WO2023011178A1 - Sidelink positioning method and apparatus, and user equipment - Google Patents

Abstract

The present disclosure relates to the technical field of sidelinks. Disclosed are a sidelink positioning method and apparatus, and a user equipment. The method is applied to a first user equipment, and the method comprises: executing a first transmission on an unlicensed frequency band, wherein the first transmission comprises a sidelink positioning reference signal (SL PRS) transmission.

Description

Direct link positioning method, device and user equipment

Related Publication Cross-References

This disclosure claims priority to Chinese Patent Publication No. 202110881450.6 filed in China on Aug. 2, 2021, the entire contents of which are hereby incorporated by reference.

technical field

The present disclosure relates to the technical field of direct links, and in particular, to a direct link positioning method, device, and user equipment.

Background technique

The direct link, especially its typical application of vehicle networking (Vehicle to everything, V2X) application needs to know the user equipment, especially the mobile terminal (including on-board unit (On Board Unit, OBU), vulnerable road traffic participants (Vulnerable Road Users, VRU) etc.). Conventional positioning methods are based on Global Navigation Satellite System (GNSS) or enhanced GNSS positioning, but in areas with poor GNSS signal coverage (such as urban canyons) and areas without GNSS signal coverage (tunnels, underground parking lots) , underground coal mines, underground transportation channels, etc.), it is necessary to ensure positioning performance through other positioning technologies.

Cellular Vehicle to Vehicle (C-V2X) includes Long Term Evolution Vehicle to Vehicle (LTE-V2X) and New Radio Vehicle to Vehicle (NR-V2X), supporting direct chain The C-V2X device can communicate with the base station within the coverage of the cellular network signal; within and outside the coverage of the cellular network signal, C-V2X can communicate through the direct link.

The Third Generation Partnership Projects Release 16 (Third Generation Partnership Projects Release 16, 3GPP Release 16) carried out the research and standardization of New Radio Positioning (NR Positioning). Within the coverage of the cellular network, the base station sends a specific cell (cell- specific) downlink positioning reference signal (Positioning Reference Signal, PRS) signal, the terminal sends uplink uplink sounding signal (Sounding Reference Signal, SRS) for positioning, correspondingly, the terminal can measure the reference signal time difference (Reference Signal Time Difference, RSTD), or measure the reference signal received power (Reference Signal Received Power, RSRP) of the downlink positioning reference signal (Downlink Positioning Reference Signal, DL PRS), or measure the time difference between the terminal receiving the DL PRS and sending the SRS; the base station can measure the uplink The relative time of arrival (Relative Time of Arrival, RTOA), the RSRP of the SRS, the time difference between the fifth-generation mobile communication technology (5th-Generation, 5G) base station (NR Node B, gNB) receiving the SRS and the gNB sending the DL PRS, and Angle measurements, etc. By processing the measurement value, the position of the user equipment (User Equipment, UE) is calculated.

However, V2X application scenarios need to support communication within or outside the coverage of the cellular network. Outside the coverage of the cellular network, a special positioning technology needs to be designed for the direct link to determine the location of the user equipment.

At present, 3GPP has not carried out the standardization work for the direct link positioning technology.

Contents of the invention

The purpose of the present disclosure is to provide a direct link positioning method, device, vehicle and roadside equipment, so as to solve the problem of limitations in vehicle network positioning in related technologies.

In a first aspect, an embodiment of the present disclosure provides a direct link positioning method, which is applied to a first user equipment, and the method includes:

Performing a first transmission on a license-exempt frequency band, the first transmission comprising a direct link positioning reference signal SL PRS transmission.

In a second aspect, an embodiment of the present disclosure further provides a direct link positioning method, which is applied to a second user equipment, and the method includes:

Performing a first transmission on a license-exempt frequency band, the first transmission comprising a direct link positioning reference signal SL PRS transmission.

In a third aspect, an embodiment of the present disclosure further provides a direct link positioning method, which is applied to a third user equipment, and the method includes:

performing reception of a first transmission on a license-exempt frequency band, the first transmission comprising an SL PRS transmission;

performing measurements on the SL PRS in the first transmission.

In a fourth aspect, an embodiment of the present disclosure further provides a user equipment, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor executes the The computer program implements the method for locating a direct link in the first aspect, or the method for locating a direct link in the second aspect, or the method for locating a direct link in the third aspect.

In the fifth aspect, the embodiment of the present disclosure further provides a direct link positioning apparatus, which is applied to the first user equipment, including:

The first transmission module is configured to perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

In a sixth aspect, the embodiment of the present disclosure further provides a direct link positioning apparatus, which is applied to the second user equipment, including:

The first transmission module is configured to perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

In the seventh aspect, the embodiment of the present disclosure further provides a direct link positioning apparatus, which is applied to the third user equipment, including:

The first receiving module is used to perform the receiving of the first transmission on the unlicensed frequency band; the first transmission includes SL PRS transmission;

A measurement module, configured to measure the SL PRS in the first transmission.

In an eighth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for locating a direct link as described in the first aspect is implemented, or, The method for locating a direct link as described in the second aspect, or the method for locating a direct link as described in the third aspect.

The above-mentioned technical solution of the present disclosure has at least the following beneficial effects:

The direct link positioning method of the embodiment of the present disclosure performs the first transmission including SL PRS transmission on the license-exempt frequency band, so that the user equipment at the receiving end can perform positioning based on the direct link technology based on the SL PRS, which solves the problem in the related art The positioning of the Internet of Vehicles mainly relies on the limitations of GNSS and the limited spectrum dedicated to the direct link to achieve high-precision positioning of the direct link.

Description of drawings

FIG. 1 is one of the schematic flowcharts of an embodiment of a direct link positioning method embodiment of the present disclosure;

FIG. 2 is a schematic diagram of resources for performing a first transmission on a license-exempt frequency band according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of transmission resources on a license-free frequency band and a dedicated frequency band according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of resources for performing first preamble transmission according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of resources for performing the first transmission when the user equipment respectively performs LBT according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a first user equipment allocating resources for itself and a second user equipment according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of the first user equipment performing LBT and allocating resources for itself and providing available resources for other user equipments on spaced time domain resources in an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a first user equipment performing LBT and allocating resources for itself on continuous time domain resources and providing available resources for other user equipments in an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of the first user equipment performing LBT and allocating resources for itself and other user equipment on spaced time domain resources in an embodiment of the present disclosure, and a schematic diagram of providing available resources for user equipment that has not allocated resources;

FIG. 10 is a schematic diagram of the first user equipment performing LBT, allocating resources for itself and other user equipment on continuous time domain resources, and providing available resources to user equipment that has not allocated resources in an embodiment of the present disclosure;

FIG. 11 is the second schematic flow diagram of the direct link positioning method according to the embodiment of the present disclosure;

FIG. 12 is the third schematic flow diagram of the direct link positioning method according to the embodiment of the present disclosure;

FIG. 13 is one of the structural schematic diagrams of a direct link positioning device according to an embodiment of the present disclosure;

FIG. 14 is the second structural schematic diagram of the direct link positioning device according to the embodiment of the present disclosure;

FIG. 15 is the third structural schematic diagram of the direct link positioning device according to the embodiment of the present disclosure;

Fig. 16 is a schematic structural diagram of a user equipment according to an embodiment of the present disclosure.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present disclosure clearer, the following will describe in detail with reference to the drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present disclosure. Accordingly, those of ordinary skill in the art should recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present disclosure, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not be implemented in the present disclosure. The implementation of the examples constitutes no limitation.

In the embodiments provided in the present disclosure, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B may also be determined according to A and/or other information.

As shown in Figure 1, the embodiment of the present disclosure provides a direct link positioning method, which is applied to a first user equipment, and the first user equipment is a typical application scenario (vehicle networking application scenario) applied in the technical field of direct link The user equipment, that is, the first user equipment is a vehicle networking communication device that supports direct link positioning, such as: Road Side Unit (Road Side Unit, RSU), OBU, VRU, etc. The methods include:

Step 101: Perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

The direct link positioning method of the embodiment of the present disclosure performs the first transmission including SL PRS transmission on the license-exempt frequency band, so that the user equipment at the receiving end can perform positioning based on the direct link technology based on the SL PRS, which solves the problem in the related art The positioning of the Internet of Vehicles mainly relies on the limitations of GNSS and the limited spectrum dedicated to the direct link to achieve high-precision positioning of the direct link.

Further, as an optional implementation, as shown in Figure 3, the method further includes:

Transmit on dedicated frequency bands at least one of the following:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Further, as another optional implementation, as shown in Figure 2, the first transmission also includes:

first preamble transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Here, it should be noted that the first preamble transmission is the transmission of the first preamble signal/information, and the first preamble signal/information is the preamble information/signal used to indicate the license-exempt frequency band positioning resource; the indication information transmitted by SL PRS can also be It is called the control information of SL PRS transmission; the information used for positioning is the positioning information related to the SL PRS transmission equipment, wherein the SL PRS transmission equipment can be the first user equipment.

Specifically, the positioning information included in the first preamble/information; or, the relevant positioning information (information used for positioning) transmitted together with the SL PRS, specifically includes at least one of the following, but is not limited thereto:

SL PRS priority;

the priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

the type of SL PRS in question;

The sixth indication information is used to indicate the sidelink control information (Sidelink Control Information, SCI) configuration information of the SL PRS resource;

The interaction mode of the SL PRS;

first information.

Specifically, the indication information transmitted by SL PRS includes at least one of the following items, but is not limited thereto:

frequency band;

channel;

Carrier;

Bandwidth Part (BandWidth Part, BWP);

resource pool;

time domain resource location;

Frequency domain resource location with resource set as scheduling granularity;

Frequency-domain resource locations with sub-channels as the scheduling granularity;

Frequency-domain resource locations with comb-tooth resource blocks as the scheduling granularity;

Frequency-domain resource location with sub-channel and edge combination resources as the scheduling granularity;

the priority of said SL PRS;

the priority of the location information of the first user equipment;

a confidence level of the location information of the first user equipment;

the type of SL PRS in question;

The interaction mode of the SL PRS;

the format of the second SCI;

the format of the third SCI;

The fourth indication information is used to indicate whether the physical sidelink shared channel (Physical SideLink Shared Channel, PSSCH) contains the second SCI and/or the third SCI;

first information.

Among them, the type of SL PRS includes at least one of the following, but not limited thereto:

PRS;

Carrier Phase Positioning Reference Signal (C-PRS).

Wherein, the interaction mode of the SL PRS includes at least one of the following, but is not limited thereto:

One Way;

Single Way-Round Trip (SW-RT);

Two Way Round Trip (Two Way-Round Trip, TW-RT);

Symmetric Two Way-Round Trip (STW-RT).

When the first condition is met, the interaction method for determining the SL PRS can be one-way, wherein the first condition includes that the first user equipment maintains high-precision time synchronization with other anchor nodes; maintains a high-precision time synchronization with the first user equipment The number of other user equipments for fine time synchronization meets the preset number threshold; the first user equipment determines at least one of the estimated time difference between the maintenance time and the reference time, that is, when the first user equipment meets at least one of the above three conditions In the case of , it is determined that the interaction mode of the first SL PRS can be one-way, so that the user equipment at the receiving end can perform positioning based on the SL PRS mode of the one-way transmission of the first user equipment;

In the case that the second condition is satisfied, the interaction mode for determining the SL PRS may be a one-way round-trip mode; that is, the first user equipment meets the first user equipment to determine the frequency offset rate of the local timing device; the first The user equipment determines the frequency offset value of the local timing device and the corresponding reference time; the different antenna units of the first user equipment do not have a processing time offset; the first user equipment determines at least one of the processing time offset values of different antenna units In one case, it is determined that the SL PRS interaction mode can be a one-way round-trip mode, so that the user equipment at the receiving end can perform positioning based on the SL PRS mode of the one-way round-trip transmission of the first user equipment.

Wherein, the first information includes at least one of the following, but not limited thereto:

location information of the first user equipment;

Identification (Identity Document, ID) information of the first user equipment;

location information of adjacent user equipment;

ID information of adjacent user equipments;

The source of the location information of the adjacent user equipment;

The confidence degree of the location information of the adjacent user equipment;

The first indication information is used to indicate that the current positioning signal/information is used for absolute positioning or relative positioning;

The second indication information is used to indicate whether the first user equipment can serve as an anchor node;

Support auxiliary solution position;

Support self-calculation position;

The third indication information is used to indicate whether the first user equipment maintains high-precision time synchronization with other anchor nodes;

Information about other user equipments maintaining high-precision time synchronization with the first user equipment;

The estimated time difference between the maintenance time of the first user equipment and the reference time;

the frequency offset rate of the local timing device of the first user equipment;

a frequency offset value and a corresponding reference measurement time of the local timing device of the first user equipment;

whether different antenna elements of the first user equipment have a processing time offset;

Processing time offset values of different antenna units of the first user equipment.

Here, what needs to be explained is:

One, when the location information of the first user equipment is a first value, the second indication information indicates that the first user equipment cannot be used as an anchor node, and the first user equipment can support relative positioning; Here, it should be noted that, in particular, the first value may be 0, and in particular, for an indication of multiple bits, the first value is represented as all 0s, that is, in the first user equipment When the location information is 0, it indicates that the first user equipment cannot be used as an anchor node, and the first user equipment performs relative positioning.

Both, when the second indication information indicates that the first user equipment can serve as an anchor node, implicitly indicate that the first user equipment can support absolute positioning or UE-based (UE-based) positioning; or , when the second indication information indicates that the first user equipment cannot serve as an anchor node, implicitly indicate that the first user equipment can support relative positioning or UE-assisted (UE-assisted) positioning;

Thirdly, the calculation process of the frequency offset value of the local timing device of the first user equipment includes:

In the case that the first user equipment can receive the GNSS signal, within the first time, when receiving the second pulse sent by the GNSS module of the global navigation satellite system or receiving the second pulse multiple times continuously, according to the following Any one calculates the frequency offset value of the local timing device of the first user equipment, wherein the first time is the reference time set by the first user equipment or the first time corresponds to the GNSS module output Interval of pulses in seconds:

The comparison result between the actual count of the local timer crystal oscillator and the nominal frequency value of the local timer crystal oscillator;

The comparison result between the reference time and the actual timing of the local timer crystal oscillator.

That is to say, when the first user equipment can receive the GNSS signal, it performs at least one offset measurement within a certain period of time. When the second pulse is reached, compare the actual timing of the local timer crystal oscillator with the nominal value of the crystal oscillator within the reference time, or compare the reference time with the actual timing of the local timer crystal oscillator to obtain the frequency of the local timing device of the first user equipment offset.

Here, it should also be noted that the SCI is used to carry the first preamble information/signal, and/or indication information for SL PRS transmission, wherein the SCI only includes the first SCI, or the SCI includes the first SCI , and at least one of the second SCI and the third SCI.

Wherein, the time domain resource location includes at least one of the following, but not limited thereto:

The time domain interval with the current SCI;

The time domain interval with the current SPI;

The time interval for repeated transmission of the SL PRS;

The number of times the SL PRS performs repeated transmissions;

The transmission period of the SL PRS;

The time interval between the current SL PRS transmission period and the next adjacent SL PRS transmission period.

As an optional implementation manner, performing the first preamble transmission on the unlicensed frequency band includes:

After the first listen before talk (Listen Before Talk, LBT) monitoring succeeds and before transmitting the SL PRS, perform the first preamble transmission.

Here, it should be noted that the first LBT is an LBT that satisfies the listening time requirement stipulated in the license-exempt frequency band regulation of the area where the device is used.

As a specific implementation manner, as shown in FIG. 4, the first preamble transmission is performed in at least one of the following manners:

performing the first preamble transmission once or repeatedly on the first frequency domain resource;

Before reaching the next N time-domain resource boundaries, the first preamble transmission is performed once or repeatedly in the time domain, where N is an integer, and N≧1.

Specifically, the first frequency domain resource includes at least one of the following:

Frequency domain resources with resource set as scheduling granularity;

Frequency-domain resources with sub-channels as the scheduling granularity;

Frequency domain resources with physical resource block (Physical Resource Block, PRB) as the scheduling granularity;

Frequency-domain resources with comb-tooth resource blocks as the scheduling granularity;

Frequency domain resources with frequency domain resource combination as the scheduling granularity.

As a specific implementation manner, repeatedly performing the first preamble transmission in the time domain includes:

performing the first preamble transmission continuously and repeatedly in the time domain;

Alternatively, the first preamble transmission is repeatedly performed at intervals in the time domain, wherein a transmission interval between two adjacent first preamble transmissions is less than a minimum listening time of the first LBT.

In this specific implementation manner, the transmission interval between two adjacent first preamble transmissions is less than the minimum listening time of the first LBT, so that the monitoring result of the first LBT of other user equipments is a monitoring failure, avoiding resource failure. The phenomenon of collision.

As an optional implementation manner, the first preamble transmission includes at least one of the following:

system message;

broadcast information;

synchronization signal;

Synchronization information;

positioning information.

That is to say, the message format of the first preamble information/signal is at least one of system message, broadcast message, synchronization signal, synchronization information and positioning information.

As a specific implementation manner, the system information or the broadcast information transmitted in the first preamble is used to indicate at least one of the following:

the first instruction message;

Direct Frame Number (Direct Frame Number, DFN);

The second indication information is used to indicate that the frequency band for the transmission of the positioning information includes a license-free frequency band and/or a dedicated frequency band.

In other words, the second indication information is used to indicate that the positioning information is only transmitted on the license-exempt frequency band, or is transmitted on the license-exempt frequency band and the dedicated frequency band, or is only transmitted on the dedicated frequency band.

Specifically, the first indication information is used to indicate configuration parameters of the SL PRS and/or resource occupation information after the first LBT, including at least one of the following:

sequence type;

sequence index;

Comb tooth size;

The starting point of occupying time domain resources;

The number of occupied time domain resources;

take up time;

Frequency domain resource size;

The time pattern and times of repeated transmission of SL PRS;

Resource information allocated by the first user equipment to at least one second user equipment;

Resource information allocated by the first user equipment to itself and at least one second user equipment.

Here, it should be noted that the configuration parameters of SL PRS include at least one of the sequence type, sequence index and comb size; the resource occupation information starting from the first LBT to the nearest available time domain resource boundary includes: occupied time domain Number of resources, occupied time, size of frequency domain resources, time patterns and times of SL PRS repeated transmission, resource information allocated by the first user equipment to at least one second user equipment, information on resources allocated by the first user equipment to itself and at least one second user equipment At least one piece of resource information allocated by a second user equipment.

Here, it should also be noted that the second user equipment is a user equipment that performs the first transmission on the direct link and does not perform LBT.

Here, it also needs to be explained that the resource information allocated by the first user equipment to at least one second user equipment; and/or, the resource information allocated by the first user equipment to itself and at least one second user equipment, It can also be referred to as a combination of resource patterns (patterns) in which adjacent M nodes (about to) transmit SL PRS, specifically including at least one of the following:

A combination of resource patterns adjacent to M1 user equipments (such as RSUs), where the N1 user equipments may or may not include the first user equipment;

A resource pattern combination of adjacent M2 user equipments (such as RSUs) and M3 user equipments (such as OBUs), where the M3 user equipments may or may not include the first user equipment.

A resource pattern combination of the first user equipment and adjacent M4 user equipments (such as OBUs).

Wherein, M1, M2, M3 and M4 are all positive integers.

As an optional implementation manner, when the second indication information indicates that the transmission frequency band of the positioning information includes the license-exempt frequency band and the dedicated frequency band, the second indication information also indicates that the frequency band corresponding to the At least one of the following in dedicated frequency bands:

frequency band;

Carrier;

bandwidth part BWP;

resource pool;

time domain resources;

frequency domain resources.

As an optional implementation manner, performing the first transmission on the unlicensed frequency band includes:

After the first user equipment successfully performs the first LBT monitoring, it uses the transmission resources on the unlicensed frequency band to perform the first transmission.

That is to say, after the first user equipment successfully performs the first LBT monitoring, it uses the transmission resources on the license-exempt frequency band to perform SL PRS transmission, or performs the first preamble signal/information, indication information for SL PRS transmission, and Transmission of at least one of the information for positioning and the SL PRS.

Here, it should be noted that the first user equipment is a user equipment that executes the first LBT. As shown in FIG. 5 , when multiple first user equipments perform direct link positioning, each first user equipment performs After the first LBT and successful monitoring, each first user equipment respectively uses the transmission resource on the license-exempt frequency band to perform the first transmission. Wherein, UE1 and UE2 in FIG. 5 represent different first user equipments.

As a specific implementation manner, performing the first transmission by using the transmission resource on the unlicensed frequency band includes:

The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between two consecutive transmission resources occupied does not exceed a first time interval;

Wherein, the first time interval is less than the minimum listening time of the first LBT, and can support a single execution of the first transmission.

That is to say, performing the first transmission using the transmission resource on the license-exempt frequency band includes:

The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between the occupied two consecutive resources does not exceed a first time interval; the first time interval is less than the minimum listening duration of LBT, and the first time interval A time interval can support performing a single said first transmission.

Here, it should be noted that the interval between two consecutive occupied resources is an unoccupied resource, wherein the unoccupied resources are used for the second user equipment to perform resource selection, and then used for the second user equipment to perform first transmission.

In this specific implementation manner, after the first user equipment executes the first LBT, resources are repeatedly occupied according to a certain time interval to perform the first transmission. As shown in FIG. 7, after the first user equipment executes the LBT, every 2 A time-domain resource is transmitted once, and the unit time-domain resource length is less than the minimum listening duration of the first LBT in the license-exempt frequency band required by regulations; and the unit time-domain resource can support the execution of a single first transmission. It may also be shown in FIG. 8 , after the first user equipment performs LBT, transmission is performed on each time domain resource, and the length of the time domain resource that is not transmitted on each time domain resource is less than the first license-exempt frequency band required by regulations. The minimum listening duration of the LBT, and the untransmitted time domain resources can support the execution of a single first transmission. In this way, unoccupied resources can be allocated to other UEs, or other UEs can select resources for transmission.

In this specific implementation, first, the interval between two consecutive transmission resources occupied by the first transmission is set to be less than the minimum listening time of the first LBT, so as to prevent other user equipment from successfully performing LBT monitoring, causing other user equipment Occupying the resource already occupied by the first user equipment, causing a resource collision; both, setting the interval between two consecutive transmission resources occupied by the first transmission to be able to support the execution of a single first transmission, so that the first user equipment Among the resources occupied by itself, allocate resources for other user equipments that communicate with the first user equipment and do not perform LBT monitoring, or provide resources for other user equipment that communicate with the first user equipment and do not perform LBT monitoring. In this way, the low-latency requirement of direct link positioning under the condition of high mobility is realized, and the problem of large intervals between multiple SL PRS transmission times and the increase of positioning errors caused by the rapid movement of vehicles is avoided. At the same time, it can support resource requirements in different positioning methods and meet the low-latency requirements for positioning signal interaction in different positioning methods.

As an optional implementation, as shown in Figure 6, the first transmission is performed on the license-exempt frequency band, including:

After the first user equipment successfully performs the first LBT monitoring, it allocates transmission resources for itself and/or at least one adjacent second user equipment, and performs a first transmission on the unlicensed frequency band, where the first transmission includes: Indication information of transmission resources allocated by itself and/or at least one adjacent second user equipment.

Here, it should be noted that the allocated transmission resources are used for other user equipments to transmit SL PRS or feed back SL PRS.

This optional implementation method realizes that a UE provides allocated resources for multiple UEs after performing the first LBT, realizes the low-latency requirement of vehicle networking positioning under high mobility conditions, and avoids the large transmission time of multiple SL PRSs At the same time, it can support the resource requirements under different positioning methods, and meet the low-latency requirements of positioning signal interaction under different positioning methods.

As an optional implementation manner, in the transmission resources allocated by the first user equipment to itself and/or at least one adjacent second user equipment, the interval between two consecutive transmission resources does not exceed the first time interval;

Wherein, the first time interval is less than the minimum listening time of the first LBT, and can support a single execution of the first transmission.

Here, it should be noted that the unoccupied resource is the interval between two consecutive occupied resources.

That is to say, the first user equipment allocates transmission resources for itself and/or at least one adjacent second user equipment, including:

The interval between the allocated two consecutive resources does not exceed a first time interval; the first time interval is less than the minimum listening time of the LBT, and can support a single execution of the first transmission.

Wherein, the interval between two consecutive occupied resources is the unallocated resource of the first user equipment, and the unallocated resource is used for selection by the second user equipment that has not obtained allocated resources, and then used for the second user equipment The device performs a first transmission.

As shown in Figure 9, this optional specific implementation method is: after the first user equipment executes the first LBT, it transmits the configuration once every two time domain resources, and allocates it to itself and other adjacent user equipments The first transmission is performed, wherein the resource length per unit time domain is less than the minimum listening duration of the license-exempt frequency band LBT required by the regulations of the area where the device is used.

As shown in Figure 10, this optional specific implementation method can also be: after the first user equipment executes the first LBT, each time domain resource on multiple consecutive time domain resources is allocated to itself and other adjacent several The user equipment performs the first transmission, and the length of the time-domain resource that is not transmitted on each time-domain resource is less than the minimum listening duration of the license-exempt frequency band LBT required by regulations, and meets the requirements for performing the first transmission.

In this optional implementation mode, one, the interval between two consecutive transmission resources occupied by the first transmission is set to be less than the minimum listening time of the first LBT, so as to prevent other user equipment from successfully performing LBT monitoring, causing other users The device occupies the resources already occupied by the first user equipment, causing a resource collision; both, the interval between two consecutive transmission resources occupied by the first transmission is set to support the execution of a single first transmission, so that the first user Among the resources occupied by itself, the device allocates resources for other user equipments that communicate with the first user equipment and do not perform LBT monitoring. In this way, the low-latency requirements of direct link positioning under high mobility conditions are realized, and multiple SLs are avoided. There is a large interval between PRS transmission time, and the position of the vehicle moving rapidly causes the problem of increased positioning error. At the same time, it can support the resource requirements in different positioning methods and meet the low-latency requirements of positioning signal interaction in different positioning methods.

As a specific implementation manner, the first user equipment allocates transmission resources for itself and/or at least one adjacent second user equipment, including:

Allocating transmission resources for itself and/or at least one adjacent second user equipment by using a resource pattern combination, where the resource pattern combination is used to instruct itself and/or at least one adjacent second user equipment to perform the first transmission resource location.

The direct link positioning method of the embodiment of the present disclosure, by performing the first transmission including SL PRS on the license-exempt frequency band, one, enables the user equipment to measure the SL PRS, and realizes positioning based on the direct link technology to support Positioning without GNSS; both, the first transmission is performed on the license-free frequency band, which solves the problem that the dedicated frequency band for the direct link is limited, and the current spectrum allocation/planning situation cannot provide sufficient frequency resources, and realizes high-precision positioning ;Thirdly, the embodiment of the present disclosure proposes different resource allocation methods for the case where the low intervention delay of each UE cannot be guaranteed on the license-exempt frequency band, so as to realize that one UE provides allocation for multiple UEs after performing the first LBT. resources, to achieve low-latency requirements for direct link positioning under high mobility conditions, and to avoid large intervals in the transmission time of multiple SL PRS sent by different UEs due to the separate LBT of different UEs, and the increase in positioning errors caused by the rapid movement of vehicles. At the same time, it can support resource requirements under different positioning methods, and meet the low-latency requirements of positioning signal interaction under different positioning methods.

As shown in FIG. 11 , the embodiment of the present disclosure also provides a direct link positioning method, which is applied to the second user equipment, and the first user equipment is a typical application scenario (vehicle networking application scenario) applied in the technical field of direct link. The user equipment, that is, the first user equipment is a vehicle networking communication device that supports direct link positioning, such as: Road Side Unit (Road Side Unit, RSU), OBU, VRU, etc. The methods include:

Step 1101, perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

The direct link positioning method of the embodiment of the present disclosure performs the first transmission including SL PRS transmission on the license-exempt frequency band, so that the user equipment at the receiving end can perform positioning based on the direct link technology based on the SL PRS, which solves the problem in the related art The positioning of the Internet of Vehicles mainly relies on the limitations of GNSS and the limited spectrum dedicated to the direct link to achieve high-precision positioning of the direct link.

Further, as an optional implementation, as shown in Figure 3, the method further includes:

Transmit on dedicated frequency bands at least one of the following:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Further, as another optional implementation manner, the first transmission further includes:

second preamble transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Here, it should be noted that the second preamble transmission is the transmission of the second preamble signal/information; the indication information of SL PRS transmission can also be called the control information of SL PRS transmission; the information used for positioning is related to the SL PRS transmission equipment Positioning information, wherein, the SL PRS transmission device may be the first user equipment.

Specifically, the second preamble transmission meets at least one of the following requirements:

The second preamble transmission is a preamble sequence;

The second preamble transmission time is less than or equal to a time threshold.

As an optional implementation manner, performing the first transmission on the unlicensed frequency band includes:

The second user equipment determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and performs the first transmission.

That is to say, the second user equipment may not perform the second LBT monitoring, but determine the transmission resource for performing the first transmission according to the occupied time resources indicated by the first user equipment.

Specifically, as shown in FIG. 6 , FIG. 9 and FIG. 10 , the second user equipment determines a transmission resource within the occupation time resource indicated by at least one adjacent first user equipment, and performs the first transmission, including:

Execute the first transmission according to the transmission resource allocated to the first user equipment.

Specifically, as shown in FIG. 7 and FIG. 8, the second user equipment determines a transmission resource within the occupation time resource indicated by at least one adjacent first user equipment, and performs the first transmission, including:

Within the resource of the occupied time indicated by the at least one first user equipment, determine the transmission resource among the resources not indicated to be occupied;

The first transmission is performed on the selected transmission resource.

Here, it should be noted that the resources of the occupied time indicated by the second user equipment include but not limited to occupied time (Channel Occupation Time, COT), which may also be expressed as the number of occupied time domain resources.

As an optional implementation manner, the second user equipment determines a transmission resource within the occupied time resources indicated by at least one adjacent first user equipment, and before performing the first transmission, the method further includes:

Execute the second LBT, the second LBT listening time is less than the minimum listening time of the first LBT; that is, the second user equipment only sends short preamble information, executes short LBT, and can perform fast access to achieve the first transmission with low delay .

Here, it should also be noted that the difference between the second user equipment and the first user equipment is that the second user equipment may not perform LBT monitoring, but perform the first transmission based on the resources indicated by the nearby first user equipment. Therefore, the second user equipment may also implement the processes of other embodiments (not related to LBT monitoring) of the first user equipment, which will not be repeated here to avoid repetition.

As shown in FIG. 12 , an embodiment of the present disclosure also provides a direct link positioning method, which is applied to a third user equipment, and the method includes:

Step 1201, performing reception of a first transmission on an unlicensed frequency band, the first transmission including SL PRS transmission;

Step 1202, measure the SL PRS in the first transmission.

The direct link positioning method of the embodiment of the present disclosure performs the first transmission including SL PRS transmission on the license-exempt frequency band, and measures the SL PRS in the first transmission, so that the positioning based on the direct link technology is realized, It solves the problem that the positioning of the Internet of Vehicles in the related technology mainly relies on the limitation of GNSS, and the problem that the dedicated frequency spectrum for the direct link is limited, and realizes the high-precision positioning of the direct link.

Further, as an optional implementation, the method also includes:

Transmit on dedicated frequency bands at least one of the following:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Further, as an optional implementation manner, the first transmission further includes at least one of the following:

leading transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Here, it should be noted that the preamble transmission is the first preamble transmission or the second preamble transmission. Wherein, the first preamble transmission is the transmission of the first preamble signal/information, and the first preamble signal/information is the preamble information/signal used to indicate the positioning resource of the license-exempt frequency band; the indication information of SL PRS transmission may also be referred to as SL PRS transmission The control information; the information used for positioning is the positioning information related to the SL PRS transmission equipment, wherein the SL PRS transmission equipment may be the first user equipment.

Here, it should also be noted that the content related to preamble transmission, indication information transmission of SL PRS transmission, and information transmission for positioning has been described in the embodiment applied to the first user equipment. In order to avoid repetition, no Let me repeat.

Here, it should also be noted that the first preamble transmission includes at least one of the following:

system message;

broadcast information;

synchronization signal;

Synchronization information;

positioning information.

The system information or the broadcast information transmitted by the first preamble is used to indicate at least one of the following:

the first instruction message;

Direct frame number DFN;

The second indication information is used to indicate that the frequency band for the transmission of the positioning information includes a license-free frequency band and/or a dedicated frequency band.

The first indication information is used to indicate the configuration parameters of the SL PRS and/or the resource occupation information starting from the first LBT to the nearest available time domain resource boundary, including at least one of the following:

sequence type;

sequence index;

Comb tooth size;

The number of occupied time domain resources;

take up time;

Frequency domain resource size;

The time pattern and times of repeated transmission of SL PRS;

Resource information allocated by the first user equipment to at least one second user equipment;

Resource information allocated by the first user equipment to itself and at least one second user equipment.

When the second indication information indicates that the transmission frequency band of the positioning information includes the license-free frequency band and the dedicated frequency band, the second indication information also indicates at least one of the following corresponding to the dedicated frequency band :

frequency band;

Carrier;

bandwidth part BWP;

resource pool;

time domain resources;

frequency domain resources.

Further, as an optional implementation, the method also includes:

According to the measurement result of the SL PRS, determine the position of the third user equipment relative to the user equipment performing the first transmission, or determine the absolute position of the third user equipment.

Here, it should be noted that when the second indication information indicates that the user equipment performing the first transmission cannot serve as an anchor node, the third user equipment can determine a position relative to the user equipment performing the first transmission. When the second indication information indicates that the user equipment performing the first transmission can serve as the anchor node, the third user equipment can determine its absolute location.

As shown in FIG. 13 , an embodiment of the present disclosure also provides a direct link positioning apparatus, which is applied to a first user equipment, including:

The first transmission module 1301 is configured to perform a first transmission on an unlicensed frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

In the direct link positioning device of the embodiment of the present disclosure, the first transmission module 1301 performs the first transmission including SL PRS transmission on the license-free frequency band, so that the user equipment at the receiving end can perform positioning based on the direct link technology based on the SL PRS, solving the problem of It solves the problem that the positioning of the Internet of Vehicles in the related technology mainly relies on the limitation of GNSS, and the problem that the dedicated spectrum for the direct link is limited, and realizes the high-precision positioning of the direct link.

Further, the device also includes:

The second transmission module is used to transmit at least one of the following on the dedicated frequency band:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Optionally, the first transmission also includes at least one of the following:

first preamble transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Optionally, the first transmission module 1301 is configured to: perform the first preamble transmission after the first listen-before-talk LBT monitoring succeeds and before transmitting the SL PRS.

Optionally, the first transmission module 1301 is configured to: perform the first preamble transmission in at least one of the following manners:

performing the first preamble transmission once or repeatedly on the first frequency domain resource;

Before reaching the next N time-domain resource boundaries, the first preamble transmission is performed once or repeatedly in the time domain, where N is an integer, and N≧1.

Optionally, the first frequency domain resource includes at least one of the following:

Frequency domain resources with resource set as scheduling granularity;

Frequency-domain resources with sub-channels as the scheduling granularity;

Frequency domain resources with physical resource block PRB as the scheduling granularity;

Frequency-domain resources with comb-tooth resource blocks as the scheduling granularity;

Frequency domain resources with frequency domain resource combination as the scheduling granularity.

Optionally, when the first transmission module 1301 repeatedly performs the first preamble transmission in the time domain, it is specifically configured to:

performing the first preamble transmission continuously and repeatedly in the time domain;

Alternatively, the first preamble transmission is repeatedly performed at intervals in the time domain, wherein a transmission interval between two adjacent first preamble transmissions is less than a minimum listening time of the first LBT.

Optionally, the first preamble transmission includes at least one of the following:

system message;

broadcast information;

synchronization signal;

Synchronization information;

positioning information.

Optionally, the system information or the broadcast information transmitted by the first preamble is used to indicate at least one of the following:

the first instruction message;

Direct frame number DFN;

The second indication information is used to indicate that the frequency band for the transmission of the positioning information includes a license-free frequency band and/or a dedicated frequency band.

Optionally, the first indication information is used to indicate configuration parameters of SL PRS and/or resource occupation information after the first LBT, including at least one of the following:

sequence type;

sequence index;

Comb tooth size;

The starting point of occupying time domain resources;

The number of occupied time domain resources;

take up time;

Frequency domain resource size;

The time pattern and times of repeated transmission of SL PRS;

Resource information allocated by the first user equipment to at least one second user equipment;

Resource information allocated by the first user equipment to itself and at least one second user equipment.

Optionally, in the case where the second indication information indicates that the transmission frequency band of the positioning information includes the license-free frequency band and the dedicated frequency band, the second indication information further indicates the lower frequency band corresponding to the dedicated frequency band. at least one of:

frequency band;

Carrier;

bandwidth part BWP;

resource pool;

time domain resources;

frequency domain resources.

Optionally, the first transmission module 1301 is further configured to: after the first user equipment successfully performs the first LBT monitoring, use the transmission resource on the license-exempt frequency band to perform the first transmission.

Specifically, when the first transmission module 1301 performs the first transmission using the transmission resource on the license-exempt frequency band, it is specifically configured to:

The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between two consecutive transmission resources occupied does not exceed a first time interval;

Wherein, the first time interval is less than the minimum listening time of the first LBT, and can support a single execution of the first transmission.

Optionally, when the first transmission module 1301 performs the first transmission on the unlicensed frequency band, it is specifically configured to:

After successfully performing the first LBT monitoring, allocate transmission resources for itself and/or at least one adjacent second user equipment, and perform the first transmission on the unlicensed frequency band, wherein the first transmission includes Indication information of transmission resources allocated by at least one second user equipment.

Specifically, among the transmission resources allocated by the first transmission module 1301 to the first user equipment and/or at least one adjacent second user equipment, the interval between two consecutive transmission resources does not exceed the first time interval;

Wherein, the first time interval is less than the minimum listening time of the first LBT, and can support a single execution of the first transmission.

Optionally, when the first transmission module 1301 is configured to allocate transmission resources for the first user equipment and/or at least one adjacent second user equipment, it is specifically configured to:

Allocating transmission resources for itself and/or at least one adjacent second user equipment by using a resource pattern combination, where the resource pattern combination is used to instruct itself and/or at least one adjacent second user equipment to perform the first transmission resource location.

As shown in FIG. 14 , an embodiment of the present disclosure further provides a direct link positioning apparatus, which is applied to a second user equipment, including:

The first transmission module 1401 is configured to perform a first transmission on an unlicensed frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.

In the direct link positioning device of the embodiment of the present disclosure, the first transmission module 1401 performs the first transmission including SL PRS transmission on the license-exempt frequency band, so that the user equipment at the receiving end can perform positioning based on the direct link technology based on the SL PRS, solving the problem of It solves the problem that the positioning of the Internet of Vehicles in the related technology mainly relies on the limitation of GNSS, and the problem that the dedicated spectrum for the direct link is limited, and realizes the high-precision positioning of the direct link.

Further, the device also includes:

The second transmission module is used to transmit at least one of the following on the dedicated frequency band:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Optionally, the first transmission also includes at least one of the following:

second preamble transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Specifically, the second preamble transmission meets at least one of the following requirements:

The second preamble transmission is a preamble sequence;

The second preamble transmission time is less than or equal to a time threshold.

Optionally, when the first transmission module 1401 is used to perform the first transmission on the unlicensed frequency band, it is also used to: determine a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and perform the Describe the first transmission.

The first transmission module 1401 determines a transmission resource within the occupied time resources indicated by at least one adjacent first user equipment, and is specifically used when performing the first transmission:

Execute the first transmission according to the transmission resource allocated to the first user equipment.

The first transmission module 1401 determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and is further specifically used when performing the first transmission:

Within the resource of the occupied time indicated by the at least one first user equipment, determine the transmission resource among the resources not indicated to be occupied;

The first transmission is performed on the selected transmission resource.

The first transmission module 1401 determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and before performing the first transmission, is further configured to:

Executing a second LBT, where the listening time of the second LBT is less than the minimum listening time of the first LBT.

As shown in FIG. 15 , an embodiment of the present disclosure also provides a direct link positioning device, which is applied to a third user equipment, including:

The first receiving module 1501 is configured to perform receiving of the first transmission on the unlicensed frequency band; the first transmission includes SL PRS transmission;

A measurement module 1502, configured to measure the SL PRS in the first transmission.

In the direct link positioning device of the embodiment of the present disclosure, the first receiving module 1501 performs the first transmission including SL PRS transmission on the license-free frequency band, and the first transmission includes SL PRS transmission; the measurement module 1502 performs the first transmission in the first transmission SL PRS is used for measurement. In this way, the positioning based on the direct link technology is realized, which solves the problem that the positioning of the Internet of Vehicles in the related technology mainly relies on GNSS limitations, and the problem that the dedicated spectrum for the direct link is limited, and realizes the direct link. High-precision positioning of links.

Further, the device also includes:

The second receiving module is used to receive at least one of the following on the dedicated frequency band:

Resource occupancy information on license-exempt frequency bands;

Indication information for SL PRS transmission;

Information for targeting.

Optionally, the first transmission also includes at least one of the following:

leading transmission;

Transmission of instruction information for SL PRS transmission;

Information transmission for positioning.

Further, the device also includes:

The determining module is configured to determine the position of the third user equipment relative to the user equipment performing the first transmission according to the measurement result of the SL PRS, or determine the absolute position of the third user equipment.

As shown in FIG. 16 , an embodiment of the present disclosure also provides a user equipment, including a transceiver 1610, a memory 1620, a processor 1600, and a computer program stored in the memory 1620 and running on the processor 1600, When the processor 1600 executes the computer program, it implements the various processes of the embodiment of the direct link positioning method applied to the first user equipment as described above, or, the above described process applied to the second user equipment In order to avoid repetition, the various processes of the embodiment of the direct link positioning method will not be repeated here.

Wherein, in FIG. 16 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 1600 and various circuits of the memory represented by the memory 1620 are linked together. The bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and therefore will not be further described herein. The bus interface provides the interface. Transceiver 1610 may be a plurality of elements, including a transmitter and a transceiver, providing a means for communicating with various other devices over a transmission medium. For different terminals, the user interface 1630 may also be an interface capable of connecting externally and internally to required devices, and the connected devices include but are not limited to keypads, displays, speakers, microphones, joysticks, and the like. The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 can store data used by the processor 1600 when performing operations.

Those skilled in the art will understand that all or part of the steps in the above embodiments may be implemented by hardware, or may be completed by instructing the relevant hardware through a computer program, the computer program including instructions for executing part or all of the steps of the above methods ; and the computer program can be stored in a readable storage medium, and the storage medium can be any form of storage medium.

In addition, an embodiment of the present disclosure also provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, each process in the above-mentioned embodiment of the direct link location method is implemented, and can To achieve the same technical effect, in order to avoid repetition, no more details are given here. Wherein, the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

In addition, it should be pointed out that, in the apparatus and method of the present disclosure, obviously, each component or each step can be decomposed and/or reassembled. These decompositions and/or recombinations should be considered equivalents of the present disclosure. Also, the steps for performing the above series of processes may naturally be performed in the order described or in chronological order, but not necessarily in chronological order, and some steps may be performed in parallel or independently of each other. For those of ordinary skill in the art, it can be understood that all or any steps or components of the methods and devices of the present disclosure can be implemented in any computing device (including processors, storage media, etc.) or networks of computing devices with hardware or firmware , software or a combination thereof, which can be realized by those skilled in the art by using their basic programming skills after reading the description of the present disclosure.

Therefore, the object of the present disclosure can also be achieved by running a program or a group of programs on any computing device. The computing device may be a known general-purpose device. Therefore, the object of the present disclosure can also be achieved only by providing a program product including program codes for realizing the method or device. That is to say, such a program product also constitutes the present disclosure, and a storage medium storing such a program product can also constitute the present disclosure. Obviously, the storage medium may be any known storage medium or any storage medium developed in the future.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. Other elements mentioned above, or also include elements inherent in such process, method, article or equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

It should be noted that it should be understood that the division of the above modules is only a division of logical functions, and may be fully or partially integrated into a physical entity or physically separated during actual implementation. And these modules can all be implemented in the form of calling software through processing elements; they can also be implemented in the form of hardware; some modules can also be implemented in the form of calling software through processing elements, and some modules can be implemented in the form of hardware. For example, the determining module may be a separate processing element, or may be integrated in a chip of the above-mentioned device. In addition, it may be stored in the memory of the above-mentioned device in the form of program code, and a certain processing element of the above-mentioned device may Call and execute the functions of the modules identified above. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, and can also be implemented independently. The processing element mentioned here may be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or an instruction in the form of software.

For example, each module, unit, subunit or submodule may be one or more integrated circuits configured to implement the above method, for example: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC), or, one or Multiple microprocessors (digital signal processor, DSP), or, one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processors that can call program codes. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

The terms "first", "second" and the like in the specification and claims of the present disclosure are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the disclosure described herein are practiced, for example, in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus. In addition, the use of "and/or" in the description and claims means at least one of the connected objects, such as A and/or B and/or C, means that it includes A alone, B alone, C alone, and both A and B Existence, both B and C exist, both A and C exist, and there are 7 situations where A, B, and C all exist. Similarly, the use of "at least one of A and B" in the present specification and claims should be understood as "A alone, B alone, or both A and B exist".

The above are optional implementations of the present disclosure. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principle of the present disclosure. These improvements and Retouching should also be considered within the protection scope of the present disclosure.

Claims (33)

1. A method for locating a direct link, applied to a first user equipment, the method comprising:

   Performing a first transmission on a license-exempt frequency band, the first transmission comprising a direct link positioning reference signal SL PRS transmission.
2. The method according to claim 1, wherein the method further comprises:

   Transmit on dedicated frequency bands at least one of the following:

   Resource occupancy information on license-exempt frequency bands;

   Indication information for SL PRS transmission;

   Information for targeting.
3. The method of claim 1, wherein the first transmission further comprises at least one of the following:

   first preamble transmission;

   Transmission of instruction information for SL PRS transmission;

   Information transmission for positioning.
4. The method according to claim 3, wherein performing the first preamble transmission on the unlicensed frequency band comprises:

   After the first listen-before-talk LBT monitoring succeeds, and before transmitting the SL PRS, perform the first preamble transmission.
5. The method according to claim 4, wherein the first preamble transmission is performed in at least one of the following manners:

   performing the first preamble transmission once or repeatedly on the first frequency domain resource;

   Before reaching the next N time-domain resource boundaries, the first preamble transmission is performed once or repeatedly in the time domain, where N is an integer, and N≧1.
6. The method according to claim 5, wherein the first frequency domain resource comprises at least one of the following:

   Frequency domain resources with resource set as scheduling granularity;

   Frequency-domain resources with sub-channels as the scheduling granularity;

   Frequency domain resources with physical resource block PRB as the scheduling granularity;

   Frequency-domain resources with comb-tooth resource blocks as the scheduling granularity;

   Frequency domain resources with frequency domain resource combination as the scheduling granularity.
7. The method according to claim 5, wherein repeatedly performing the first preamble transmission in the time domain comprises:

   performing the first preamble transmission continuously and repeatedly in the time domain;

   Alternatively, the first preamble transmission is repeatedly performed at intervals in the time domain, wherein a transmission interval between two adjacent first preamble transmissions is less than a minimum listening time of the first LBT.
8. The method of claim 3, wherein the first preamble transmission comprises at least one of the following:

   system message;

   broadcast information;

   synchronization signal;

   Synchronization information;

   positioning information.
9. The method according to claim 8, wherein the system information or the broadcast information of the first preamble transmission is used to indicate at least one of the following:

   the first instruction message;

   Direct frame number DFN;

   The second indication information is used to indicate that the frequency band for the transmission of the positioning information includes a license-free frequency band and/or a dedicated frequency band.
10. The method according to claim 9, wherein the first indication information is used to indicate configuration parameters of SL PRS and/or resource occupancy information after the first LBT, including at least one of the following:

    sequence type;

    sequence index;

    Comb tooth size;

    The starting point of occupying time domain resources;

    The number of occupied time domain resources;

    take up time;

    Frequency domain resource size;

    The time pattern and times of repeated transmission of SL PRS;

    Resource information allocated by the first user equipment to at least one second user equipment;

    Resource information allocated by the first user equipment to itself and at least one second user equipment.
11. The method according to claim 9, wherein, when the second indication information indicates that the transmission frequency band of the positioning information includes the license-exempt frequency band and the dedicated frequency band, the second indication information further indicates the corresponding At least one of the following in the dedicated frequency band:

    frequency band;

    Carrier;

    bandwidth part BWP;

    resource pool;

    time domain resources;

    frequency domain resources.
12. The method according to claim 1 or 3, wherein performing the first transmission on an unlicensed frequency band comprises:

    After the first user equipment successfully performs the first LBT monitoring, it uses the transmission resources on the unlicensed frequency band to perform the first transmission.
13. The method according to claim 12, wherein performing the first transmission using transmission resources on the unlicensed frequency band comprises:

    The first user equipment occupies multiple transmission resources to perform the first transmission, and the interval between two consecutive transmission resources occupied does not exceed a first time interval;

    Wherein, the first time interval is less than the minimum listening time of the first LBT,

    Alternatively, the first time interval is shorter than the minimum listening time of the first LBT, and can support a single execution of the first transmission.
14. The method according to claim 1 or 3, wherein performing the first transmission on an unlicensed frequency band comprises:

    After the first user equipment successfully performs the first LBT monitoring, it allocates transmission resources for itself and/or at least one adjacent second user equipment, and performs a first transmission on the unlicensed frequency band, where the first transmission includes: Indication information of transmission resources allocated by itself and/or at least one adjacent second user equipment.
15. The method according to claim 14, wherein, among the transmission resources allocated by the first user equipment to itself and/or at least one adjacent second user equipment, the interval between two consecutive transmission resources does not exceed the first time interval;

    Wherein, the first time interval is less than the minimum listening time of the first LBT, and can support a single execution of the first transmission.
16. The method according to claim 15, wherein the first user equipment allocates transmission resources for itself and/or at least one adjacent second user equipment, comprising:

    Allocating transmission resources for itself and/or at least one adjacent second user equipment by using a resource pattern combination, where the resource pattern combination is used to instruct itself and/or at least one adjacent second user equipment to perform the first transmission resource location.
17. A direct link positioning method, applied to a second user equipment, the method comprising:

    Performing a first transmission on a license-exempt frequency band, the first transmission comprising a direct link positioning reference signal SL PRS transmission.
18. The method according to claim 17, wherein said method further comprises:

    Transmit on dedicated frequency bands at least one of the following:

    Resource occupancy information on license-exempt frequency bands;

    Indication information for SL PRS transmission;

    Information for targeting.
19. The method of claim 17, wherein the first transmission further comprises at least one of:

    second preamble transmission;

    Transmission of instruction information for SL PRS transmission;

    Information transmission for positioning.
20. The method of claim 19, wherein the second preamble transmission satisfies at least one of the following requirements:

    The second preamble transmission is a preamble sequence;

    The second preamble transmission time is less than or equal to a time threshold.
21. The method of claim 17 or 19, wherein performing the first transmission on an unlicensed frequency band comprises:

    The second user equipment determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and performs the first transmission.
22. The method according to claim 21, wherein the second user equipment determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and performing the first transmission comprises:

    Execute the first transmission according to the transmission resource allocated to the first user equipment.
23. The method according to claim 21, wherein the second user equipment determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and performing the first transmission comprises:

    Within the resource of the occupied time indicated by the at least one first user equipment, determine the transmission resource among the resources not indicated to be occupied;

    The first transmission is performed on the selected transmission resource.
24. The method according to claim 21, wherein the second user equipment determines a transmission resource within the occupied time resource indicated by at least one adjacent first user equipment, and before performing the first transmission, further comprising:

    Executing a second LBT, where the listening time of the second LBT is less than the minimum listening time of the first LBT.
25. A direct link positioning method, applied to a third user equipment, the method comprising:

    performing reception of a first transmission on a license-exempt frequency band, the first transmission comprising an SL PRS transmission;

    performing measurements on the SL PRS in the first transmission.
26. The method according to claim 25, wherein said method further comprises:

    Receive at least one of the following on dedicated frequency bands:

    Resource occupancy information on license-exempt frequency bands;

    Indication information for SL PRS transmission;

    Information for targeting.
27. The method of claim 25, wherein the first transmission further comprises at least one of:

    leading transmission;

    Transmission of instruction information for SL PRS transmission;

    Information transmission for positioning.
28. The method according to any one of claims 25 to 27, wherein the method further comprises:

    According to the measurement result of the SL PRS, determine the position of the third user equipment relative to the user equipment performing the first transmission, or determine the absolute position of the third user equipment.
29. A user equipment comprising a transceiver, a memory, a processor, and a computer program stored on the memory and run on the processor, the processor implements claims 1 to 16 when executing the computer program The direct link positioning method according to any one of claims 17 to 24, or the direct link positioning method according to any one of claims 25 to 28 link location method.
30. A device for locating a direct link, applied to a first user equipment, comprising:

    The first transmission module is configured to perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.
31. A device for locating a direct link, applied to a second user equipment, comprising:

    The first transmission module is configured to perform a first transmission on a license-exempt frequency band, where the first transmission includes direct link positioning reference signal SL PRS transmission.
32. A device for locating a direct link, applied to a third user equipment, comprising:

    The first receiving module is used to perform the receiving of the first transmission on the unlicensed frequency band; the first transmission includes SL PRS transmission;

    A measurement module, configured to measure the SL PRS in the first transmission.
33. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the direct link positioning method according to any one of claims 1 to 16 is realized, or, according to claim 17 The direct link positioning method described in any one of claims 24 to 24, or the direct link positioning method described in any one of claims 25 to 28.

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