transmission; therefore, a terminal receiving SL-PRS conflict information can consider the problem of resource conflict in the SL-PRS resource selection process, the probability of SL-PRS transmission failure caused by SL-PRS resource conflict is reduced, and the positioning precision of a straight-through link is improved.

Description

Method, device and terminal for transmitting SL-PRS conflict information

Technical Field

The invention relates to the technical field of communication, in particular to a transmission method, a device and a terminal of SL-PRS conflict information.

Background

In the existing NR (New Radio Access) Positioning technology, only a downlink Positioning reference signal and an uplink Positioning reference signal are defined in an air interface between a base station and a terminal, and a direct link Positioning reference signal (Sidelink-Positioning REFERENCE SIGNAL, SL-PRS) is not defined in a PC5 interface between terminals. Considering the relative positioning between terminals, namely the requirement of direct link positioning, direct link positioning reference signals transmitted between terminals need to be introduced, so that the terminals can directly complete the relative positioning flow between the terminals in the direct link without depending on the base station.

Before the terminal transmits the SL-PRS, it needs to first determine the time-frequency resources used for the SL-PRS transmission. If resource collision or collision occurs in the time-frequency resources of multiple terminals for transmitting the SL-PRS, serious mutual interference between the SL-PRS between the terminals may be caused, thereby affecting positioning accuracy of the through link. On the other hand, in order to improve positioning accuracy, when a terminal sends an SL-PRS, a relatively large SL-PRS transmission bandwidth is often used, which means that each SL-PRS occupies more time-frequency resources, so that the probability and severity of resource collision or collision of the SL-PRS sent between multiple terminals are increased.

Disclosure of Invention

The embodiment of the invention aims to provide a transmission method, a device and a terminal for SL-PRS conflict information, so as to solve the problem that in the prior art, the positioning accuracy of a direct link is reduced due to the fact that time-frequency resources for transmitting the SL-PRS are easy to conflict.

In order to solve the above problems, an embodiment of the present invention provides a transmission method of a positioning reference signal SL-PRS collision information of a through link, where the method includes:

the first terminal transmits SL-PRS conflict information through a first channel; the SL-PRS conflict information is used for indicating that resource conflict exists in target SL-PRS transmission;

Wherein the time domain position of the first channel is related to the time domain position of the target SL-PRS and/or the time domain position of the first channel is related to the time domain position of the first direct link control information SCI; the first SCI is used to indicate resources reserved for the target SL-PRS transmission.

Wherein the first channel comprises any one of the following channels:

a first physical cut-through link feedback channel PSFCH carrying SL-PRS collision information;

Sequence-based physical through link collision indication channel PSRCH;

a second PSFCH indicating SL-PRS collision information.

Wherein, still include: a second channel carrying hybrid automatic repeat request acknowledgement HARQ-ACK information;

Wherein a first parameter of the first channel and a second parameter of the second channel are different;

the first parameter or the second parameter includes: at least one of time domain resources, frequency domain resources, sequences, and cyclic shifts.

The first terminal sends SL-PRS conflict information through a first channel, and the method comprises the following steps:

and the first terminal sends SL-PRS conflict information through a first channel according to a preset period value.

Wherein the method further comprises:

The first terminal determines whether the first channel is configured into a target resource pool according to the enabling switch signaling of the SL-PRS conflict information.

Wherein the method further comprises:

the first terminal determining reserved resources for SL-PRS transmission;

If there is a collision in the reserved resources for SL-PRS transmission, the first terminal carries the SL-PRS collision information in a first channel.

Wherein the resource conflict comprises: the target SL-PRS generates resource conflict with other SL-PRS, or the target SL-PRS generates resource conflict with the direct link data communication channel;

wherein the through link data communication channel comprises at least one of the following channels:

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

wherein the SL-PRS collision information comprises:

first indication information indicating whether there is an expected or potential SL-PRS collision on the target SL-PRS;

Or alternatively

Second indication information indicating whether there is a detected SL-PRS collision on the target SL-PRS.

Wherein the method further comprises:

the first terminal transmits the first channel in a first time slot containing PSFCH resources; wherein the first time slot is located in a time slot of at least N1 time slots after the first reference time slot;

The first reference time slot is: providing a receiving time slot of a physical through link control channel (PSCCH) of a first SCI, or the first reference time slot is a time slot where the first SCI is positioned; n1 is an integer greater than 1.

Wherein the PSFCH resources are located in a slot at least M1 slots before the resources associated with the SL-PRS collision information; wherein M1 is an integer greater than 1.

Wherein N1 is configured by PSFCH minimum time interval parameters; and/or, M1 is a terminal processing delay budget;

or N1 and/or M1 is signalled by the second terminal to said first terminal.

Wherein the method further comprises:

the first terminal transmits the first channel in a target time slot containing PSFCH resources; wherein the target time slot is: the latest slot of at least M2 slots before the slot of the resource associated with the SL-PRS collision information; m2 is an integer greater than 1.

Wherein the PSFCH resources are located in a slot of at least N2 slots after the first reference slot; otherwise, the first terminal does not send the first channel;

the first reference time slot is: providing a receiving time slot of a physical through link control channel (PSCCH) of a first SCI, or the first reference time slot is a time slot where the first SCI is positioned; n2 is an integer greater than 1.

Wherein N2 is configured by PSFCH minimum time interval parameters; and/or, M2 is a terminal processing delay budget;

Or N2 and/or M2 is signalled by the second terminal to the first terminal.

Wherein the method further comprises:

if the SL-PRS conflict information type is expected or potential resource conflict, the first terminal sends a first channel through a first time slot; wherein, the first time slot is positioned in the time slot of N time slots before the time slot where the resource conflict is positioned; n is an integer greater than 1;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, the first terminal sends a first channel to send through a second time slot; wherein the second time slot is located in a time slot of M time slots after the time slot in which the resource conflict is located; m is an integer greater than 1.

If the SL-PRS conflict information type is expected or potential resource conflict, N is equal to the time domain position offset value T of the first channel;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, M is equal to the time domain position offset value T of the first channel.

Wherein the method further comprises:

if the SL-PRS collision information type is an expected or potential resource collision, the first terminal transmits a first channel via a third time slot, where the third time slot is: the time slot in which the most recent PSFCH occasion is located before the resource of the expected or potential resource conflict;

Or alternatively

If the SL-PRS collision information type is the detected resource collision, the first terminal sends a first channel through a fourth timeslot, where the fourth timeslot is: the slot at the latest PSFCH occasion after the detected resource conflicted resource.

Wherein the method further comprises:

if the SL-PRS conflict information type is expected or potential resource conflict, the first terminal sends a first channel through a fifth time slot; the fifth time slot is: k1+n1 time slot or K1-n1 time slot, K1 being the time slot in which the most recent PSFCH occasions precede the expected or potential resource conflicted resource;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, the first terminal sends a first channel through a sixth time slot; the sixth time slot is: k2+n2 time slot or K2-n2 time slot, K2 is the time slot of the last PSFCH time after the resource where the resource conflict is located;

wherein n1, n2 are integers greater than 1.

The minimum time interval between the time slot occupied by the first channel and the time slot where the target SL-PRS is located is equal to Y time slots;

Wherein Y is the terminal processing delay budget.

The number of Resource Blocks (RBs) in a candidate resource set of a first channel in a target resource pool is an integer multiple of the product of the number of sub-channels contained in the target resource pool and a first channel resource period value.

Wherein the method further comprises:

Determining a candidate resource set of a first channel according to a time slot number of an SL-PRS (subscriber line-physical layer) associated with the first channel and a number of a starting sub-channel occupied by the SL-PRS transmission and/or a comb tooth number occupied by the SL-PRS transmission;

Or alternatively

The candidate resource set of the first channel is determined according to the time slot number of the SL-PRS associated with the first channel and the numbers of all sub-channels occupied by the SL-PRS transmission and/or the comb teeth number occupied by the SL-PRS transmission.

The embodiment of the invention also provides a first terminal, which comprises a memory, a transceiver and a processor:

A memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following operations:

Transmitting SL-PRS conflict information through a first channel; the SL-PRS conflict information is used for indicating that resource conflict exists in target SL-PRS transmission;

Wherein the first channel comprises any one of the following channels:

Sequence-based physical through link collision indication channel PSRCH;

a second PSFCH indicating SL-PRS collision information.

Wherein the processor is further configured to read the computer program in the memory and perform the following operations:

And transmitting SL-PRS conflict information through a first channel according to a preset period value.

determining whether the first channel is configured into a target resource pool according to the enable switch signaling of SL-PRS conflict information.

determining reserved resources for SL-PRS transmission;

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

wherein the SL-PRS collision information comprises:

Or alternatively

Transmitting the first channel in a first time slot containing PSFCH resources; wherein the first time slot is located in a time slot of at least N1 time slots after the first reference time slot;

or N1 and/or M1 is signalled by the second terminal to said first terminal.

Transmitting the first channel in a target time slot containing PSFCH resources; wherein the target time slot is: the latest slot of at least M2 slots before the slot of the resource associated with the SL-PRS collision information; m2 is an integer greater than 1.

Wherein the PSFCH resources are located in a slot of at least N2 slots after the first reference slot;

Or N2 and/or M2 is signalled by the second terminal to the first terminal.

if the SL-PRS conflict information type is expected or potential resource conflict, a first channel is sent through a first time slot; wherein, the first time slot is positioned in the time slot of N time slots before the time slot where the resource conflict is positioned; n is an integer greater than 1;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, a first channel is sent through a second time slot; wherein the second time slot is located in a time slot of M time slots after the time slot in which the resource conflict is located; m is an integer greater than 1.

If the SL-PRS conflict information type is expected or potential resource conflict, N is equal to the time domain position offset value T of the first channel and N is equal to N;

Or alternatively

If the SL-PRS conflict information type is expected or potential resource conflict, the first channel is sent through a third time slot, wherein the third time slot is: the time slot in which the most recent PSFCH occasion is located before the resource of the expected or potential resource conflict;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, the first channel is sent through a fourth time slot, and the fourth time slot is: the slot at the latest PSFCH occasion after the detected resource conflicted resource.

If the SL-PRS conflict information type is expected or potential resource conflict, transmitting a first channel through a fifth time slot; the fifth time slot is: k1+n1 time slot or K1-n1 time slot, K1 being the time slot in which the most recent PSFCH occasions precede the expected or potential resource conflicted resource;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, a first channel is sent through a sixth time slot; the sixth time slot is: k2+n2 time slot or K2-n2 time slot, K2 is the time slot of the last PSFCH time after the resource where the resource conflict is located;

wherein n1, n2 are integers greater than 1.

Wherein Y is the terminal processing delay budget.

Or alternatively

The embodiment of the invention also provides a transmission device of the straight-through link positioning reference signal SL-PRS conflict information, which comprises the following steps:

A transmitting unit for transmitting SL-PRS conflict information through a first channel; the SL-PRS conflict information is used for indicating that resource conflict exists in target SL-PRS transmission;

Embodiments of the present invention also provide a processor-readable storage medium storing a computer program for causing the processor to perform the method as described above.

The technical scheme of the invention has at least the following beneficial effects:

According to the transmission method, the device and the terminal of the SL-PRS conflict information, the first terminal sends the SL-PRS conflict information through the first channel, so that the problem of resource conflict in the SL-PRS resource selection process of the terminal receiving the SL-PRS conflict information can be considered, the probability of SL-PRS transmission failure caused by the SL-PRS resource conflict is reduced, and the positioning precision of a straight-through link is improved.

Drawings

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

Fig. 2 is a schematic diagram illustrating steps of a transmission method of SL-PRS collision information according to an embodiment of the present invention;

FIG. 3 is a diagram showing an example of transmission of a first channel in a method for transmitting SL-PRS collision information according to an embodiment of the present invention;

FIG. 4 is a diagram showing a second example of transmission of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

fig. 5 shows one of periodic transmission diagrams of a first channel in a transmission method of SL-PRS collision information provided in an embodiment of the present invention;

fig. 6 is a second schematic diagram illustrating periodic transmission of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

Fig. 7 is a schematic diagram showing a time slot determination of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

FIG. 8 is a diagram illustrating a second time slot determination of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

Fig. 9 is a third schematic diagram illustrating a time slot determination of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

fig. 10 shows a fourth schematic diagram of determining a time slot of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

FIG. 11 is a diagram showing a fifth embodiment of a time slot determination of a first channel in a transmission method of SL-PRS collision information according to the embodiment of the invention;

fig. 12 is a schematic diagram showing a time slot determination of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

FIG. 13 is a diagram showing a seventh embodiment of a time slot determination of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

Fig. 14 shows an eighth schematic diagram of determining a time slot of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

fig. 15 shows a ninth schematic diagram of determining a time slot of a first channel in a transmission method of SL-PRS collision information according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of a first terminal according to an embodiment of the present invention;

Fig. 17 is a schematic structural diagram of a transmission apparatus for SL-PRS collision information according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.

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 device 11 and a network device 12. The terminal device 11 may also be referred to as a terminal or User Equipment (UE). It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may be a base station or a core network, and it should be noted that, in the embodiment of the present application, only the base station in the NR system is taken as an example, but the specific type of the base station is not limited.

In the embodiment of the invention, the term "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B can be expressed as follows: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The term "plurality" in embodiments of the present application means two or more, and other adjectives are similar.

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The technical scheme provided by the embodiment of the application can be suitable for various systems, in particular to a 5G system. For example, applicable systems may be global system for mobile communications (global system of mobile communication, GSM), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) universal packet Radio service (GENERAL PACKET Radio service, GPRS), long term evolution (long term evolution, LTE), LTE frequency division duplex (frequency division duplex, FDD), LTE time division duplex (time division duplex, TDD), long term evolution-advanced (long term evolution advanced, LTE-a), universal mobile system (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, wiMAX), 5G New air interface (New Radio, NR) systems, and the like. Terminal devices and network devices are included in these various systems. Core network parts such as evolved packet system (Evloved PACKET SYSTEM, EPS), 5G system (5 GS), etc. may also be included in the system.

The terminal device according to the embodiment of the present application may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc. The names of the terminal devices may also be different in different systems, for example in a 5G system, the terminal devices may be referred to as User Equipment (UE). The wireless terminal device may communicate with one or more Core Networks (CNs) via a radio access Network (Radio Access Network, RAN), which may be mobile terminal devices such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, e.g., portable, pocket, hand-held, computer-built-in or vehicle-mounted mobile devices that exchange voice and/or data with the radio access Network. Such as Personal communication services (Personal Communication Service, PCS) phones, cordless phones, session initiation protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal DIGITAL ASSISTANT, PDA) and the like. The wireless terminal device may also be referred to as a system, subscriber unit (subscriber unit), subscriber station (subscriber station), mobile station (mobile station), remote station (remote station), access point (access point), remote terminal device (remote terminal), access terminal device (ACCESS TERMINAL), user terminal device (user terminal), user agent (user agent), user equipment (user device), and embodiments of the present application are not limited.

The network device according to the embodiment of the present application may be a base station, where the base station may include a plurality of cells for providing services for the terminal. A base station may also be called an access point or may be a device in an access network that communicates over the air-interface, through one or more sectors, with wireless terminal devices, or other names, depending on the particular application. The network device may be configured to exchange received air frames with internet protocol (Internet Protocol, IP) packets as a router between the wireless terminal device and the rest of the access network, which may include an Internet Protocol (IP) communication network. The network device may also coordinate attribute management for the air interface. For example, the network device according to the embodiment of the present application may be a network device (Base Transceiver Station, BTS) in a global system for mobile communications (Global System for Mobile communications, GSM) or code division multiple access (Code Division Multiple Access, CDMA), a network device (NodeB) in a wideband code division multiple access (Wide-band Code Division Multiple Access, WCDMA), an evolved network device (evolutional Node B, eNB or e-NodeB) in a long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), a home evolved base station (Home evolved Node B, heNB), a relay node (relay node), a home base station (femto), a pico base station (pico), etc., which are not limited in the embodiment of the present application. In some network structures, the network devices may include centralized unit (centralized unit, CU) nodes and Distributed Unit (DU) nodes, which may also be geographically separated.

Multiple-input Multiple-output (Multi Input Multi Output, MIMO) transmissions may be made between the network device and the terminal device, each using one or more antennas, and the MIMO transmissions may be Single User MIMO (SU-MIMO) or Multiple User MIMO (MU-MIMO). The MIMO transmission may be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or may be diversity transmission, precoding transmission, beamforming transmission, or the like, depending on the form and number of the root antenna combinations.

As shown in fig. 2, an embodiment of the present invention provides a transmission method of a positioning reference signal SL-PRS collision information of a through link, where the method includes:

Step 201, a first terminal transmits through a first channel; the SL-PRS conflict information is used for indicating that resource SL-PRS conflict information conflicts exist in target SL-PRS transmission;

Wherein the time domain position of the first channel is related to the time domain position of the target SL-PRS and/or the time domain position of the first channel is related to the time domain position of the first direct link control information (Sidelink Control Information, SCI); the first SCI is used to indicate resources reserved for the target SL-PRS transmission.

In at least one embodiment of the present invention, the first channel includes any one of the following channels:

A first physical cut-through link Feedback Channel (PHYSICAL SIDELINK Feedback Channel, PSFCH) carrying SL-PRS collision information;

A sequence-based physical through link collision indication channel (PHYSICAL SIDELINK Resource Conflict Indication Channel, PSRCH); the PSRCH and PSFCH are configured independently of each other and can be understood as new channels based on sequence;

The second PSFCH, which indicates SL-PRS collision information, may be referred to as Type 2PSFCH.

Optionally, the method further comprises: a second channel carrying hybrid automatic repeat request acknowledgement (Hybrid automatic repeat request acknowledgement, HARQ-ACK) information;

Wherein a first parameter of the first channel and a second parameter of the second channel are different; the first parameter or the second parameter includes: at least one of time domain resources, frequency domain resources, sequences, and cyclic shifts.

In other words, the first PSFCH carries HARQ-ACK information or SL-PRS collision information by different time domain resources, or different frequency domain resources, or different sequences, or different cyclic shifts. For example, the first PSFCH transmitted on time domain resource 1 carries HARQ-ACK information and the first PSFCH transmitted on time domain resource 2 carries SL-PRS collision information.

As shown in fig. 3, PSRCH and PSFCH are time-division multiplexed, PSRCH and PSFCH occupy different time domain resources, PSRCH occupies No. 9 symbols and No. 10 symbols, PSFCH occupies No. 11 symbols and No. 12 symbols, so that resource conflicts used by both parties are avoided, and in addition, PSRCH and PSFCH are in the same frequency domain resource.

As shown in fig. 4, the first terminal simultaneously transmits types 2PSFCH and PSFCH in slots 11 and 12 of an RB (Resource Block) occupied by the first terminal, the two types PSFCH occupy 12 subcarriers of one RB together, and occupy two slots and the slot 11 is a complete repetition of the slot 12. At this time, type2PSFCH is code division multiplexed with PSFCH, which are distinguished using different sequences or different cyclic shift values (CYCLIC SHIFT, CS). On the RB, a sequence of length 12 is placed on its 12 subcarriers, and a cyclic shift value of a sequence includes {1,2,3,6} or the like candidates, so that more PSFCH channels can be accommodated. If the same sequence is used for different types PSFCH of channels, then cs#1 is used to represent PSFCH and cs#2 is used to represent Type2PSFCH; if different types PSFCH channels use different sequences, then sequence #1 is used to represent PSFCH and sequence #2 is used to represent Type2 PSFCH.

Regarding the frequency domain location where the first channel is located, there are the following possible alternatives:

Scheme 1: the frequency domain position of the first channel is (pre) configured, i.e.: the specific position of the frequency domain is determined by the related configuration signaling;

scheme 2: the frequency domain location of the first channel is fixed, i.e.: a section of frequency resources is predefined, dedicated to transmitting the first channel, and not to transmitting other information.

In the embodiment of the invention, the first terminal sends the SL-PRS conflict information to the other terminal through the first channel, so that the terminal can consider the problem of resource conflict in the SL-PRS resource selection process, the probability of SL-PRS transmission failure caused by SL-PRS resource conflict is reduced, and the positioning precision of the straight-through link is improved.

In an alternative embodiment of the present invention, step 201 includes:

and the first terminal sends SL-PRS conflict information through a first channel according to a preset period value. Optionally, the period value P is equal to n0 slots, n0=1 or 2 or 4.

As another alternative embodiment, the method further comprises:

Wherein the SL-PRS collision information enabling switch signaling may be configured in SCI or radio resource control RRC signaling; for example, the RRC signaling includes PC5 RRC signaling or NR Uu RRC signaling.

In other words, when the first channel transmits information, the periodic reporting mode is adopted, and the period value P can be configured through SCI or RRC signaling. Wherein the RRC signaling includes PC5 RRC signaling or NR Uu RRC signaling. If the period of the first channel of the first terminal is configured by other terminals, the configuration is performed through PC5 RRC signaling; if the period of the first channel of the first terminal is configured by the base station, the configuration is performed through NR Uu RRC signaling.

As shown in fig. 5, the period value of the first channel is configured to be p=2 slots, and multiple instances of the first channel are located in the same sub-channel. As shown in fig. 6, the period value of the first channel is configured to be p=2 slots, and multiple instances of the first channel are located in different sub-channels. Wherein, a sub-channel is a frequency domain unit of through link resource allocation, and one sub-channel is composed of one or more physical resource blocks PRBs which are continuous in the frequency domain.

In the embodiment of the invention, the first terminal sends the SL-PRS conflict information to the other terminal through the first channel, so that the terminal can consider the problem of resource conflict in the SL-PRS resource selection process, the probability of SL-PRS transmission failure caused by SL-PRS resource conflict is reduced, and the positioning precision of the straight-through link is improved. The periodically occurring first channel reduces the complexity of the first channel configuration.

As at least one embodiment of the present invention, the method further comprises:

the first terminal determining reserved resources for SL-PRS transmission;

For example, a first terminal determines reserved resources for SL-PRS transmission based on a first SCI, wherein the reserved resources include: the SL-PRS transmits a reserved set of resources of one or more slots and resource blocks.

As an alternative embodiment, the resource conflict includes: the target SL-PRS may collide with other SL-PRSs in resources (which may also be referred to as a collision of time-frequency resources occupied by the target SL-PRS with time-frequency resources occupied by other SL-PRSs), or the target SL-PRS may collide with the through-link data communication channel in resources (which may also be referred to as a collision of time-frequency resources occupied by the target SL-PRS with time-frequency resources occupied by the through-link data communication channel).

Optionally, the through link data communication channel comprises at least one of the following channels:

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

in another alternative embodiment of the present invention, the SL-PRS collision information includes:

Or alternatively

The embodiment of the invention provides a plurality of methods for determining the time slot occupied by a first channel. Different methods of determining the time slots occupied by the first channel are described below, respectively.

As an alternative embodiment, the time domain position of the first channel in the time slot determining method 1 occupied by the first channel is determined by taking the time domain position of the first SCI used for indicating the target SL-PRS resource as a reference, and the time domain position determining method of the first channel is described as an example. That is, in at least one embodiment of the present invention, the method further comprises:

the first terminal transmits the first channel in a first time slot containing PSFCH resources; wherein the first time slot is located in a time slot of at least N1 time slots after the first reference time slot; or the first time slot is located in a time slot separated by at least N1 time slots after the first reference time slot;

Optionally, the PSFCH resources are located in a slot at least M1 slots before the resources associated with the SL-PRS collision information; or the PSFCH resources are located in a slot that is spaced at least M1 slots before the resources associated with the SL-PRS collision information. Otherwise, if PSFCH resources do not meet the above conditions, the first terminal does not send the first channel; wherein M1 is an integer greater than 1.

Optionally, N1 is configured by PSFCH minimum time interval (sl-MINTIMEGAPPSFCH) parameters; and/or, M1 is a terminal processing delay budget T ₃ or T _proc,1;

or N1 and/or M1 is signalled by the second terminal to said first terminal. Optionally, the second terminal is a terminal that receives the first channel.

As shown in fig. 7, the first terminal receives a first SCI on the sub-channel No. 3 slot, which indicates that the resource on the sub-channel No. 13 slot is to be occupied by the terminal B for transmitting the SL-PRS resource, but the first terminal simultaneously discovers that the resource on the sub-channel No. 13 slot is already occupied by other terminals, and thus a resource collision occurs.

The first terminal monitors the SL-PRS collision information before the SL-PRS resource collision occurs, and the first terminal needs to determine a time slot occupied by the first channel and transmit the first channel to terminal B to avoid the collision. Assuming that n1=2 slots, m1=3 slots. Assuming that the period of PSFCH is 2 slots, the slots containing PSFCH resources include even slots of 2,4,6,8, etc. Since the first terminal receives the first SCI in slot 3, the first reference slot is slot 3, and n1=2 slots, the first terminal needs to transmit the first channel in the first slot containing PSFCH resources after slot 5 (slot 3+n1), which is slot 6.

Meanwhile, the number 6 time slot is 7 time slots before the resource associated with the SL-PRS conflict information, and the condition that M1=3 time slots before the SL-PRS conflict resource is met, so that the first terminal sends the resource conflict information to the terminal B by sending the first channel in the number 4 sub-channel number 6 time slot, and the terminal B can replace the transmission resource to avoid the occurrence of the resource conflict.

By adopting the method for determining the time slot occupied by the first channel, the time domain position of the first channel is related to the time domain position of the first SCI for indicating the target SL-PRS resource, and the method is direct and effective.

As another alternative embodiment, the time domain position of the first channel in the time slot determining method 2 occupied by the first channel uses the time domain position of the target SL-PRS resource as a reference, and determines the time domain position thereof as an example, and the time domain position determining method of the first channel is described. That is, in at least one embodiment of the present invention, the method further comprises:

The first terminal transmits the first channel in a target time slot containing PSFCH resources; wherein the target time slot is: the latest slot of at least M2 slots before the slot of the resource associated with the SL-PRS collision information; or the target time slot is: the slot of the resource associated with the SL-PRS collision information is preceded by a latest slot of at least M2 slots; m2 is an integer greater than 1.

Optionally, the PSFCH resources are located in a time slot of at least N2 time slots after the first reference time slot, or the PSFCH resources are located in a time slot of at least N2 time slots after the first reference time slot; otherwise, if PSFCH resources do not meet the above conditions, the first terminal does not send the first channel;

Optionally, N2 is configured by PSFCH minimum time interval (sl-MINTIMEGAPPSFCH) parameters; and/or, M2 is a terminal processing delay budget T ₃ or T _proc,1;

Or N2 and/or M2 is signalled by the second terminal to the first terminal. Optionally, the second terminal is a terminal that receives the first channel.

As shown in fig. 8, the first terminal receives a first SCI on the sub-channel No. 3 slot, which indicates that the resource on the sub-channel No. 13 slot is to be occupied by the terminal B for transmitting the SL-PRS resource, but the first terminal simultaneously discovers that the resource on the sub-channel No. 13 slot is already occupied by other terminals, and thus a resource collision occurs.

The first terminal monitors the SL-PRS collision information before the SL-PRS resource collision occurs, and the first terminal needs to determine a time slot occupied by the first channel and transmit the first channel to terminal B to avoid the collision. Assuming that n2=2 slots, m2=3 slots. Assuming that the period of PSFCH is 2 slots, the slots containing PSFCH resources include even slots of 2,4,6,8, etc. Since the resource associated with the SL-PRS collision information is in slot 13, terminal a transmits the first channel in the latest slot of at least m2=3 slots before the slot containing the PSFCH resource and the resource associated with the SL-PRS collision information, the latest slot is slot 8.

Meanwhile, the first reference slot is slot No.3, and n2=2 slots, and then the terminal a needs to transmit the first channel in the slot containing PSFCH resources after slot No. 5 (slot No. 3+n1). After the No. 8 time slot is the No. 5 time slot, the condition that N2=2 time slots are satisfied after the first reference time slot is satisfied, so that the terminal A sends the SL-PRS conflict information to the terminal B by sending the first channel in the No. 8 time slot of the No. 4 sub-channel, and the terminal B can change transmission resources to avoid resource conflict.

By adopting the method for determining the time slot occupied by the first channel, the time domain position of the first channel is related to the time domain position of the target SL-PRS, and the method is direct and effective.

As another alternative embodiment, in the method 3 for determining a time slot occupied by the first channel, the first channel uses the time domain position where the SL-PRS resource where there is a resource conflict is located as a reference, and determines the time domain position of the time domain position as an example, and the method for determining the time domain position of the first channel is described. That is, in at least one embodiment of the present invention, the method further comprises:

If the SL-PRS conflict information type is expected or potential resource conflict, the first terminal sends a first channel through a first time slot; wherein, the first time slot is positioned in the time slot of N time slots before the time slot where the resource conflict is positioned; or the first time slot is positioned in a time slot of N time slots before the time slot where the resource conflict exists; n is an integer greater than 1;

Or alternatively

If the SL-PRS conflict information type is the detected resource conflict, the first terminal sends a first channel to send through a second time slot; wherein the second time slot is located in a time slot of M time slots after the time slot in which the resource conflict is located; or the second time slot is positioned in a time slot which is separated by M time slots after the time slot where the resource conflict exists; m is an integer greater than 1.

Alternatively, only one reference T is used to determine the time domain position offset of the first channel:

Or alternatively

As shown in fig. 9 and 10, terminal B transmits SCI on subchannel No. 2 slot and terminal C transmits SCI on subchannel No. 7 slot, both of which indicate that the resources on subchannel No. 13 slot of No. 2 will be used by terminal B and terminal C, respectively, to transmit SL-PRS, such that SL-PRS resource collision occurs.

As shown in fig. 9, if the first terminal monitors SCI transmitted by the terminal B and the terminal C before the SL-PRS resource collision occurs, the first terminal knows the expected/potential resource collision information, and thus, the first terminal transmits the resource collision information to the terminal B by transmitting the first channel in the sub-channel number 10 slot, and the terminal B changes transmission resources, so as to avoid the occurrence of the SL-PRS resource collision. For this expected/potential resource collision scenario shown in fig. 9, the first terminal sends the first channel at the first time slot X1, where the first time slot X1 is n=3 time slots before the time slot of the collided resource.

As shown in fig. 10, if the first terminal monitors SCI transmitted by the terminal B and the terminal C after the occurrence of the SL-PRS resource collision, the first terminal knows the detected resource collision information, and thus, the first terminal transmits the resource collision information to the terminal B by transmitting the first channel in the number 4 sub-channel number 16 slot, and the terminal B retransmits the resource collision information, thereby avoiding loss of SL-PRS transmission. For this detected resource collision situation shown in fig. 10, the first terminal sends the first channel at the first time slot X2, where m=3 slots after the time slot of the collided resource X2.

By adopting the method for determining the time slot occupied by the first channel, the time domain position of the first channel is related to the time domain position of the target SL-PRS resource, and the method is direct and effective.

As another alternative embodiment, in the time slot determining method 4 occupied by the first channel, the time domain position of the first channel is determined by taking the time domain position of the target SL-PRS resource as a reference, and the time domain position determining method of the first channel is described as an example. That is, in at least one embodiment of the present invention, the method further comprises:

Or alternatively

As shown in fig. 11 and 12, terminal B transmits SCI on subchannel No. 2 slot and terminal C transmits SCI on subchannel No. 7 slot, both of which indicate that resources on subchannel No.13 slot of No. 2 will be used by terminal B and terminal C, respectively, to transmit data usage, such that SL-PRS resource collision occurs. And the first terminal periodically transmits PSFCH on subchannel 4.

As shown in fig. 11, if the first terminal monitors SCI sent by the terminal B and the terminal C before the occurrence of the resource conflict, and knows the expected/potential SL-PRS resource conflict information, the first terminal sends a coordination message through a first channel resource in a first time slot, where a time slot where a most recent PSFCH occasion is located before the resource with the expected/potential resource conflict, so that the first terminal sends the first channel to send the SL-PRS resource conflict information to the terminal B in a time slot 12 of the sub-channel 4, and the terminal B changes the SL-PRS transmission resource to avoid the occurrence of the SL-PRS resource conflict. For this expected/potential resource collision scenario shown in fig. 11, the first terminal sends the first channel at the first time slot X6.

As shown in fig. 12, if the first terminal monitors SCI sent by the terminal B and the terminal C after the occurrence of the resource conflict, and knows the detected SL-PRS resource conflict information, the first terminal sends a coordination message through a first channel resource in a first time slot, where the first time slot is the time slot where the closest PSFCH opportunity is located after the resource where the resource conflict is detected, so that the first terminal sends the first channel to send the SL-PRS conflict information to the terminal B in the time slot 14 of the sub-channel 4, and the terminal B will retransmit the SL-PRS resource to avoid loss of the SL-PRS transmission. For such a detected resource collision situation shown in fig. 12, the first terminal sends the first channel at the first time slot X7.

Or alternatively

wherein n1, n2 are integers greater than 1.

As shown in fig. 13 and 14, terminal B transmits SCI on subchannel No. 2 slot and terminal C transmits SCI on subchannel No. 7 slot, both of which indicate that the resources on subchannel No.13 slot are to be used by terminal B and terminal C, respectively, for transmitting SL-PRS resources, so that resource collision occurs. And the first terminal periodically transmits PSFCH on subchannel 4.

As shown in fig. 13, if the first terminal monitors SCI transmitted by terminal B and terminal C before the SL-PRS resource collision occurs, knows the expected/potential resource collision information, and the first terminal transmits a coordination message via a first channel resource in a first slot, if the latest PSFCH occasion before the resource with the expected/potential resource collision is in a K slot, the first channel resource will be in a K-n1 slot. Assuming that n1=1, the first terminal transmits the SL-PRS resource conflict information to the terminal B by transmitting the first channel in the slot 11 of the sub-channel 4, and the terminal B changes the SL-PRS transmission resource to avoid the SL-PRS resource conflict. For this expected/potential resource collision scenario shown in fig. 13, the first terminal sends the first channel at time slot 11.

As shown in fig. 14, if the first terminal monitors SCI transmitted by the terminal B and the terminal C after the SL-PRS resource collision occurs, and knows the detected resource collision information, the first terminal transmits a coordination message via a first channel resource in a first slot, and if the latest PSFCH occasion after the resource having the detected resource collision is located in a K slot, the first channel resource will be located in a k+n slot. Assuming that n2=1, the first terminal transmits the SL-PRS resource conflict information to terminal B by transmitting the first channel in slot 15 of sub-channel No. 4, and terminal B performs SL-PRS resource retransmission to avoid loss of SL-PRS transmission. For this detected resource collision case shown in fig. 14, the first terminal sends the first channel at the time slot 15.

In at least one embodiment of the present invention, a minimum time interval between a time slot occupied by the first channel and a time slot in which the target SL-PRS is located is equal to Y time slots; where Y is the terminal processing delay budget T ₃ or T _proc,1.

That is, the time interval between the time slot occupied by the first channel and the SL-PRS resource having the resource conflict is S, and S < Y, then the time slot occupied by the first channel needs to be redetermined, so that S is equal to or larger than Y. Because if the slot occupied by the first channel is too close to the SL-PRS resource with the resource slot collision, after receiving the first channel sent by the first terminal, the terminal B may not process the resource collision information carried in the first channel, and may not change the transmission resource, which may further result in the SL-PRS resource collision of the slot No. 13 in fig. 7 to 13.

Taking fig. 11 as an example, assuming y=2 slots, the solution in fig. 11 determines that the slot occupied by the first channel is X6, but the time interval between X6 (slot No. 12) and the SL-PRS resource with resource conflict (slot No. 13) is s=1 slot, so S < Y. Thus, the time slot occupied by the first channel needs to be redetermined, as shown in fig. 15, and the time slot occupied by the first channel is selected to be X5, where s=3 time slots, so as to satisfy s+_y.

The embodiment of the invention limits the minimum time interval between the time slot transmitted by the first channel and the time slot where the SL-PRS resource with the resource conflict is positioned to be Y time slots, and avoids the problem that the terminal cannot process the time slot after receiving the first channel, thereby influencing the resource coordination effect.

In at least one embodiment of the present invention, the number of resource blocks RBs in the candidate resource set of the first channel in the target resource pool is an integer multiple of the product of the number of sub-channels (Q) contained in the target resource pool and the first channel resource period value (P).

Optionally, the method for determining the first channel candidate resource set further includes:

scheme 1, determining a candidate resource set of a first channel according to a time slot number of a SL-PRS (subscriber line number) associated with the first channel, and a number of a starting sub-channel occupied by the SL-PRS transmission and/or a comb tooth number occupied by the SL-PRS transmission;

Or alternatively

Scheme 2, determining a candidate resource set of a first channel according to a time slot number of a SL-PRS (subscriber line number) associated with the first channel, and numbers of all sub-channels occupied by the SL-PRS transmission and/or comb teeth occupied by the SL-PRS transmission.

By determining the number of RBs in the candidate resource set of the first channel in the certain resource pool in the above manner, it can be ensured that there are enough resources for transmission of the first channel. Such as the number of sub-channels q=4 in the resource pool shown in fig. 6, and the first channel resource period value p=2, then the number of RBs in the candidate resource set for the first channel in the resource pool is an integer multiple of 8.

As described above for scheme 1, the first channel candidate resources are mapped based on the slot number of the SL-PRS associated with the first channel and the number of the starting subchannel occupied by the SL-PRS transmission, and since only the starting subchannel number occupied by the SL-PRS is involved, fewer first channel candidates may be mapped. While scheme 2 described above maps the first channel candidate resources based on the slot number of the SL-PRS associated with the first channel and the number of all sub-channels occupied by the SL-PRS transmission, the first channel available candidate resources that can be mapped are more since all sub-channel numbers occupied by the SL-PRS are involved.

By adopting the method for determining the candidate resource set of the first channel, which is disclosed by the embodiment, the first terminal is convenient to determine the candidate resource set used by the first channel, so that the problem of resource collision when the terminal selects the first channel to transmit resources is avoided.

In summary, in the embodiment of the invention, the first terminal sends the SL-PRS conflict information through the first channel, so that the terminal receiving the SL-PRS conflict information can consider the problem of resource conflict in the SL-PRS resource selection process, the probability of SL-PRS transmission failure caused by SL-PRS resource conflict is reduced, and the positioning precision of the direct link is improved.

As shown in fig. 16, the embodiment of the present invention further provides a first terminal, including a memory 1620, a transceiver 1610, and a processor 1600:

A memory 1620 for storing a computer program; a transceiver 1610 for transceiving data under the control of the processor 1600; a processor 1600 for reading the computer program in the memory 1620 and performing the following operations:

As an alternative embodiment, the first channel includes any one of the following channels:

Sequence-based physical through link collision indication channel PSRCH;

a second PSFCH indicating SL-PRS collision information.

As an alternative embodiment, further comprising: a second channel carrying hybrid automatic repeat request acknowledgement HARQ-ACK information;

As an alternative embodiment, the processor is further configured to read the computer program in the memory and perform the following operations:

determining reserved resources for SL-PRS transmission;

As an alternative embodiment, the resource conflict includes: the target SL-PRS generates resource conflict with other SL-PRS, or the target SL-PRS generates resource conflict with the direct link data communication channel;

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

As an alternative embodiment, the SL-PRS collision information includes:

Or alternatively

As an alternative embodiment, the PSFCH resources are located in a slot at least M1 slots before the resources associated with the SL-PRS collision information; wherein M1 is an integer greater than 1.

As an alternative embodiment, N1 is configured by PSFCH minimum time interval parameters; and/or, M1 is a terminal processing delay budget;

or N1 and/or M1 is signalled by the second terminal to said first terminal.

As an alternative embodiment, the PSFCH resources are located in a slot at least N2 slots after the first reference slot;

As an alternative embodiment, N2 is configured by PSFCH minimum time interval parameters; and/or, M2 is a terminal processing delay budget;

Or N2 and/or M2 is signalled by the second terminal to the first terminal.

Or alternatively

As an alternative embodiment, if the SL-PRS collision information type is an expected or potential resource collision, N is equal to a time domain position offset value T of the first channel;

Or alternatively

wherein n1, n2 are integers greater than 1.

As an alternative embodiment, the minimum time interval between the time slot occupied by the first channel and the time slot where the target SL-PRS is located is equal to Y time slots;

Wherein Y is the terminal processing delay budget.

As an alternative embodiment, the number of resource blocks RBs in the candidate resource set of the first channel in the target resource pool is an integer multiple of the product of the number of sub-channels contained in said target resource pool and the first channel resource period value.

Or alternatively

Where in FIG. 16, the bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by the processor 1600 and various circuits of memory represented by the memory 1620. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 1610 may be a number of elements, i.e., includes a transmitter and a receiver, providing a means for communicating with various other apparatus over transmission media, including wireless channels, wired channels, optical cables, etc. The user interface 1630 may also be an interface capable of interfacing with an inscribed desired device for a different user device, including but not limited to a keypad, display, speaker, microphone, joystick, etc.

The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 may store data used by the processor 1600 in performing operations.

Alternatively, the processor 1600 may be a CPU (central processing unit), an ASIC (Application SPECIFIC INTEGRATED Circuit), an FPGA (Field-Programmable gate array) or a CPLD (Complex Programmable Logic Device ), and the processor may also employ a multi-core architecture.

The processor is operable to perform any of the methods provided by embodiments of the present application in accordance with the obtained executable instructions by invoking a computer program stored in a memory. The processor and the memory may also be physically separate.

According to the embodiment of the invention, the first terminal sends the SL-PRS conflict information through the first channel, so that the terminal receiving the SL-PRS conflict information can consider the problem of resource conflict in the SL-PRS resource selection process, the probability of SL-PRS transmission failure caused by SL-PRS resource conflict is reduced, and the positioning precision of the straight-through link is improved.

It should be noted that, the above first terminal provided by the embodiment of the present invention can implement all the method steps implemented by the above method embodiment, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the present embodiment are omitted herein.

As shown in fig. 17, the embodiment of the present invention further provides a transmission apparatus for the collision information of the positioning reference signal SL-PRS of the through link, including:

A transmitting unit 1701 for transmitting SL-PRS collision information through a first channel; the SL-PRS conflict information is used for indicating that resource conflict exists in target SL-PRS transmission;

It should be noted that, the above device provided in the embodiment of the present invention can implement all the method steps implemented in the method embodiment and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those in the method embodiment in this embodiment are omitted.

It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a processor-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Embodiments of the present invention also provide a processor-readable storage medium storing a computer program for causing the processor to perform the steps in the method embodiments described above, which may be any available medium or data storage device that can be accessed by a processor, including but not limited to magnetic memories (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical memories (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memories (e.g., ROM, EPROM, EEPROM, nonvolatile memories (NAND FLASH), solid State Disks (SSDs)), etc.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A transmission method of collision information of a direct link positioning reference signal SL-PRS, the method comprising:

2. The method of claim 1, wherein the first channel comprises any one of:

Sequence-based physical through link collision indication channel PSRCH;

a second PSFCH indicating SL-PRS collision information.

3. The method as recited in claim 2, further comprising: a second channel carrying hybrid automatic repeat request acknowledgement HARQ-ACK information;

4. The method of claim 1, wherein the first terminal transmitting SL-PRS collision information over a first channel, comprising:

5. The method according to claim 1, wherein the method further comprises:

6. The method according to claim 1, wherein the method further comprises:

the first terminal determining reserved resources for SL-PRS transmission;

7. The method of claim 1, wherein the resource conflict comprises: the target SL-PRS generates resource conflict with other SL-PRS, or the target SL-PRS generates resource conflict with the direct link data communication channel;

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

8. The method of claim 1, wherein the SL-PRS collision information comprises:

Or alternatively

9. The method according to claim 1, wherein the method further comprises:

10. The method of claim 9, wherein the PSFCH resources are located in a slot at least M1 slots before a resource associated with SL-PRS collision information; wherein M1 is an integer greater than 1.

11. The method according to claim 9 or 10, wherein,

N1 is configured by PSFCH minimum time interval parameters; and/or, M1 is a terminal processing delay budget;

or N1 and/or M1 is signalled by the second terminal to said first terminal.

12. The method according to claim 1, wherein the method further comprises:

13. The method of claim 12, wherein the PSFCH resources are located in a slot at least N2 slots after the first reference slot;

14. The method according to claim 12 or 13, wherein,

N2 is configured by PSFCH minimum time interval parameters; and/or, M2 is a terminal processing delay budget;

Or N2 and/or M2 is signalled by the second terminal to the first terminal.

15. The method according to claim 1, wherein the method further comprises:

Or alternatively

16. The method of claim 15, wherein the step of determining the position of the probe is performed,

Or alternatively

17. The method according to claim 1, wherein the method further comprises:

Or alternatively

18. The method according to claim 1, wherein the method further comprises:

Or alternatively

wherein n1, n2 are integers greater than 1.

19. The method according to any one of claims 1 to 18, wherein,

The minimum time interval between the time slot occupied by the first channel and the time slot where the target SL-PRS is positioned is equal to Y time slots;

Wherein Y is the terminal processing delay budget.

20. The method of claim 5, wherein the step of determining the position of the probe is performed,

The number of resource blocks RBs in the candidate resource set of the first channel in the target resource pool is an integer multiple of the product of the number of sub-channels contained in the target resource pool and the first channel resource period value.

21. The method of claim 20, wherein the method further comprises:

Or alternatively

22. A first terminal comprising a memory, a transceiver, and a processor:

23. The terminal of claim 22, wherein the first channel comprises any one of:

Sequence-based physical through link collision indication channel PSRCH;

a second PSFCH indicating SL-PRS collision information.

24. The terminal of claim 23, further comprising: a second channel carrying hybrid automatic repeat request acknowledgement HARQ-ACK information;

25. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

26. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

27. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

determining reserved resources for SL-PRS transmission;

28. The terminal of claim 22, wherein the resource conflict comprises: the target SL-PRS generates resource conflict with other SL-PRS, or the target SL-PRS generates resource conflict with the direct link data communication channel;

physical direct link control channel PSCCH;

physical through link shared channel PSSCH;

PSFCH。

29. The terminal of claim 22, wherein the SL-PRS collision information includes:

Or alternatively

30. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

31. The terminal of claim 30, wherein the PSFCH resources are located in a slot at least M1 slots before resources associated with SL-PRS collision information; wherein M1 is an integer greater than 1.

32. The terminal according to claim 30 or 31, wherein,

or N1 and/or M1 is signalled by the second terminal to said first terminal.

33. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

34. The terminal of claim 33, wherein the PSFCH resources are located in a slot at least N2 slots after the first reference slot;

35. The terminal according to claim 33 or 34, characterized in that,

Or N2 and/or M2 is signalled by the second terminal to the first terminal.

36. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

Or alternatively

37. The terminal of claim 36, wherein the terminal comprises a base station,

Or alternatively

38. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

Or alternatively

39. The terminal of claim 22, wherein the processor is further configured to read the computer program in the memory and perform the following:

Or alternatively

wherein n1, n2 are integers greater than 1.

40. The terminal of any of claims 22-39, wherein,

Wherein Y is the terminal processing delay budget.

41. The terminal of claim 26, wherein the terminal comprises a base station,

42. The terminal of claim 41, wherein the processor is further configured to read the computer program in the memory and perform the following:

Or alternatively

43. A transmission apparatus for a direct link positioning reference signal SL-PRS collision information, comprising:

44. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing the processor to perform the method of any one of claims 1 to 21.