WO2024001793A1 - Procédé de transmission de signal de référence de positionnement de liaison latérale et appareil de communication - Google Patents

Procédé de transmission de signal de référence de positionnement de liaison latérale et appareil de communication Download PDF

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Publication number
WO2024001793A1
WO2024001793A1 PCT/CN2023/100262 CN2023100262W WO2024001793A1 WO 2024001793 A1 WO2024001793 A1 WO 2024001793A1 CN 2023100262 W CN2023100262 W CN 2023100262W WO 2024001793 A1 WO2024001793 A1 WO 2024001793A1
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Prior art keywords
terminal device
message
identifier
mac
sidelink
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PCT/CN2023/100262
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English (en)
Chinese (zh)
Inventor
张梦晨
姚楚婷
徐海博
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华为技术有限公司
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Priority claimed from CN202210918531.3A external-priority patent/CN117377060A/zh
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2024001793A1 publication Critical patent/WO2024001793A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application relates to the field of communications, and more specifically to a method and a communication device for transmitting sidelink positioning reference signals in the field of communications.
  • D2D device to device
  • the embodiments of the present application provide a method and communication device for transmitting sidelink positioning reference signals, and provide a method for transmitting positioning reference signals in a D2D scenario.
  • a method for transmitting a sidelink positioning reference signal including that the method is applicable to a first terminal device, and the first terminal device is used to perform sidelink positioning with at least one terminal device,
  • the method includes: sending a first message to the at least one terminal device, the first message including a first sidelink positioning reference signal (SL-PRS), an identifier of the first terminal device and a first terminal device.
  • S-PRS first sidelink positioning reference signal
  • An indication information is used to indicate that the first message includes the first sidelink positioning reference signal
  • the first sidelink positioning reference signal is used for the first terminal device or the positioning of the at least one terminal device.
  • the first terminal device may send a first message to at least one terminal device, the first message includes first indication information, and the first indication information is used to indicate that the first message includes the first sidelink reference signal. , in this way, after at least one terminal device receives the first indication information, it can determine that the received first message includes the first sidelink positioning reference signal. In this way, it is avoided that at least one terminal device cannot determine whether the first sidelink positioning reference signal has been received.
  • the problem of sidelink positioning reference signal is solved, thereby providing a method of transmitting sidelink reference signal.
  • the first terminal device sends the first message to the at least one terminal device in a broadcast or multicast manner.
  • the first terminal device can determine the first message according to the first indication information.
  • a message includes the first sidelink positioning reference signal, so that the first sidelink positioning reference signal can be measured, thereby positioning the first terminal device or at least one terminal device to avoid the first terminal device being positioned.
  • the device needs to send the overhead of sending a message to each of at least one terminal device once, which can save signaling overhead.
  • the method before sending the first message to the at least one terminal device, the method further includes: generating First news.
  • the method before sending the first message to the at least one terminal device, the method further includes: determining to send the first sidelink positioning reference signal to the at least one terminal device.
  • the first message may be a message scheduled by sidelink control information (SCI) in the first phase.
  • SCI sidelink control information
  • the identity of the first terminal device may be the layer 2 identity of the first terminal device.
  • the identity of the first terminal device may also be called the source identity of the first message.
  • At least one terminal device may be one terminal device, two terminal devices, or more than two terminal devices.
  • the first terminal device is used to perform side link positioning with at least one terminal device, which may include: at least one terminal device is used to assist the first terminal device in positioning or the first terminal device is used to assist at least one terminal device in positioning. .
  • the first indication information is a first identifier
  • the first identifier is an identifier specified by a protocol.
  • both the first terminal device and at least one terminal device can recognize the first identifier specified in the protocol. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier specified by the protocol, the third terminal device determines that the first message includes the first sidelink positioning reference signal, The third terminal equipment needs to measure the first sidelink positioning reference signal.
  • the first indication information is a first identifier, an identifier defined in the sidelink positioning layer.
  • both the first terminal device and at least one terminal device can recognize the first identifier defined by the side link positioning layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the sidelink positioning layer, the third terminal device determines that the first message includes the first sidelink sidelink positioning reference signal, the third terminal equipment needs to measure the first sidelink positioning reference signal.
  • the sidelink positioning layer may be a sidelink positioning layer, or may be a sidelink or ranging positioning (sidelink/ranging positioning) layer, or may be ranging. layer, or other layer with positioning capabilities.
  • the first indication information is a first identifier, an identifier defined in media access control (media access control, MAC).
  • both the first terminal device and at least one terminal device can identify the first identifier defined by the MAC layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the MAC layer, the third terminal device determines that the first message includes the first sidelink positioning reference signal. , the third terminal equipment needs to measure the first sidelink positioning reference signal.
  • the first indication information is a first identifier
  • the first identifier is an identifier defined in Radio Resource Control (RRC).
  • RRC Radio Resource Control
  • both the first terminal device and at least one terminal device can recognize the first identifier defined by the RRC layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the RRC layer, the third terminal device determines that the first message includes the first sidelink positioning reference signal. , the third terminal equipment needs to measure the first sidelink positioning reference signal.
  • the first identifier can be understood as the destination identifier of the first message, but the destination identifier does not have a corresponding destination device.
  • the destination identifier is given to identify whether the first message includes the first sidelink positioning. The role of the reference signal.
  • the first message further includes: the second stage sidelink control information SCI associated with the first sidelink positioning reference signal, and the sidelink control information SCI associated with the first sidelink positioning reference signal.
  • SL media access control MAC protocol data unit (PDU) associated with the line link positioning reference signal;
  • the sub-header of the SL MAC PDU carries part of the bits of the first identifier
  • the SCI of the second stage carries the remaining bits of the first identifier
  • the subheader of the SL MAC PDU can carry part of the bits of the first identifier, and the SCI of the second stage can carry the remaining bits of the first identifier.
  • the bit length of the first identifier is 24 bits.
  • the sub-header of the SL MAC PDU associated with the first sidelink positioning reference signal can carry 8 bits of the 24 bits of the first identifier.
  • the 8 bits are the 8 most significant bits of the 24 bits, which are the same as the first
  • the second stage SCI associated with the sidelink positioning reference signal may carry the remaining 16 bits of the 24 bits of the first identifier, which are the 16 least significant bits of the 24 bits.
  • the sub-header of the SL MAC PDU associated with the first sidelink positioning reference signal may carry some bits of the identity of the first terminal device, and the second phase of the second phase associated with the first sidelink positioning reference signal.
  • the SCI may carry the remaining bits of the identification of the first terminal device.
  • the identification bit length of the first terminal device is 24 bits
  • the sub-header of the SL MAC PDU can carry 16 bits of the 24 bits of the identification of the first terminal device, and the 16 bits are the most significant bits of the 24 bits. of 16 bits.
  • the SCI of the second stage may carry the remaining 8 bits of the 24 bits of the identification of the first terminal device, and the 8 bits are the least significant 8 bits of the 24 bits.
  • the MAC sub-PDU included in the SL MAC PDU includes padding bits.
  • the third terminal device since the MAC sub-PDU included in the SL MAC PDU includes padding bits, and the padding bits have no physical meaning, the third terminal device does not process the MAC sub-PDU included in the SL MAC PDU.
  • the third terminal device does not process the MAC sub-PDU included in the SL MAC PDU, including: the third terminal device discards the MAC sub-PDU included in the SL MAC PDU or ignores the MAC sub-PDU included in the SL MAC PDU.
  • the MAC sub-PDU included in the SL MAC PDU includes a MAC control element CE.
  • the first terminal device and at least one terminal device have the same understanding of the MAC CE. If the MAC CE has no physical meaning or the identifier is not processed after receiving the MAC CE, the third terminal device determines that it cannot Processing the MAC CE in the MAC sub-PDU, the third terminal device determines to measure the first sidelink positioning reference signal according to the first identifier.
  • the third terminal device determines that the first message includes the first sidelink according to the first identifier and the logical channel identity (LCID) identifier. Positioning reference signal, the third terminal equipment determines to measure the first sidelink positioning reference signal.
  • LCID logical channel identity
  • the MAC sub-PDU included in the SL MAC PDU includes configuration information of the first sidelink positioning reference signal.
  • the third terminal device may measure the first sidelink positioning reference signal according to the first indication information and the configuration information of the first sidelink positioning reference signal.
  • the MAC sub-PDU included in the SL MAC PDU includes location information of the first terminal device.
  • the third terminal device can also perform side link positioning with the first terminal device based on the location information of the first terminal device.
  • the first message also includes an identification of a second terminal device; the method further includes: sending the information to a terminal device in the at least one terminal device other than the second terminal device.
  • the identifier of the second terminal device is not limited to:
  • the first terminal device after receiving the first message, other terminal devices in at least one terminal device except the second terminal device determine not to discard the first message according to the identity of the second terminal device in the first message, otherwise After receiving the first message, other terminal devices will determine based on the identity of the second terminal device in the first message that the first message is sent to the second terminal device instead of itself, which will cause the first message to be discarded. In other words, the first terminal device sends the identifier of the second terminal device to other terminal devices before sending the first message so that the other terminal devices do not discard the first message when receiving the first message including the identifier of the second terminal device.
  • a message can be further parsed whether the first message includes the first indication information.
  • the other terminal device discards the first message. If the first message includes the first indication information, then Other terminal devices determine that the first message includes the first sidelink positioning reference signal, and other terminal devices need to determine and measure the first sidelink positioning reference signal in the first message.
  • the identity of the second terminal device is the layer 2 identity of the second terminal device.
  • sending the identification of the second terminal device to a terminal device other than the second terminal device among the at least one terminal device includes:
  • the identifier of the second terminal device is sent during the process of establishing a unicast connection with a terminal device other than the second terminal device among the at least one terminal device.
  • sending the identifier of the second terminal device in the process of establishing a unicast connection with a terminal device other than the second terminal device among the at least one terminal device includes: if the first terminal device When at least one terminal device other than the second terminal device sends a unicast connection establishment request message, the unicast connection establishment request message may include the identification of the second terminal device.
  • the first terminal device sends a unicast connection establishment request message to the at least one terminal device except the second terminal device.
  • the unicast connection establishment consent message may include the identification of the second terminal device.
  • sending the identification of the second terminal device to a terminal device other than the second terminal device among the at least one terminal device includes: communicating with the at least one terminal device.
  • a unicast connection established by a terminal device other than the second terminal device sends the identifier of the second terminal device.
  • the first message further includes a second stage SCI associated with the first sidelink positioning reference signal, and, associated with the first sidelink positioning reference signal SLMAC PDU;
  • the sub-header of the SL MAC PDU carries partial bits of the identification of the second terminal device
  • the The SCI of the second stage carries the remaining bits of the identification of the second terminal device.
  • the subheader of the SL MAC PDU can carry part of the bits of the first identifier, and the SCI of the second stage can carry the remaining bits of the first identifier.
  • the bit length of the identifier of the second terminal device is 24 bits.
  • the sub-header of the SL MAC PDU can carry 8 bits of the 24 bits of the second terminal device's identification, which are the most significant 8 bits of the 24 bits; the second stage SCI can carry the second terminal device's identification number. The remaining 16 bits of the 24 bits identified are the 16 least significant bits of the 24 bits.
  • the sub-header of the SL MAC PDU associated with the first sidelink positioning reference signal may carry some bits of the identity of the first terminal device, and the second phase of the second phase associated with the first sidelink positioning reference signal.
  • the SCI may carry the remaining bits of the identification of the first terminal device.
  • the identification bit length of the first terminal device is 24 bits
  • the sub-header of the SL MAC PDU can carry 16 bits of the 24 bits of the identification of the first terminal device, and the 16 bits are the most significant bits of the 24 bits. of 16 bits.
  • the SCI of the second stage may carry the remaining 8 bits of the 24 bits of the identification of the first terminal device, and the 8 bits are the least significant 8 bits of the 24 bits.
  • the SL MAC PDU includes a MAC sub-PDU
  • the MAC sub-PDU includes a MAC control element CE
  • the MAC CE is used to carry the first indication information.
  • the third terminal device determines to parse the MAC CE based on the LCID identifier in the MAC sub-header of the MAC CE in the MAC sub-PDU, and obtains the first Instruction information: the third terminal device determines to measure the first sidelink positioning reference signal according to the first instruction information.
  • a method for transmitting a sidelink positioning reference signal is provided.
  • the method is applicable to a third terminal device and includes: receiving a first message, the first message including a first sidelink positioning reference. signal, an identity of the first terminal device and first indication information, the first indication information is used to indicate that the first message includes the first sidelink positioning reference signal, the first sidelink positioning
  • the reference signal is used for positioning of the first terminal device or the positioning of the third terminal device; the first side link positioning reference signal is measured according to the first indication information, and the third terminal device is used for Perform sidelink positioning with the first terminal device.
  • the third terminal device may receive the first message, the first message includes the first indication information, and the first indication information is used to indicate that the first message includes the first sidelink reference signal, so that the third terminal device After receiving the first indication information, the terminal device can determine that the received first message includes the first indication information. In this way, the third terminal device is prevented from being unable to determine whether to receive the first sidelink positioning reference signal, thereby providing a A method of transmitting sidelink reference signals.
  • the first indication information is a first identifier
  • the first identifier is an identifier specified by the protocol, or an identifier defined in the sidelink positioning layer, or in the media access control MAC layer.
  • the first message further includes: the second stage sidelink control information SCI associated with the first sidelink positioning reference signal, and the sidelink control information SCI associated with the first sidelink positioning reference signal.
  • the MAC sub-PDU included in the SL MAC PDU includes padding bits, or the MAC sub-PDU included in the SL MAC PDU includes a MAC control element CE; the method further includes: the third The terminal device does not process the MAC sub-PDU included in the SL MAC PDU.
  • the MAC sub-PDU included in the SL MAC PDU includes configuration information of the first sidelink positioning reference signal; wherein the first indication information is measured according to the first indication information.
  • the sidelink positioning reference signal includes: measuring the first sidelink positioning reference signal according to the configuration information and the first indication information.
  • the MAC sub-PDU included in the SL MAC PDU includes location information of the first terminal device, and the location information of the first terminal device is used for sidelink positioning.
  • the first message also includes an identification of the second terminal device.
  • the second terminal device and the third terminal device are the same terminal device.
  • the second terminal device and the third terminal device are different terminal devices, and the method further includes: receiving an identification of the second terminal device.
  • receiving the identity of the second terminal device includes:
  • the identification of the second terminal device is received in the process of establishing a unicast connection with the first terminal device; or the identification of the second terminal device is received through the unicast connection established with the first terminal device.
  • the first message further includes a second stage SCI associated with the first sidelink positioning reference signal, and, associated with the first sidelink positioning reference signal SL MAC PDU;
  • the SCI of the second stage carries part of the bits of the identity of the second terminal device
  • the sub-header of the SL MAC PDU carries the remaining bits of the identity of the second terminal device.
  • the SL MAC PDU includes a MAC sub-PDU
  • the MAC sub-PDU includes a MAC control element CE
  • the MAC CE is used to carry the first indication information.
  • the identity of the second terminal device is the layer 2 identity of the second terminal device.
  • the identity of the first terminal device is the layer 2 identity of the first terminal device.
  • a method for transmitting a sidelink positioning reference signal is provided.
  • the method is applicable to a first terminal device, and the first terminal device is used to perform sidelink positioning with at least one terminal device, including :
  • the signal is used for positioning of the first terminal device or the positioning of the at least one terminal device
  • the first resource is a dedicated resource for transmitting a sidelink positioning reference signal.
  • the first terminal device can send the first message on the first resource in the resource pool dedicated to transmitting the sidelink positioning reference signal, which can implicitly indicate that the first message includes the first sidelink link positioning reference signal, so that after the second terminal device receives the first message on the first resource in the resource pool of the sidelink positioning reference signal, it can determine that the first message includes the first sidelink positioning reference signal. , thus providing A method of transmitting sidelink positioning reference signals.
  • the first terminal device may broadcast or multicast the first message once on the first resource in the resource pool specifically used to transmit the sidelink positioning reference signal, and at least one Each of the terminal devices may receive the first message on a first resource in a resource pool dedicated to transmitting the sidelink positioning reference signal, and determine that the first message includes the first sidelink positioning reference signal, In this way, at least one terminal device can measure the first sidelink positioning reference signal, thereby avoiding the overhead caused by the first terminal device needing to send the first sidelink positioning reference signal to each terminal device respectively.
  • the first resource is a dedicated resource used to transmit the sidelink positioning reference signal, which can be understood as: the first resource is a dedicated resource used to receive the sidelink positioning reference signal.
  • the method before sending the first message to the at least one terminal device, the method further includes: determining to send the first sidelink positioning reference signal to the at least one terminal device.
  • the first message may be a message scheduled by the SCI of the first stage.
  • the identity of the first terminal device may be the layer 2 identity of the first terminal device.
  • the identity of the first terminal device may also be called the source identity of the first message.
  • At least one terminal device may be one terminal device, two terminal devices, or more than two terminal devices.
  • the first terminal device is used to perform side link positioning with at least one terminal device, which may include: at least one terminal device is used to assist the first terminal device in positioning or the first terminal device is used to assist at least one terminal device in positioning. .
  • the identity of the first terminal device is the layer 2 identity of the first terminal device.
  • the first resource is a resource in a preconfigured resource pool, and the preconfigured resource pool is used to transmit sidelink positioning reference signals.
  • both the first terminal device and at least one terminal device can identify the preconfigured resource pool. If the second terminal device in the at least one terminal device receives the first message on any resource in the preconfigured resource pool, the second terminal device determines that the first message includes the first sidelink positioning reference signal, The second terminal equipment needs to measure the first sidelink positioning reference signal. In this way, by transmitting the first sidelink positioning reference signal on the resources of the preconfigured resource pool, it is implicitly indicated that the first sidelink positioning reference signal is included in the first message.
  • the first resource is a resource in a resource pool specified by a protocol, and the resource pool specified by the protocol is used to transmit sidelink positioning reference signals.
  • both the first terminal device and at least one terminal device can identify the resource pool specified by the protocol. If the second terminal device in the at least one terminal device receives the first message on any resource in the resource pool specified in the protocol, the second terminal device determines that the first message includes the first sidelink positioning reference signal, The second terminal equipment needs to measure the first sidelink positioning reference signal. In this way, by transmitting the first sidelink positioning reference signal on the resource in the resource pool specified by the protocol, it is implicitly indicated that the first sidelink positioning reference signal is included in the first message.
  • the first message further includes a first identification
  • the first identification is an identification of a second terminal device or any identification of the at least one terminal device.
  • the first identifier is any identifier. That is to say, since the source address of the first message is the identity of the first terminal device, the first message can be The destination address is set as the first identifier, but the second terminal device receiving the first message may not parse the first identifier and directly ignore the first identifier.
  • the first message also includes the second stage sidelink control information SCI associated with the first sidelink positioning reference signal, and, with the first sidelink positioning reference signal, Sidelink SL media access control MAC protocol data unit PDU associated with the link positioning reference signal;
  • the sub-header of the SL MAC PDU carries part of the bits of the first identifier
  • the SCI of the second stage carries the remaining bits of the first identifier
  • the sub-header of the SL MAC PDU associated with the first sidelink positioning reference signal can carry part of the first identifier, and the second stage SCI associated with the first sidelink positioning reference signal can The remaining bits carrying the first identifier.
  • the bit length of the first identifier is 24 bits.
  • the subheader of the SL MAC PDU can carry 8 bits of the 24 bits of the first identifier, which are the most significant 8 bits of the 24 bits; the second stage SCI can carry the remaining 24 bits of the first identifier. 16 bits, which are the 16 least significant bits of the 24 bits.
  • the sub-header of the SL MAC PDU associated with the first sidelink positioning reference signal may carry some bits of the identity of the first terminal device, and the second phase of the second phase associated with the first sidelink positioning reference signal.
  • the SCI may carry the remaining bits of the identification of the first terminal device.
  • the identification bit length of the first terminal device is 24 bits
  • the sub-header of the SL MAC PDU can carry 16 bits of the 24 bits of the identification of the first terminal device, and the 16 bits are the most significant bits of the 24 bits. of 16 bits.
  • the SCI of the second stage may carry the remaining 8 bits of the 24 bits of the identification of the first terminal device, and the 8 bits are the least significant 8 bits of the 24 bits.
  • the MAC sub-PDU included in the SL MAC PDU includes padding bits.
  • the second terminal device since the MAC sub-PDU included in the SL MAC PDU includes padding bits, and the padding bits have no physical meaning, the second terminal device does not process the MAC sub-PDU included in the SL MAC PDU.
  • a method for transmitting a sidelink positioning reference signal is provided, characterized in that the method is applicable to a second terminal device and includes:
  • a first message is received on a first resource, the first message includes a first sidelink positioning reference signal and an identifier of a first terminal device, and the second terminal device is used to perform side-link communication with the first terminal device.
  • Line link positioning the first resource is a dedicated resource for transmitting a side link positioning reference signal, and the first side link positioning reference signal is used for positioning of the first terminal device or the third terminal device.
  • the first sidelink positioning reference signal is measured.
  • the first resource is a dedicated resource used to transmit the sidelink positioning reference signal, which can be understood as: the first resource is a dedicated resource used to receive the sidelink positioning reference signal.
  • the first resource is a resource in a preconfigured resource pool, and the preconfigured resource pool is used to transmit sidelink positioning reference signals, or the first resource is a protocol Resources in a specified resource pool.
  • the resource pool specified by the protocol is used for transmitting sidelink positioning reference signals.
  • the first message further includes a first identifier, the first identifier being an identifier of a second terminal device in at least one terminal device or any identifier, and the first terminal device is used to communicate with The at least one terminal device performs sidelink positioning.
  • the first message further includes a sidelink SL media access control MAC associated with the first sidelink positioning reference signal, and The second-stage sidelink control information SCI protocol data unit PDU associated with the road positioning reference signal;
  • the sub-header of the SL MAC PDU carries the partial bits corresponding to the first identifier
  • the SCI of the second stage carries the remaining bits corresponding to the first identifier except the partial bits.
  • the MAC sub-PDU included in the SL MAC PDU includes padding bits.
  • the identity of the first terminal device is the layer 2 identity of the first terminal device.
  • a method for transmitting a sidelink positioning reference signal is provided.
  • the method is applicable to a first terminal device, and the first terminal device is used to perform sidelink positioning with at least one terminal device, including :
  • Send a first sidelink positioning reference signal to the at least one terminal device the first format SCI is associated with the first sidelink positioning reference signal, the first sidelink positioning reference signal is The positioning of the first terminal device or the positioning of the at least one terminal device.
  • the first terminal device that sends the first format SCI through the SCI format implicit indication also sends the first sidelink positioning reference signal, so that the first format SCI received by the second terminal device includes the complete first SCI.
  • the identification of a terminal device determines that the first terminal device also sends a first sidelink positioning reference signal associated with the first format SCI.
  • the second terminal device can determine and measure the first sidelink based on the first format SCI. road positioning reference signal. This provides a method for transmitting sidelink positioning reference signals.
  • the first terminal device can broadcast or multicast once the first format SCI and the first sidelink positioning reference signal, and each terminal device in the at least one terminal device can broadcast or multicast once.
  • the first terminal device that determines to send the first format SCI also sends the first sidelink positioning reference signal. In this way, at least one terminal device can measure the first sidelink positioning reference signal, thereby avoiding the need for the first terminal device to send the first sidelink positioning reference signal.
  • the method before sending the first sidelink positioning reference signal to the at least one terminal device, the method further includes: determining to send the first sidelink positioning reference signal to the at least one terminal device.
  • the first sidelink positioning reference signal may be scheduled by the first stage of SCI.
  • the identity of the first terminal device may be the layer 2 identity of the first terminal device.
  • the identity of the first terminal device may also be called the source identity of the first message.
  • At least one terminal device may be one terminal device, two terminal devices, or more than two terminal devices.
  • the first terminal device is used to perform side link positioning with at least one terminal device, which may include: at least one terminal device is used to assist the first terminal device in positioning or the first terminal device is used to assist at least one terminal device in positioning. .
  • the first format SCI is a first-stage SCI
  • the first-stage SCI is used to schedule the first sidelink positioning reference signal.
  • the second terminal device will measure the first sidelink positioning reference signal.
  • the first stage SCI is used to schedule the first message, and the first message includes the first SL-PRS.
  • the first format SCI is a second-stage SCI
  • the second-stage SCI includes the complete identification of the first terminal device to indicate the first side chain.
  • the road positioning reference signal is sent by the first terminal device.
  • the second terminal equipment can determine and measure the first sidelink positioning reference signal according to the SCI in the second stage. That is to say, the second terminal device determines that the second-stage SCI is sent by the first terminal device based on the identity of the first terminal device, and the second terminal device further includes the complete identity of the first terminal device based on the second-stage SCI. It is determined that the first terminal device also sends the first sidelink positioning reference signal associated with the SCI of the second stage, so that the second terminal device can measure the first sidelink positioning reference signal.
  • a method for transmitting a sidelink positioning reference signal is provided.
  • the method is suitable for a second terminal device and includes:
  • the first format SCI being associated with the first sidelink positioning reference signal
  • the first sidelink positioning reference signal being used for the first terminal device The positioning or the positioning of the second terminal device
  • the first sidelink positioning reference signal is measured.
  • the SCI format can be used to implicitly indicate that the first terminal device that sent the first format SCI also sent the first sidelink positioning reference signal, so that the first format SCI received by the second terminal device includes the complete
  • the identification of the first terminal device determines that the first terminal device also sends the first sidelink positioning reference signal associated with the first format SCI.
  • the second terminal device can determine to measure the first sidelink based on the first format SCI.
  • Link positioning reference signal This provides a method for transmitting sidelink positioning reference signals. And when there is a large number of at least one terminal device, the first terminal device can broadcast or multicast once the first format SCI and the first sidelink positioning reference signal, and each terminal device in the at least one terminal device can broadcast or multicast once.
  • the first terminal device that determines to send the first format SCI also sends the first sidelink positioning reference signal. In this way, at least one terminal device can measure the first sidelink positioning reference signal, thereby avoiding the need for the first terminal device to send the first sidelink positioning reference signal.
  • Each terminal device sends the overhead caused by the first format SCI and the first sidelink positioning reference signal.
  • the first format SCI is a first-stage SCI
  • the first-stage SCI is used to schedule the first sidelink positioning reference signal.
  • the first format SCI is a second-stage SCI
  • the second-stage SCI includes the complete identification of the first terminal device to indicate the first side chain.
  • the road positioning reference signal is sent by the first terminal device.
  • the identity of the first terminal device is the source layer 2 identity of the first terminal device.
  • the present application provides a communication device, which has the function of realizing the behavior of each device in the above aspects and possible implementation modes of the above aspects.
  • Functions can be implemented through hardware or through hardware Execute the corresponding software implementation.
  • Hardware or software includes one or more modules or units corresponding to the above functions. For example, determine the module or unit, transceiver module or unit, etc.
  • the present application provides an electronic device, the device including a processor, the processor is coupled to a memory, the memory is used to store computer programs or instructions, and the processor is used to execute the computer programs or instructions stored in the memory, so that the above-mentioned Methods in aspects and possible implementations of the above aspects are executed.
  • the processor is used to execute computer programs or instructions stored in the memory, so that the device performs the methods in the above aspects and possible implementations of the above aspects.
  • the device includes one or more processors.
  • the device may also include a memory coupled to the processor.
  • the device may include one or more memories.
  • the memory can be integrated with the processor or provided separately.
  • the device may also include a transceiver.
  • the present application provides an electronic device, including: one or more processors; a memory; and one or more computer programs. Wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions. When the instructions are executed by the electronic device, one or more processors are caused to execute the above aspects or the method in any possible implementation of the aspects, or the method introduced in any embodiment of this application.
  • the electronic device may also include: a touch display screen and/or a camera, where the touch display screen includes a touch-sensitive surface and a display.
  • the present application provides a computer-readable storage medium, including computer instructions.
  • the computer instructions When the computer instructions are run on an electronic device, the electronic device causes the electronic device to perform the above aspects or any possible method of each aspect, or the present invention. Apply the methods described in any of the examples.
  • this application provides a computer program product.
  • the computer program product When the computer program product is run on an electronic device, it causes the electronic device to execute the above aspects or any possible method of each aspect, or any implementation of this application. The method described in the example.
  • the present application provides a device, including a unit for executing the method introduced in any embodiment of the present application.
  • Figure 1 is a schematic diagram of a communication system provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of another application scenario provided by the embodiment of the present application.
  • Figure 4 is a schematic diagram of the identification of unicast connections in the scenario corresponding to Figure 2 provided by the embodiment of the present application.
  • Figure 5 is a schematic diagram of the identification of unicast connections in the scenario corresponding to Figure 3 provided by the embodiment of the present application.
  • Figure 6 is a schematic diagram of a method for transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of the SL MAC PDU provided by the embodiment of this application.
  • Figure 8 is a schematic diagram of the SL MAC PDU sub-header provided by the embodiment of this application.
  • Figure 9 is a schematic diagram of a MAC sub-PDU including padding bits provided by an embodiment of the present application.
  • Figure 10 is a schematic diagram of the MAC sub-PDU including MAC CE provided by the embodiment of the present application.
  • Figure 11 is a schematic diagram of the MAC sub-PDU including MAC SDU provided by the embodiment of the present application.
  • Figure 12 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 14 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 15 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 17 is a schematic diagram of another method of transmitting SL-PRS provided by an embodiment of the present application.
  • Figure 18 is a schematic block diagram of a communication device provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an inter-device communication system 100.
  • the wireless communication device may include two or more terminal devices.
  • terminal device 110 and terminal device 120 are used as examples for description.
  • the terminal device 110 and the terminal device 120 can directly communicate with each other.
  • the link of communication between the terminal device 110 and the terminal device 120 is called a sidelink.
  • the terminal device 110 can send data to the terminal device 120 through the side link
  • the terminal device 120 can send data to the terminal device 110 through the side link.
  • Side links are generally used in scenarios where vehicles can communicate directly with other devices (vehicle to everything, V2X) or device to device (device to device, D2D).
  • V2X communication can be regarded as a special case of D2D communication.
  • New radio (NR) access technology is currently the mainstream wireless communication technology. It can support V2X communication with lower latency and higher reliability based on V2X business characteristics and new business requirements.
  • V2X is the basic and key technology for realizing smart cars, autonomous driving, and intelligent transportation systems.
  • V2X can include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2P), etc.
  • V2N communication is currently the most widely used form of Internet of Vehicles. Its main function is to connect vehicles to cloud servers through mobile networks and use the navigation, entertainment, anti-theft and other application functions provided by cloud servers.
  • V2V communication can be used for information exchange and reminders between vehicles.
  • V2I communication vehicles can communicate with roads and even other infrastructure, such as traffic lights and roadblocks, and obtain road management information such as traffic light signal timing.
  • V2P communication can be used for safety warnings to pedestrians or non-motorized vehicles on the road.
  • the terminal device 110 or the terminal device 120 may be fixed-positioned or movable.
  • Figure 1 is only a schematic diagram.
  • the communication system may also include one or more network devices, which are not shown in Figure 1.
  • the link through which the terminal device 110 or the terminal device 120 sends data to the network device is called an uplink.
  • the link through which the terminal device 110 or the terminal device 120 receives data sent by the network device is called a downlink.
  • the embodiment of this application is for mobile
  • the type and quantity of network equipment and terminal equipment included in the communication system are not limited.
  • the terminal device 110 or the terminal device 120 in the mobile communication system 100 may also be called a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), roadside Unit (rode side unit, RSU), etc.
  • the terminal device in the embodiment of this application can be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiver function, or can be used in virtual reality (VR), augmented reality (AR) ), industrial control, self-driving, remote medical, smart grid, transportation safety, smart city and smart home ) wireless terminals in scenarios such as
  • the aforementioned terminal equipment and the chips applicable to the aforementioned terminal equipment are collectively referred to as terminal equipment. It should be understood that the embodiments of this application do not limit the specific technology and specific equipment form used by the terminal equipment.
  • terminal device 110 or the terminal device 120 is schematically shown in FIG. 1 only to facilitate understanding, but this shall not constitute any limitation to the present application.
  • the wireless communication system may not include network equipment, or may include more A large number of network devices may also include a larger or smaller number of terminal devices, which is not limited in this application.
  • some devices can position a target terminal device to determine the location of the target terminal device, or the target terminal device determines its own location based on the assistance of other devices.
  • the terminal device 110 and the terminal device 120 can be positioned according to the sidelink positioning reference signal.
  • the terminal device 110 How the terminal device 120 transmits the sidelink positioning reference signal to achieve positioning is an issue that needs to be solved urgently.
  • the numbers of the terminal devices 110 and/or the terminal devices 120 are omitted below.
  • the roadside unit can send sidelink positioning reference signals to UE1, UE2 and UE3 respectively.
  • UE1, UE2 and UE3 can respectively measure the sidelink positioning reference signal, and the measurement results are used to determine their own positions.
  • UE1, UE2 and UE3 are target terminal devices.
  • the UE is the target terminal equipment.
  • the UE can send sidelink positioning reference signals to RSU1, RSU2 and RSU3 respectively.
  • RSU1, RSU2 and RSU3 can measure the sidelink positioning reference signals respectively. The measurement results are used for Determine the location of the UE.
  • Multi-RTT multi-round trip time
  • DL-TDOA downlink time difference of arrival
  • uplink time difference uplink time
  • difference of arrival UL-TDOA
  • DL-AoD downlink angle-of-departure
  • uplink angle of arrival uplink angle of arrival
  • NR E CID NR Enhanced Cell ID
  • motion sensor positioning terrestrial beacon system (TBS) positioning
  • bluetooth positioning wireless local area network (WLAN) positioning
  • barometric sensor pressure sensor observed time difference of arrival
  • OTDA observed time difference of arrival
  • GNSS network-assisted global navigation satellite system
  • DL-TDOA and UL-TDOA can be understood as positioning technologies related to TDOA.
  • the RSU sends sidelink positioning reference signals to UE1, UE2 and UE3 respectively, and UE1, UE2 and UE3 receive the sidelink positioning reference signals.
  • UE1, UE2 and UE3 then send sidelink positioning reference signals to the RSU respectively.
  • UE1 measures the sidelink positioning reference signal sent by the RSU and obtains measurement result 1.
  • UE2 measures the sidelink positioning reference signal sent by the RSU and obtains the measurement result.
  • UE3 measures the sidelink positioning reference signal sent by RSU and obtains measurement result 3.
  • RSU measures the sidelink positioning reference signal sent by UE1 and obtains measurement result 4.
  • RSU measures the sidelink positioning reference signal sent by UE2 and obtains measurement result 5.
  • RSU measures the sidelink positioning reference signal sent by UE3 and obtains measurement result 6.
  • RSU determines the location of UE1 based on measurement results 1 and 4.
  • RSU determines the location of UE2 based on measurement results 2 and 5.
  • RSU determines the location of UE2 based on measurement results 2 and 5.
  • 3 and measurement result 6 to determine the location of UE3; alternatively, UE1 determines its location based on measurement result 1 and measurement result 4, UE2 determines its location based on measurement result 2 and measurement result 5, and UE3 determines its location based on measurement result 3 and measurement result 6. .
  • the UE sends sidelink positioning reference signals to RSU1, RSU2 and RSU3 respectively, and RSU1, RSU2 and RSU3 receive the sidelink positioning reference signals. , RSU1, RSU2 and RSU3 then send sidelink positioning reference signals to the UE respectively. RSU1, RSU2 and RSU3 respectively obtain measurement results 7, 8 and 9 based on the sidelink positioning reference signals sent by the UE. The UE obtains measurement results 10 based on the sidelink positioning reference signals from RSU1, RSU2 and RSU3. , measurement results 11 and 12, the UE determines the UE's own position based on part or all of the above measurement results.
  • the UE can obtain the absolute position of the UE based on the measurement results 7-12; or, RSU1 based on the measurement results 7 and 10 Determine the location of the UE.
  • RSU2 determines the location of the UE based on measurement results 8 and 11.
  • RSU3 determines the location of the UE based on measurement results 9 and 12.
  • RSU1, RSU2 and RSU3 can also report the measurement results to the network device, such as this
  • the network device is a location management function (LMF).
  • the LMF calculates the location of the UE.
  • the LMF can obtain the absolute location of the UE based on the measurement results 7-12.
  • the RSU can send sidelink positioning reference signals to UE1, UE2 and UE3 respectively.
  • UE1, UE2 and UE3 also need to receive at least two other signals.
  • UE1, UE2 and UE3 can determine their own positions based on the received sidelink positioning reference signals of different RSUs. It is understandable that the positioning technology applied at this time is similar to DL-TDOA.
  • RSU1, RSU2 and RSU3 can receive the sidelink positioning reference signal sent by the UE, and RSU1, RSU2 and RSU3 measure the sidelink positioning reference signal sent by the UE. And obtain the measurement results, the RSU or network device determines the location of the UE based on the measurement results obtained by RSU1, RSU2 and RSU3.
  • the network device is LMF. It is understandable that the positioning technology applied at this time is similar to UL-TDOA.
  • a sender wants to send sidelink positioning reference signals to multiple receivers, it needs to send sidelinks multiple times respectively.
  • the path positioning reference signal will lead to relatively large signaling overhead.
  • a sender when a sender wants to send sidelink positioning reference signals to multiple receivers, a sender can establish unicast connections with multiple receivers respectively, and send messages to multiple receivers based on the established unicast connections. The receiving end sends a sidelink positioning reference signal.
  • the RSU needs to establish unicast connections with UE1, UE2 and UE3 respectively, which are unicast connection 1 and unicast connection respectively.
  • Connection 2 and unicast connection 3 the three unicast connections are respectively bound to a pair of source layer 2 identifiers and destination layer 2 identifiers.
  • the unicast connection 1 between RSU and UE1 is bound to the layer 2 identifier of RSU and the layer 2 identifier of UE1.
  • the source identifier when RSU sends SL-PRS to UE1 is the layer 2 identifier of RSU.
  • the destination The identifier is the layer 2 identifier of UE1; the unicast connection 2 between RSU and UE2 is bound to the layer 2 identifier of RSU and the layer 2 identifier of UE2.
  • the source identifier when RSU sends SL-PRS to UE2 is the layer 2 identifier of RSU.
  • the destination The identifier is the layer 2 identifier of UE2; the unicast connection 3 between RSU and UE3 is bound to the layer 2 identifier of RSU and the layer 2 identifier of UE3, and the RSU sends it to UE3
  • the source identifier is the layer 2 identifier of RSU
  • the destination identifier is the layer 2 identifier of UE3.
  • the UE can send SL-PRS to RSU1, RSU2 and RSU3 respectively. Then the UE needs to establish unicast connections with RSU1, RSU2 and RSU3 respectively. The three unicast connections are connected to a pair of RSU1, RSU2 and RSU3 respectively. Source ID and destination ID are bound. For example, as shown in Figure 5, the unicast connection between the UE and RSU1 is bound to the layer 2 identity of the UE and the layer 2 identity of RSU1.
  • the source identity when the UE sends SL-PRS to RSU1 based on the unicast connection with RSU1 is UE
  • the layer 2 identifier, the destination identifier is the layer 2 identifier of RSU1; the unicast connection between the UE and RSU2 is bound to the layer 2 identifier of the UE and the layer 2 identifier of RSU2, and the UE sends SL-PRS to RSU2 based on the unicast connection with RSU2
  • the source identifier is the layer 2 identifier of the UE, and the destination identifier is the layer 2 identifier of RSU2; the unicast connection between the UE and RSU3 is bound to the layer 2 identifier of the UE and the layer 2 identifier of RSU3, and the UE is based on the unicast connection with RSU3
  • the source identifier is the layer 2 identifier of the UE
  • the destination identifier is the layer 2 identifier of RSU3.
  • an embodiment of the present application provides a method for transmitting SL-PRS.
  • the first terminal device can send a first message to at least one terminal device.
  • the first message includes first indication information.
  • the first indication information is The first instruction message includes the first SL-PRS.
  • at least one terminal device can determine that the received first message includes the first instruction information after receiving the first instruction information.
  • at least one terminal device is prevented from being unable to determine Whether to receive the first SL-PRS.
  • the first terminal device may broadcast or multicast the first message to at least one terminal device. In this way, after at least one terminal device receives the first message, it may be determined based on the first indication information that the first message includes the first message.
  • One SL-PRS so that the first SL-PRS can be measured, so that the first terminal device or at least one terminal device can be positioned, avoiding the need for the first terminal device to detect each terminal device in the at least one terminal device.
  • the overhead caused by sending SL-PRS once respectively can save signaling overhead.
  • method 600 includes:
  • the first terminal device sends a first message to at least one terminal device.
  • the third terminal device among the at least one terminal device receives the first message.
  • the first message includes the first SL-PRS, the identification of the first terminal device and the first terminal device.
  • Indication information is used to indicate that the first message includes the first SL-PRS, and the first SL-PRS is used for positioning of the first terminal device or the positioning of at least one terminal device.
  • method 600 further includes: the first terminal device determines to send the first message to at least one terminal device.
  • the first terminal device determines to assist at least one terminal device in positioning or the first terminal device determines that at least one terminal device wants to assist the first terminal device in positioning. , that is to say, when the first terminal device determines to assist at least one terminal device in positioning or when the first terminal device determines that at least one terminal device assists the first terminal device in positioning, the first terminal device determines to send the first terminal device to at least one terminal device. information.
  • the first terminal device and the at least one terminal device may determine based on a discovery process that the first terminal device assists the positioning of the at least one terminal device or that the at least one terminal device assists the positioning of the first terminal device.
  • the first terminal device may As the sender of the first message, at least one terminal device serves as the receiver of the first message, and the at least one terminal device will wait to receive the first message from the first terminal device.
  • the first terminal device is an RSU.
  • the RSU is based on the discovery process with UE1, UE2 and UE3.
  • the RSU determines that it needs to assist in positioning UE1, UE2 and UE3.
  • the RSU determines that it needs to locate UE1, UE2 and UE3.
  • RSU can serve as the sender of the first message, and UE1, UE2 and UE3 serve as the first message sender.
  • the recipient of the message is waiting to receive the first message.
  • the first terminal device is a UE.
  • the UE determines that RSU1, RSU2 and RSU3 can assist in positioning the UE, and the UE determines that it needs to contact RSU1, RSU2
  • the UE may serve as the first message sender, and RSU1, RSU2 and RSU3 may serve as the first message receivers and wait to receive the first message.
  • the first terminal device and at least one terminal device may also determine based on other processes that the first terminal device assists the positioning of at least one terminal device or that the at least one terminal device assists the positioning of the first terminal device.
  • the first terminal device and at least one terminal device may also determine based on other processes that the first terminal device assists the positioning of at least one terminal device or that the at least one terminal device assists the positioning of the first terminal device.
  • the first terminal device assists the positioning of at least one terminal device or that the at least one terminal device assists the positioning of the first terminal device.
  • method 600 further includes: the positioning initiator triggers positioning.
  • the positioning initiator may be a positioning server (location services, LCS) or a target terminal device to be located, or may be an access and mobility management function (AMF) network of the target terminal device to be located. Yuan. If the positioning initiator is LCS, and the target terminal device to be located is the first terminal device, LCS can request the first terminal device's serving AMF network element to locate the first terminal device; if the positioning initiator is LCS, the target terminal device to be located is The device is a third terminal device, and the LCS can request the third terminal device's serving AMF network element to locate the third terminal device.
  • LCS positioning server
  • AMF access and mobility management function
  • the serving AMF network element of the first terminal device can determine the location of the first terminal device, such as The serving AMF network element needs to locate the first terminal device due to emergency calls; if the positioning initiator is the serving AMF network element of the third terminal device, the target terminal device to be located is the third terminal device, and the serving AMF network element of the third terminal device
  • the third terminal device can be determined to be located, for example, the serving AMF network element of the third terminal device needs to locate the third terminal device due to an emergency call.
  • the target terminal device to be positioned is the first terminal device, and the first terminal device requests positioning from the serving AMF network element of the first terminal device; if the positioning initiator is the target to be positioned, The terminal device, the target terminal device to be positioned is a third terminal device, and the third terminal device requests positioning from the serving AMF network element of the third terminal device.
  • the first terminal device sends the first message to the at least one terminal device, including: the first terminal device sends the first message to the at least one terminal device in a broadcast or multicast manner. In this way, the first terminal device is avoided from needing to send the first message to the at least one terminal device.
  • Each terminal device in at least one terminal device sends the signaling overhead caused by the first message respectively.
  • the first message may be a message scheduled by the SCI of the first stage.
  • the first stage SCI may be a defined SCI.
  • the identity of the first terminal device may be a layer-2 identity (ID) of the first terminal device.
  • ID layer-2 identity
  • the source identifier of the first message may be the identifier of the first terminal device.
  • the source identifier of the first message is the layer 2 ID of the first terminal device.
  • At least one terminal device may be one terminal device or two terminal devices or more than two terminal devices. This embodiment of the present application does not place any limit on the number of terminal devices that perform side link positioning with the first terminal device. .
  • any terminal device among the at least one terminal device can serve as the recipient of the first message.
  • This embodiment of the present application only takes the third terminal device among the at least one terminal device as an example for description. At least one terminal device Other terminal devices are similar to the third terminal device and will not be described in detail to avoid redundancy.
  • the first terminal device is used to perform side link positioning with at least one terminal device, which may include: at least one terminal device assisting the first terminal device in positioning.
  • the at least one terminal device assisting the first terminal device in positioning can be understood as: when the first terminal device needs to obtain the relative position with respect to the at least one terminal device, the at least one terminal device assists the first terminal device in positioning, for example, the first terminal device
  • One terminal device is the target UE, and at least one terminal device is a reference to the UE; or, at least one terminal device assists the first terminal device in positioning, which can be understood as: when the first terminal device needs to obtain its own absolute position, at least one terminal device assists the first terminal device in positioning, for example, this
  • the first terminal device is the target UE, at least one terminal device is a located UE; or, at least one terminal device assisting the first terminal device in positioning can be understood as: the first terminal device needs to obtain the relative position relative to the fourth terminal device.
  • the first terminal device When the position is determined, due to the obstruction between the first terminal device and the fourth terminal device, at least one terminal device needs to assist the first terminal device in determining the relative position of the first terminal device relative to the fourth terminal device.
  • the first terminal device The device is the target UE, the fourth terminal device is the reference UE, and at least one terminal device is an assisting UE; or, at least one terminal device assists the first terminal device in positioning, which can be understood as: the first terminal device can also be obtained through the located UE.
  • At least one terminal device is the located UE.
  • the first terminal device needs to obtain location information. It can be understood that after the above-mentioned positioning initiator triggers positioning, the first terminal device needs to obtain location information due to the triggered positioning.
  • the location information includes absolute position or relative position.
  • the first terminal device is used to perform side link positioning with at least one terminal device, which may include: the first terminal device assists the positioning of at least one terminal device.
  • the first terminal device assisting at least one terminal device in positioning can be understood as: when at least one terminal device needs to obtain the relative position relative to the first terminal device, the first terminal device assists at least one terminal device in positioning, for example, this When at least one terminal device is the target UE, the first terminal device is the reference UE; or, the first terminal device assists the positioning of at least one terminal device, which can be understood as: when at least one terminal device needs to obtain its own absolute position, the first terminal device assists At least one terminal device performs positioning.
  • At least one terminal device is the target UE, and the first terminal device is the positioning UE.
  • the first terminal device assisting at least one terminal device in positioning can be understood as: at least one terminal device needs to obtain the relative When determining the relative position of the fourth terminal device, since there is an obstruction between at least one terminal device and the fourth terminal device, the first terminal device needs to assist at least one terminal device in determining the relative position of the at least one terminal device relative to the fourth terminal device, For example, at this time, at least one terminal device is the target UE, the fourth terminal device is the reference UE, and the first terminal device is the auxiliary UE.
  • the first terminal device assisting the positioning of at least one terminal device can be understood as: at least one terminal device can also obtain the relative position between itself and the located UE through the located UE, and the first terminal device is the located UE. Optionally, at least one terminal device needs to obtain location information. It can be understood that after the positioning initiator triggers positioning, at least one terminal device needs to obtain location information due to the triggered positioning.
  • the location information includes absolute position or relative position.
  • the third terminal device measures the first SL-PRS in the first message according to the first indication information.
  • the first indication information in the first message will be discussed below in two situations.
  • the first indication information is the first identifier.
  • the first identifier may be fixed N bits.
  • N is 24.
  • the destination identifier of the first message is the first identifier.
  • the first identifier is an identifier specified in the protocol. That is to say, both the first terminal device and at least one terminal device can recognize the identifier specified by the protocol. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier specified in the protocol, the third terminal device determines that the first message includes the first SL-PRS, and the third terminal device The first SL-PRS needs to be measured.
  • the first identifier is an identifier defined by the sidelink positioning layer. That is to say, both the first terminal device and at least one terminal device can recognize the identifier of the side link positioning layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the sidelink positioning layer, the third terminal device determines that the first message includes the first SL-PRS. , the third terminal equipment needs to measure the first SL-PRS, and the third terminal equipment needs to measure the first SL-PRS, get the measurement result of the first SL-PRS.
  • the sidelink positioning layer may be a sidelink positioning layer, or may be a sidelink or ranging positioning (sidelink/ranging positioning) layer, or may be ranging. layer, or other layers with positioning functions, the embodiments of this application do not impose any restrictions on this.
  • the first identifier is an identifier defined by the MAC layer. That is to say, both the first terminal device and at least one terminal device can recognize the identifier of the MAC layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the MAC layer, the third terminal device determines that the first message includes the first SL-PRS, and the third terminal device The device needs to measure the first SL-PRS, and the third terminal device measures the first SL-PRS to obtain the measurement result of the first SL-PRS.
  • the first identifier is an identifier defined by the RRC layer. That is to say, both the first terminal device and at least one terminal device can recognize the identifier of the RRC layer. If the third terminal device in the at least one terminal device receives that the first identifier in the first message is the first identifier defined by the RRC layer, the third terminal device determines that the first message includes the first SL-PRS, and the third terminal device The device needs to measure the first SL-PRS, and the third terminal device measures the first SL-PRS to obtain the measurement result of the first SL-PRS.
  • the first identifier may also be an identifier defined by other protocol layers, which is not limited in the embodiment of the present application.
  • the first message may also include: SCI and SL MAC protocol data unit (PDU) of the second stage.
  • the SCI of the second stage may be the SCI associated with the first SL-PRS
  • the SL MAC PDU may be the MAC PDU associated with the first SL-PRS.
  • the sub-header of the SL MAC PDU can carry part of the bits of the first identifier
  • the SCI of the second stage can carry the remaining bits of the first identifier.
  • the sub-header of the SL MAC PDU can carry the 8 most significant bits (MSB) of 24 bits, such as the 8-bit MSB
  • the second stage SCI can carry 24 The 16 least significant bits (LSB) of the bits, such as the 16-bit LSB.
  • the MSB is the leftmost bit and the LSB is the rightmost bit. Since the information is byte aligned, that is, each line only includes 8 bits, it can be understood that the MSB is the leftmost bit starting from the first line corresponding to the field that constitutes the information, and the LSB is the last line corresponding to the field. The rightmost bit.
  • the SL MAC PDU includes a SL MAC PDU sub-header and one or more MAC sub-PDUs.
  • the SL MAC PDU subheader may also be called the sidelink-shared channel (SL-SCH) subheader, or the SL-SCH MAC subheader, as shown in Figure 8, which shows the SL MAC PDU subheader.
  • the format of the header where the V field in the SL MAC PDU sub-header is the MAC PDU format version number field, with a length of 4 bits, indicating which version of the SL-SCH sub-header is used. For example, in the current version, the V field is set to 0.
  • the R field is a reserved bit (reserved, R).
  • the SRC field is used to carry the source identifier of the first message.
  • the 16-bit MSB of the source identifier is carried.
  • the source identifier is the identifier of the first terminal device.
  • the DST field is used to carry the source identifier of the first message.
  • the destination identifier of the first message for example, the 8-bit MSB that carries the destination identifier.
  • the destination identifier is the first identifier.
  • a MAC sub-PDU is identified by a MAC sub-header.
  • Each MAC subheader includes an R field, an F field, an LCID field or an L field, where the R field is a reserved bit, the F field indicates the length of the L field, and the LCID field is LCID, which can indicate that the content carried by the MAC sub-PDU is MAC Service data unit (service data unit, SDU), MAC CE or padding bits, the L field indicates the length of the MAC SDU.
  • the SCI in the second stage may include a source ID field and a destination ID field, where the source ID field is used to carry the source ID of the first message, and the destination ID field is used to carry the first message.
  • the destination identifier, the length of the source ID field is 8 bits, and the 8 bits in the source ID field carry the first terminal device’s
  • the remaining bits in the 24 bits of the layer 2 identifier for example, carry the remaining 8 bits except the SRC field.
  • These 8 bits are the 8 LSBs in the 24-bit layer 2 identifier of the first terminal device; the length of the destination ID field is 16 bits.
  • the 16 bits in the destination ID field carry the remaining bits of the 24 bits of the first identifier. For example, they carry the remaining 16 bits except the DST field.
  • the 16 bits are the 16 LSBs of the 24-bit first identifier.
  • the third terminal device uses the 8-bit LSB of the identity of the first terminal device carried in the source ID field in the SCI and the 16-bit MSB of the identity of the first terminal device carried in the SRC field in the SL MAC PDU subheader,
  • the identification of the first terminal device is spliced out and the first message is determined to be sent by the first terminal device.
  • the third terminal device splices out the first identifier and determines the first message based on the 16-bit LSB of the first identifier carried in the destination ID field in the SCI and the 8-bit MSB of the first identifier carried in the DST field in the SL MAC PDU subheader. Included is the first SL-PRS.
  • the MAC sub-PDU may include different contents.
  • the MAC sub-PDU includes padding bits.
  • the MAC sub-PDU includes padding bits.
  • the MAC sub-header corresponding to the MAC sub-PDU can identify that the content included in the MAC sub-PDU is padding bits, or a specific value of R in the sub-header of the SL MAC PDU can indicate that the MAC sub-PDU contains padding bits.
  • the PDU includes padding bits.
  • the first R in Figure 8 is 1 indicating that the MAC sub-PDU includes padding bits. That is to say, the MAC sub-PDU included in the SL MAC PDU in the first message sent by the first terminal device includes padding bits.
  • the third terminal device in at least one terminal device receives the first message, according to the first message
  • the partial bits of the first identifier included in the SL MAC PDU subheader and the remaining bits of the first identifier included in the second stage SCI are spliced together to form the first identifier, and the third terminal device determines the first message based on the spliced first identifier. Also included in the first SL-PRS, the third terminal device does not process the MAC sub-PDU included in the SL MAC PDU.
  • the third terminal device does not process the MAC sub-PDU included in the SL MAC PDU, including: the third terminal device discards the MAC sub-PDU included in the SL MAC PDU, or ignores the MAC sub-PDU included in the SL MAC PDU, or the MAC layer does not
  • the MAC sub-PDU will be submitted to the upper layer.
  • the upper layer includes the radio link control (RLC) layer, packet data convergence protocol (PDCP), and service data adaptation protocol (SDAP). ) layer or RRC layer.
  • RLC radio link control
  • PDCP packet data convergence protocol
  • SDAP service data adaptation protocol
  • the MAC sub-PDU includes a MAC resource element (RE). As shown in Figure 10, the MAC sub-PDU includes a MAC CE.
  • the LCID in the MAC sub-header corresponding to the MAC sub-PDU is used to identify the MAC CE. type.
  • the LCID in the MAC subheader identifies the type of the MAC CE as the first type. For example, the first type indicates that the MAC CE has no physical meaning, or indicates that no processing is required after receiving the MAC CE, or indicates that the MAC CE is used for Transmit the first SL-PRS.
  • the LCID identifier in the MAC sub-header may be an LCID whose value is the first value among the unused reserved LCIDs.
  • the MAC sub-PDU included in the SL MAC PDU in the first message sent by the first terminal device includes the MAC CE.
  • the third terminal device in at least one terminal device receives the first message, according to the first message
  • the partial bits of the first identifier included in the SL MAC PDU subheader and the remaining bits of the first identifier included in the second stage SCI are spliced into the first identifier, and the third terminal device determines the first identifier based on the spliced first identifier.
  • the message also includes the first SL-PRS.
  • the third terminal device determines not to process the MAC CE in the MAC sub-PDU, and the third terminal device determines to measure the first SL-PRS.
  • the third terminal device not processing the MAC sub-PDU included in the SL MAC PDU may include: the third terminal device discards the MAC sub-PDU included in the SL MAC PDU, or ignores the MAC sub-PDU included in the SL MAC PDU, or the MAC layer does not
  • the MAC sub-PDU will be submitted to The upper layer, for example, includes the RLC layer, the PDCP layer, the SDAP layer and the RRC layer.
  • MAC sub-PDU includes MAC SDU.
  • the MAC sub-PDU includes the MAC SDU.
  • the LCID identifier in the MAC sub-header corresponding to the MAC sub-PDU may be an LCID whose value is the first value among unused reserved LCIDs.
  • the MAC SDU includes upper layer messages.
  • the upper layer message may include the configuration information of the first SL-PRS and/or the location information of the first terminal device.
  • the LCID value is the first value, it means that the MAC sub-PDU corresponding to the LCID includes the upper layer message.
  • the MAC sub-PDU included in the SL MAC PDU in the first message sent by the first terminal device includes the MAC SDU.
  • the third terminal device After the MAC layer processes the SL MAC PDU, it submits the upper layer message included in the MAC SDU of the MAC layer to the upper layer of the MAC layer for processing.
  • the upper layer includes the RLC layer, PDCP layer, SDAP layer or RRC layer.
  • the third terminal device after processing the SL MAC PDU at the MAC layer, passes the configuration information of the first SL-PRS to the upper layer of the MAC layer, and the upper layer of the MAC layer parses it.
  • the configuration information of the first SL-PRS includes: the third terminal device can measure the first SL-PRS according to the configuration information of the first SL-PRS.
  • the configuration information of the first SL-PRS can include At least one of the resource configuration, the period of the sidelink positioning reference signal, the staggering pattern, the number of repetitions of the sidelink positioning reference signal, or the muting configuration of the sidelink positioning reference signal.
  • the resource configuration may include the first symbol and the comb offset of the first symbol in the time slot of the sidelink positioning reference signal.
  • the configuration information may indicate that the configuration of the sidelink positioning reference signal is one of multiple sets of preconfigurations. Each set of the multiple sets of preconfigurations may include resource configuration, sidelink positioning reference At least one of the period of the signal, the staggering pattern, the number of repetitions of the sidelink positioning reference signal, or the muting configuration of the sidelink positioning reference signal, for example, the first SL-PRS
  • the configuration information may indicate the staggered arrangement used when the first SL-PRS is currently sent by the first terminal device.
  • the first terminal device may indicate a certain set of interleaved arrangements currently used in the configuration of multiple preconfigured sets of staggered arrangements. Arrangement.
  • the third terminal device after processing the SL MAC PDU at the MAC layer, passes the location information of the first terminal device to the upper layer of the MAC layer, and the upper layer of the MAC layer parses the first The location information of the terminal device, so that the third terminal device can perform side link positioning with the first terminal device based on the location information of the first terminal device.
  • the third terminal device can determine the third terminal device based on the location information of the first terminal device. The absolute position of the terminal device, etc.
  • the first message also includes the identification of the second terminal device. That is to say, the first message includes the first SL-PRS, the identity of the first terminal device, the identity of the second terminal device and the first indication information.
  • the identity of the second terminal device is the layer 2 identity of the second terminal device.
  • the destination identifier of the first message is the identifier of the second terminal device.
  • the destination identifier of the first message is the layer 2 identifier of the second terminal device.
  • the first message includes first indication information, the identity of the first terminal device and the identity of the second terminal device, where the first indication information is used to indicate that the first message includes the first SL- PRS.
  • At least one terminal device may include a second terminal device.
  • the second terminal device may be any one of the at least one terminal device.
  • the second terminal device and the third terminal device are the same terminal device. That is to say, the second terminal device receives the first message including the first SL-PRS, the identity of the first terminal device, the second terminal device The second terminal device determines that the first message is from the first terminal device based on the identification of the first terminal device, and the second terminal device determines that the first message is sent to itself based on the identification of the second terminal device. , the second terminal device is in accordance with the An indication information determines that the first message includes the first SL-PRS, so that the second terminal device can measure the first SL-PRS and obtain the measurement result of the first SL-PRS.
  • the second terminal device and the third terminal device are different terminal devices.
  • the first terminal device may determine the second terminal in the at least one terminal device. device, and sends the identification of the second terminal device to at least one terminal device other than the second terminal device.
  • the other terminal device is a third terminal device, so that after the other terminal device receives the first message, It is determined according to the identification of the second terminal device in the first message that the first message needs to be received. Otherwise, after receiving the first message, other terminal devices will determine according to the identification of the second terminal device in the first message that the first message is sent to the third terminal device. The second terminal device instead of sending it to itself will cause the first message not to be received.
  • the purpose of the first terminal device sending the identifier of the second terminal device to other terminal devices before sending the first message is that when the other terminal devices receive the first message including the identifier of the second terminal device, they can further Analyze whether the first message includes the first indication information. If the first message does not include the first indication information, the other terminal devices discard the first message. If the first message includes the first indication information, the other terminal devices determine the first indication information. A message includes the first SL-PRS, and other terminal devices determine to measure the first SL-PRS in the first message.
  • the first terminal device needs to send the identification of the second terminal device to each terminal device in the multiple terminal devices.
  • the first terminal device sends the identification of the second terminal device to at least one terminal device other than the second terminal device, including: the first terminal device establishes a unicast connection with the other terminal device.
  • the DCR may include the identification of the second terminal device.
  • the first terminal device sends a first response message to the other terminal device, for example, the first response message is a direct communication accept (DCA) message.
  • DCA direct communication accept
  • the first terminal device sends the identification of the second terminal device to other terminal devices in the at least one terminal device except the second terminal device, including: the first terminal device sends the identification through a unicast connection established with other terminal devices.
  • the identifier of the second terminal device That is to say, after the first terminal device establishes a PC5 connection with another terminal device, it can send the identification of the second terminal device to the other terminal device based on the PC5 connection.
  • the first terminal device sends the identification of the second terminal device through a first request message or a first response message.
  • the first message may also include: SCI and SL MAC PDU of the second stage.
  • the SCI of the second stage may be the SCI associated with the first SL-PRS
  • the SL MAC PDU may be the MAC PDU associated with the first SL-PRS.
  • the SL MAC PDU can carry some bits of the identity of the second terminal device
  • the subheader of the second-stage SCI can carry the remaining bits of the identity of the second terminal device.
  • the length of the identifier of the second terminal device is 24, then the sub-header of the SL MAC PDU can carry 8 MSBs out of 24 bits, such as 8-bit MSBs, and the second stage SCI can carry 16 out of 24 bits.
  • LSB such as 16-bit LSB.
  • the SRC field carries the 16-bit MSB of the identity of the first terminal device
  • the DST field carries the 8-bit MSB of the identity of the second terminal device.
  • the second stage SCI may include a source ID field and a destination ID field, where the length of the source ID field is 8 bits, and the 8 bits in the source ID field carry the remaining bits of the 24 bits of the layer 2 identification of the first terminal device, For example, carrying the remaining 8 bits except the SRC field Special; the length of the destination ID field is 16 bits.
  • the 16 bits in the destination ID field carry the remaining bits of the 24 bits that identify the second terminal device. For example, the remaining 16 bits except the DST field are carried.
  • the 16 bits are 24 The 16 LSBs of the bits in the identification of the second terminal device.
  • the SL MAC PDU includes a MAC sub-PDU
  • the MAC sub-PDU includes a MAC CE
  • the MAC CE is used to carry the first indication information.
  • the LCID in the MAC sub-header of the MAC CE is used to identify the type of the MAC CE.
  • the LCID in the MAC subheader identifies the type of the MAC CE as the second type.
  • the second type indicates that the MAC CE includes the first indication information.
  • the LCID identifier in the MAC sub-header may be an LCID whose value is the first value among the unused reserved LCIDs.
  • the MAC sub-PDU included in the SL MAC PDU in the first message sent by the first terminal device includes the MAC CE.
  • the third terminal device in at least one terminal device receives the first message, according to the first message Part of the bits of the identity of the second terminal device included in the SL MAC PDU subheader and the remaining bits of the identity of the second terminal device included in the second stage SCI are spliced together to form the identity of the second terminal device, and the third terminal device is based on The spliced identification of the second terminal device determines that the first message needs to be received.
  • the third terminal device determines to parse the MAC CE according to the LCID identification in the MAC sub-header of the MAC CE in the MAC sub-PDU to obtain the first indication information, The third terminal device determines to measure the first SL-PRS according to the first indication information. In this way, the third terminal device uses the 16-bit MSB of the identity of the first terminal device carried by the SRC field in the SL MAC PDU subheader and the 8-bit MSB of the identity of the first terminal device carried by the source ID field in the SCI of the second stage.
  • the LSB of the bit is spliced to form the identity of the first terminal device, and it is determined that the first message is sent by the first terminal device.
  • the third terminal device splices the 8-bit MSB of the second terminal device's identity based on the DST in the SL MAC PDU subheader and the 16-bit LSB of the destination ID field of the SCI that carries the second terminal device's identity.
  • the identification determines that the first message needs to be received, and determines that the first message includes the first SL-PRS according to the first indication information in the first message.
  • the third terminal device sends the measurement result of the first SL-PRS to the first terminal device.
  • the measurement result of the first SL-PRS is used for positioning, for example, to assist the first terminal device in positioning.
  • S630 includes: the third terminal device may send the measurement result of the first SL-PRS to the first terminal device through the unicast connection.
  • S630 includes: the third terminal device may send the first SL-PRS to the first terminal device through other terminal devices, for example, the third terminal device may send the first SL-PRS to the first terminal device through the fifth terminal device. measurement results.
  • the third terminal device communicates with the third terminal device through the fifth terminal device.
  • the first terminal device sends the measurement result of the first SL-PRS, including: the third terminal device sends the measurement result of the first SL-PRS to the fifth terminal device through a unicast connection with the fifth terminal device, and the fifth terminal device passes The unicast connection with the first terminal device sends the measurement result of the first SL-PRS.
  • the third terminal device may not send the measurement result of the first SL-PRS to the first terminal device.
  • there may be no unicast connection between the third terminal device and the first terminal device. that is to say, there is no S630 at this time.
  • the measurement result of the first SL-PRS may be the measurement result obtained by measuring the first SL-PRS by the third terminal device, or the measurement result of the first SL-PRS may include the measurement result of the third terminal device based on the first SL-PRS.
  • the obtained location information for example, the location information may be the location information of the first terminal device or the location information of the third terminal device.
  • the first terminal device The device is UE4, and the at least one terminal device includes UE2 and UE3.
  • method 1200 includes:
  • the positioning initiator may be the LCS or the target terminal device to be located, or may be the serving AMF network element of the target terminal device to be located, etc.
  • UE4 determines UE2 and UE3.
  • the target terminal devices to be positioned are UE2 and UE3, the RSU is UE4, and UE4 determines to assist in positioning UE2 and UE3. Therefore, UE4 determines UE2 and UE3.
  • the target terminal device to be positioned is UE4, UE4 in S1202 is the UE in Figure 3, RSU2 can be UE2, and RSU3 can be UE3.
  • the UE determines that RSU2 and RSU3 assist in positioning the UE, so UE4 determines UE2 and UE3.
  • the target terminal device to be positioned includes UE2, and UE4 is an RSU.
  • UE2 determines that the RSU assists in positioning UE2. Therefore, UE2 determines UE4.
  • the target terminal device to be positioned is a UE
  • UE4 in S1202 is the UE in Figure 3
  • RSU2 can be UE2
  • RSU2 determines the assisted positioning UE, so UE2 determines UE4.
  • the target terminal device to be positioned includes UE3, UE4 is an RSU, and UE3 determines that the RSU assists in positioning UE3. Therefore, UE3 determines UE4.
  • the target terminal device to be positioned is a UE
  • UE4 in S1202 is the UE in Figure 3
  • RSU3 can be UE
  • RSU2 determines the assisted positioning UE
  • UE3 determines UE4.
  • the RSU is UE4, the RSU determines to assist in positioning UE2, and UE2 determines that the RSU assists in positioning UE2.
  • the process may include: UE2 sends a first positioning request message, and the RSU receives the first positioning request. After receiving the message, the RSU sends a first positioning response message to UE2.
  • the first positioning request message can be sent by broadcasting, and the first positioning response message can be a message specifically sent by the RSU to UE2.
  • the first positioning request message may be a DCR, or a discovery process request (solicitation) message, or other new messages that implement this function
  • the first positioning response message may be a DCA, or a discovery process response (response) message, Or other new messages that implement this function.
  • the process may also include: RSU sends a second positioning request message, and after UE2 receives the second positioning request message, UE2 sends a first positioning request message to RSU, and then RSU sends a first positioning response message to UE2.
  • the second positioning request message may be sent by broadcast, the first positioning request message may be a message sent specifically by UE2 to the RSU, and the first positioning response message may be a message sent specifically by the RSU to UE2.
  • the second positioning request message may be a DCR, or an announcement message of the discovery process, or other new messages that implement this function, and the first positioning request message may be a DCR, or other new messages that implement this function,
  • the first positioning response message may be DCA, or other new messages that implement this function.
  • RSU2 determines to assist in positioning the UE, and at the same time, the UE determines that RSU2 assists in positioning the UE.
  • the process may include: the UE sends a first positioning request message, and RSU2 receives the first positioning After requesting the message, RSU2 sends a first positioning response message to the UE.
  • the first positioning request message can be sent by broadcasting, and the first positioning response message can be a message specifically sent by RSU2 to the UE.
  • the first positioning request message may be a DCR, or a discovery process request (solicitation) message, or other new messages that implement this function
  • the first positioning response message may be a DCA, or a discovery process response (response) message, Or other new messages that implement this function.
  • the process may also include: RSU2 sends a second positioning request message. After the UE receives the second positioning request message, the UE sends a first positioning request message to RSU2. Then, RSU2 sends a first positioning response message to the UE.
  • the second positioning request message may be sent by broadcast, the first positioning request message may be a message sent specifically by the UE to RSU2, and the first positioning response message may be a message sent specifically by RSU2 to the UE.
  • the second positioning request message may be a DCR, or an announcement message of the discovery process, or other new messages that implement this function, and the first positioning request message may be a DCR, or other new messages that implement this function,
  • the first positioning response message may be DCA, or other new messages that implement this function.
  • UE4 establishes a unicast connection with UE2.
  • UE4 establishes a unicast connection with UE3.
  • S1205 and S1206 are optional steps, that is, a unicast connection does not need to be established between UE4 and UE2, and a unicast connection does not need to be established between UE4 and UE3.
  • S1205 can be performed before, after or at the same time as S1206.
  • UE4 sends the first message
  • UE2 and UE3 receive the first message
  • the first message includes the layer 2 identifier of UE4, the first SL-PRS and the first identifier
  • UE2 receives the first message
  • UE3 receives the first message.
  • UE4 when UE4 sends the first message, UE4 sends the first message in a broadcast or multicast manner.
  • the first identifier in S1207 is the first identifier in case 1 of method 600.
  • the source identifier of the first message is the layer 2 identifier of UE4, and the destination identifier of the first message is the first identifier.
  • the first message may include the layer 2 identifier of UE4, the first SL-PRS or the first identifier. At least one of the identifiers.
  • S1208 UE2 determines that the first message includes the first SL-PRS according to the first identifier in the first message.
  • UE2 determines that UE4 is the UE4 determined by UE2 in S1203 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE2 determines that the first message includes the first SL-PRS for the first identifier based on the destination identifier in the first message.
  • UE2 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time UE2 determines the first message sent by UE4 based on the destination identifier in the first message being the first identifier. Included is the first SL-PRS.
  • S1209 UE3 determines that the first message includes the first SL-PRS according to the first identifier in the first message.
  • UE3 determines that UE4 is the UE4 determined by UE3 in S1204 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE3 determines that the first message includes the first SL-PRS for the first identifier based on the destination identifier in the first message.
  • UE3 determines that the first message is sent by UE4 based on the layer 2 identity of UE4 indicated by the source identity in the first message, and at the same time, UE3 determines that the first message is sent by UE4 based on the destination identity in the first message for the first identity.
  • message package Including the first SL-PRS.
  • UE3 discards the first message in S1209. That is to say, UE3 determines that the first message does not include the first SL-PRS, so UE3 does not measure the first SL-PRS.
  • S1208 can be performed before, after or at the same time as S1209.
  • UE2 measures the first SL-PRS, and if UE2 needs to send the measurement result to UE4, execute:
  • S1210 UE2 sends the measurement result of the first SL-PRS to UE4.
  • UE3 measures the first SL-PRS, and if UE3 needs to send the measurement result to UE4, execute:
  • UE3 sends the measurement result of the first SL-PRS to UE4.
  • S1212 UE4 performs positioning based on the measurement results of the first SL-PRS in S1210 and the measurement results of the first SL-PRS in S1211.
  • UE4 is an RSU.
  • UE4 positions UE2 based on the measurement results of the first SL-PRS in S1210; UE4 positions UE3 based on the measurement results of the first SL-PRS in S1211. .
  • UE4 is a UE, and UE4 determines the position of UE4 itself based on the measurement result of the first SL-PRS in S1210 and the measurement result of the first SL-PRS in S1211.
  • UE2 does not need to send the measurement result of the first SL-PRS to UE4.
  • S1205 and S1210 may not exist.
  • UE2 measures the first SL-PRS. After PRS, its position can be determined based on the measurement results of the first SL-PRS.
  • UE3 does not need to send the measurement result of the first SL-PRS to UE4.
  • after UE3 measures the first SL-PRS it can measure the first SL-PRS according to the first SL-PRS. The measurement results determine its position.
  • the receiver of the first SL-PRS does not need to send the measurement results to the sender of the first SL-PRS, then there is no need to communicate between the sender of the first SL-PRS and the receiver of the first SL-PRS. Establish a unicast connection.
  • UE2 and UE3 can send the measurement results to UE4 through other UEs, such as UE5.
  • the positioning method used in the positioning scenario of method 1200 does not require transmission of measurement results, there is no need to transmit the measurement results. In this case, S1210-S1212 may not exist, and S1205 and S1206 may not exist.
  • the first terminal device is UE4, at least one terminal device includes UE2 and UE3, and the second terminal device is UE2.
  • method 1300 includes:
  • S1301-S1304 are the same as S1201-S1204 respectively.
  • UE4 establishes a unicast connection with UE2.
  • S1305 is an optional step, that is, a unicast connection does not need to be established between UE4 and UE2.
  • S1306 UE4 establishes a unicast connection with UE3.
  • UE4 sends the layer 2 identifier of UE2 to UE3 through a unicast connection with UE3, and UE3 receives the layer 2 identifier of UE2 through the unicast connection.
  • S1305 can be performed before, after or at the same time as S1306.
  • UE4 sends the layer 2 identifier of UE2 to UE3 through a unicast connection can be found in the way in which the first terminal device sends the identifier of the second terminal device to the third terminal device in method 600. To avoid redundancy, it will not be described in detail. .
  • UE4 sends a first message.
  • the first message includes the layer 2 identifier of UE4, the first SL-PRS, the layer 2 identifier of UE2 and the first indication information.
  • UE2 receives the first message, and UE3 receives the first message.
  • UE4 when UE4 sends the first message, UE4 sends the first message in a broadcast or multicast manner.
  • the source identifier of the first message is the layer 2 identifier of UE4, and the destination identifier of the first message is the identifier of UE2.
  • the first message may include the layer 2 identifier of UE4.
  • the first SL-PRS is at least one of the layer 2 identity of UE2 or the first indication information.
  • UE2 determines that the first message is sent to itself based on the layer 2 identifier of UE2 in the first message.
  • UE2 determines that UE4 is the UE4 determined by UE2 in S1303 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE2 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time, UE2 determines that the first message is sent by UE4 based on the destination identifier in the first message being the layer 2 identifier of UE2.
  • a message is sent to itself.
  • S1310 UE2 determines that the first message includes the first SL-PRS according to the first indication information in the first message.
  • UE3 determines that it needs to receive the first message based on the layer 2 identity of UE2 in the first message.
  • UE3 determines that the UE4 is the UE4 determined by UE3 in S1304 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE3 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time, UE3 determines that the layer 2 identifier of UE2 in the first message is the identifier sent by UE4 in S1307, Then UE3 determines that it needs to receive the first message, that is to say, UE3 determines that the first message may be sent to UE3 according to the layer 2 identifier of UE2 in the first message, so UE3 determines that it needs to receive the first message.
  • UE3 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time, UE3 determines that the layer 2 identifier of UE2 in the first message is the identifier sent by UE4 in S1307, Then UE3 determines that it needs to receive the first message, and the first message includes the first SL-PRS. That is to say, S1312 may not exist at this time, and the first message may not include the first indication information.
  • S1312 UE3 determines that the first message includes the first SL-PRS according to the first indication information in the first message.
  • UE3 discards the first message in S1312. That is to say, UE3 determines that the first message does not include the first SL-PRS.
  • UE2 measures the first SL-PRS. If UE2 needs to If the measurement result is sent to UE4, execute:
  • UE2 sends the measurement result of the first SL-PRS to UE4.
  • UE3 measures the first SL-PRS. If UE3 needs to send the measurement result to UE4, execute:
  • S1314 UE3 sends the measurement result of the first SL-PRS to UE4.
  • S1315 UE4 performs positioning based on the measurement result of the first SL-PRS in S1313 and the measurement result of the first SL-PRS in S1314.
  • UE4 is an RSU.
  • UE4 positions UE2 based on the measurement results of the first SL-PRS in S1310; UE4 positions UE3 based on the measurement results of the first SL-PRS in S1311. .
  • UE4 is a UE, and UE4 determines the position of UE4 itself based on the measurement result of the first SL-PRS in S1310 and the measurement result of the first SL-PRS in S1311.
  • UE2 does not need to send the measurement result of the first SL-PRS to UE4, and S1313 may not exist at this time.
  • S1313 may not exist at this time.
  • UE2 after UE2 measures the first SL-PRS , can determine its own position based on the measurement results of the first SL-PRS.
  • UE3 does not need to send the measurement result of the first SL-PRS to UE4.
  • after UE3 measures the first SL-PRS it can The result determines its own position.
  • the receiver of the first SL-PRS does not need to send the measurement results to the sender of the first SL-PRS, then there is no need for communication between the sender of the first SL-PRS and the receiver of the first SL-PRS. Establish a unicast connection.
  • UE2 and UE3 can send the measurement results to UE4 through other UEs, such as UE5.
  • the positioning method used in the positioning scenario of method 1300 does not require transmission of measurement results, there is no need to transmit the measurement results. In this case, S1313-S1315 may not exist, and S1305 and S1306 may not exist.
  • the first terminal device may send the first message to at least one terminal device.
  • the first terminal device may send the first message to the at least one terminal device in a broadcast manner.
  • the first message The first indication information in is used to indicate that the first message includes the first SL-PRS, thereby providing a method of transmitting sidelink positioning reference signals, and when the number of at least one terminal device is large, the first The terminal device may broadcast or multicast the first message once, and each terminal device in at least one terminal device may receive the first message and determine that the first message includes the first SL-PRS according to the first indication information in the first message, so that , at least one terminal device can measure the first SL-PRS, thereby avoiding the overhead caused by the first terminal device needing to send sidelink positioning reference signals to each terminal device respectively.
  • the first terminal device may also send the first message through a first resource in a dedicated resource pool for sending sidelink positioning reference signals. In this way, at least one terminal device may determine based on the first resource.
  • the received first message includes the first SL-PRS, which will be described below in conjunction with the embodiment of Figure 14. As shown in Figure 14, method 1400 includes:
  • the first terminal device sends the first message to at least one terminal device on the first resource, and the second terminal device in the at least one terminal device receives the first message on the first resource.
  • the first message includes the first SL-PRS. and the identification of the first terminal device, and the first SL-PRS is used for positioning of the first terminal device or the positioning of at least one terminal device.
  • the first resource is a dedicated resource used for transmitting sidelink positioning reference signals.
  • the first resource is a dedicated resource used to transmit the sidelink positioning reference signal, which can be understood as: the first resource is a dedicated resource used to send the sidelink positioning reference signal; for the first resource The second terminal device, the first resource is a dedicated resource used to transmit the sidelink positioning reference signal, which can be understood as: the first resource is a dedicated resource used to receive the sidelink positioning reference signal.
  • method 1400 further includes: the first terminal device determines to send the first message to at least one terminal device.
  • the first terminal device determines to assist at least one terminal device in positioning or the first terminal device determines that at least one terminal device wants to assist the first terminal device in positioning.
  • the first terminal device determines to assist at least one terminal device in positioning or the first terminal device determines that at least one terminal device wants to assist the first terminal device in positioning.
  • method 1400 further includes: the positioning initiator triggers positioning.
  • the positioning initiator triggers positioning.
  • S610 the description of S610. To avoid redundancy, no detailed description will be given.
  • the first terminal device sends the first message to the at least one terminal device, including: the first terminal device sends the first message to the at least one terminal device in a broadcast or multicast manner. In this way, the first terminal device is avoided from needing to send the first message to the at least one terminal device.
  • Each terminal device in at least one terminal device sends the signaling overhead caused by the first message respectively.
  • the first message may be a message scheduled by the SCI of the first stage.
  • the first stage SCI may be a defined SCI.
  • the identity of the first terminal device may be the layer 2 identity of the first terminal device.
  • the source identifier of the first message may be the identifier of the first terminal device.
  • the source identifier of the first message is the layer 2 ID of the first terminal device.
  • At least one terminal device may be one terminal device or two terminal devices or more than two terminal devices. This embodiment of the present application does not place any limit on the number of terminal devices that perform side link positioning with the first terminal device. .
  • any terminal device among the at least one terminal device can serve as the recipient of the first message.
  • This embodiment of the present application only takes the second terminal device among the at least one terminal device as an example for description.
  • At least one terminal device Other terminal devices in the device are similar to the second terminal device, and will not be described in detail to avoid redundancy.
  • the first terminal device performs sidelink positioning with at least one terminal device
  • S610 which will not be described in detail to avoid redundancy.
  • the first resource is a resource in a preconfigured resource pool
  • the preconfigured resource pool is a resource pool used for transmitting sidelink positioning reference signals. That is to say, both the first terminal device and at least one terminal device can identify the preconfigured resource pool. If the second terminal device in the at least one terminal device receives the first message on any resource in the preconfigured resource pool, the second terminal device determines that the first message includes the first SL-PRS, and the second terminal device The first SL-PRS needs to be measured. In this way, the inclusion of the first SL-PRS in the first message is implicitly indicated by transmitting the first SL-PRS on the resources of the preconfigured resource pool.
  • the preconfigured resource pool may be a resource pool specifically used for transmitting sidelink positioning reference signals. That is to say, the preconfigured resource pool is different from the resource pool for data transmission and is used separately for transmission. Resource pool for sidelink positioning reference signals.
  • the first resource is a resource in a resource pool specified by the protocol, and the resource pool specified by the protocol is used for transmitting side lines.
  • Resource pool for link positioning reference signals both the first terminal device and at least one terminal device can identify the resource pool specified in the protocol. If the second terminal device in at least one terminal device receives the first message on any resource specified in the protocol, the second terminal device determines that the first message includes the first SL-PRS, and the second terminal device needs to measure First SL-PRS. In this way, by transmitting the first SL-PRS on the resources of the resource pool specified by the protocol, it is implicitly indicated that the first message includes the first SL-PRS.
  • the resource pool specified by the protocol may be a resource pool specifically used for transmitting sidelink positioning reference signals. That is to say, the resource pool specified by the protocol is different from the resource pool for data transmission and is used separately for transmission. Resource pool for sidelink positioning reference signals.
  • the first message also includes a first identifier.
  • the first identification is an identification of any one of the at least one terminal equipment, for example, an identification of the second terminal equipment.
  • the first identifier is any identifier. That is to say, since the source identifier of the first message is the identifier of the first terminal device, the destination identifier of the first message may be set to the first identifier, but the second terminal device that receives the first message may not parse the second terminal device. One logo, that is, ignore the first logo.
  • the first message may also include the second stage SCI and SL MAC PDU.
  • the SCI of the second stage may be the SCI associated with the first SL-PRS
  • the SL MAC PDU may be the MAC PDU associated with the first SL-PRS.
  • the sub-header of the SL MAC PDU can carry part of the bits of the first identifier
  • the SCI of the second stage can carry the remaining bits of the first identifier. For example, if the length of the first identifier is 24, the sub-header of the SL MAC PDU can carry 8 MSBs of 24 bits, and the SCI of the second stage can carry the remaining 16 LSBs of 24 bits.
  • the SRC field carries the 16-bit MSB of the source identifier.
  • the source identifier is the layer 2 identifier of the first terminal device.
  • the DST field carries the 8-bit MSB of the destination identifier.
  • the destination identifier is the layer 2 identifier of the first terminal device.
  • the second stage SCI may include a source ID field and a destination ID field, where the length of the source ID field is 8 bits, and the 8 bits in the source ID field carry the layer 2 identification of the first terminal device.
  • the remaining bits in the 24 bits carry the remaining 8 bits except the SRC field, which are the 8 LSBs of the 24-bit layer 2 identification of the first terminal device; the length of the destination ID field is 16 bits, The 16 bits in the destination ID field carry the remaining bits of the 24 bits of the first identifier, for example, they carry the remaining 16 bits except the DST field.
  • the 16 bits are the 16 LSBs of the 24-bit first identifier. Specifically, see the description of method 600.
  • the MAC sub-PDU may include different contents
  • the second terminal device may process the MAC sub-PDU including different contents in the same manner as
  • the processing method of the third terminal device in method 600 is similar and will not be described in detail in this embodiment of the application to avoid redundancy.
  • S1420 The second terminal device measures the first SL-PRS in the first message.
  • method 1400 includes the second terminal device determining that the first message is sent by the first terminal device according to the source identifier of the first message. If the first message includes the first identifier, the second terminal device ignores the first identifier, and the second terminal device uses a dedicated resource for transmitting the sidelink positioning reference signal according to the resource pool where the first resource that received the first message is located. In the pool, the second terminal device determines that the first message includes the first SL-PRS. Therefore, the second terminal device performs S1420 to obtain the measurement result of the first SL-PRS.
  • the second terminal device sends the measurement result of the first SL-PRS to the first terminal device.
  • the measurement result of the first SL-PRS is used for positioning, for example, to assist the first terminal device in positioning.
  • S1430 includes: the second terminal device may send the measurement result of the first SL-PRS to the first terminal device through the unicast connection.
  • S1430 includes: the second terminal device may send the first SL-PRS to the first terminal device through other terminal devices, for example, the second terminal device may send the first SL-PRS to the first terminal device through the fifth terminal device. measurement results.
  • the second terminal device in the case where a unicast connection exists between the second terminal device and the fifth terminal device, and a unicast connection exists between the fifth terminal device and the first terminal device, the second terminal device communicates with the third party through the fifth terminal device.
  • the first terminal device sends the measurement result of the first SL-PRS, including: the second terminal device sends the measurement result of the first SL-PRS to the fifth terminal device through a unicast connection with the fifth terminal device, and the fifth terminal device passes The unicast connection with the first terminal device sends the measurement result of the first SL-PRS.
  • the second terminal device may not send the measurement result of the first SL-PRS to the first terminal device.
  • there may be no unicast connection between the second terminal device and the first terminal device. that is to say, S1430 does not exist at this time.
  • the measurement result of the first SL-PRS may be the measurement result obtained by measuring the first SL-PRS by the second terminal device, or the measurement result of the first SL-PRS may include the measurement result of the second terminal device based on the first SL-PRS.
  • the obtained location information for example, the location information may be the location information of the first terminal device or the location information of the second terminal device.
  • the first terminal device is UE4, at least one terminal device includes UE2 and UE3, and the second terminal device may be UE2 or UE3.
  • method 1500 includes:
  • S1501-S1506 are the same as S1201-S1206 respectively.
  • UE4 sends a first message on the first resource.
  • the first message includes the layer 2 identifier of UE4, the first SL-PRS and the first identifier.
  • UE2 receives the first message, and UE3 receives the first message.
  • the first identifier is the first identifier in method 1400.
  • UE4 when UE4 sends the first message, UE4 sends the first message in a broadcast or multicast manner.
  • the source identifier of the first message is the layer 2 identifier of UE4, and the destination identifier of the first message is the first identifier.
  • the first message may include the layer 2 identifier of UE4, the first SL-PRS or the first identifier. At least one of the identifiers.
  • S1508 UE2 determines that the first message includes the first SL-PRS according to the first resource that receives the first message.
  • UE2 determines that UE4 is the UE4 determined by UE2 in S1503 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE2 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time, UE2 determines the sidelink positioning reference dedicated to transmission based on the first resource that receives the first message. signal resources, UE2 determines that the first message sent by UE4 includes the first SL-PRS.
  • UE2 determines that the first message includes SL-PRS. At this time, UE2 only determines the SL-PRS in the physical (PHY) layer and MAC layer.
  • the source identifier of a message that is, UE2 ignores the destination identifier at the MAC layer, and only matches whether the source identifier is part of the layer 2 identifier of UE4 determined in S1503.
  • UE2 ignores the destination identifier at the PHY layer, and only matches whether the source identifier is part of the layer 2 identifier of UE4 determined in S1503. The remainder of the determined layer 2 identity of UE4.
  • the SCI of the second stage may be the SCI associated with the first SL-PRS
  • the SL MAC PDU may be the MAC PDU associated with the first SL-PRS.
  • the SRC field in the SL MAC PDU sub-header in Figure 8 carries the 16-bit MSB of the 24 bits of the layer 2 identification of UE4
  • the DST field in the SL MAC PDU sub-header carries the 8-bit MSB of the first identification.
  • the second stage SCI can include the source ID field and the destination ID field, where, The length of the source ID field is 8 bits.
  • the 8 bits in the source ID field carry the remaining bits of the 24 bits of the layer 2 identification of UE4. For example, they carry the remaining 8 bits except the SRC field.
  • the 8 bits are the 24-bit UE4 8 LSBs in the layer 2 identifier; the length of the destination ID field is 16 bits, and the 16 bits in the destination ID field carry the remaining bits of the first identifier, for example, the remaining 16 bits except the DST field are carried, and the 16 bits are The 16 LSBs of the 24-bit first identifier.
  • UE2 ignores the destination ID field in the SCI at the PHY layer, and only checks whether the source ID field in the second-stage SCI is equal to the 8 LSBs of the 24-bit layer 2 identifier of UE4.
  • the UE2 ignores the SL MAC PDU sub-sub at the MAC layer.
  • the DST field in the header only checks whether the SRC field in the SL MAC PDU sub-header is equal to the 16MSB in the 24-bit layer 2 identification of UE4.
  • UE2 determines that the first message does not include the first SL-PRS, so UE2 also does not measure the first SL-PRS.
  • S1509 UE3 determines that the first message includes the first SL-PRS according to the first resource that receives the first message.
  • UE3 determines that the UE4 is the UE4 determined by UE3 in S1504 based on the layer 2 identifier whose source identifier is UE4 in the first message, that is, it determines that the first message is sent by UE4.
  • UE3 determines that the first message is sent by UE4 based on the source identifier in the first message being the layer 2 identifier of UE4, and at the same time, UE3 determines that the first message is a dedicated transmission sidelink positioning reference based on the first resource that receives the first message. signal resources, UE3 determines that the first message sent by UE4 includes the first SL-PRS.
  • UE3 determines that the first message includes SL-PRS. At this time, UE3 only determines the first message at the PHY layer and MAC layer.
  • Source identifier that is, UE3 ignores the destination identifier at the PHY layer, and only matches whether the source identifier is part of the layer 2 identifier of UE4 determined in S1504.
  • UE3 ignores the destination identifier at the MAC layer, and only matches whether the source identifier is the UE4 determined in S1503. The rest of the layer 2 identifiers are identified.
  • the SCI of the second stage can be the SCI associated with the first SL-PRS
  • the SL MAC PDU can be the MAC PDU associated with the first SL-PRS.
  • the SRC field in the SL MAC PDU subheader in Figure 8 carries the 16-bit MSB of the 24 bits of the layer 2 identification of UE4
  • the DST field in the SL MAC PDU subheader carries the 8-bit MSB of the first identification. .
  • the second stage SCI may include a source ID field and a destination ID field, where the length of the source ID field is 8 bits, and the 8 bits in the source ID field carry the remaining bits of the 24 bits of the layer 2 identification of UE4, for example, the length of the source ID field is 8 bits.
  • the remaining 8 bits outside the SRC field are the 8 LSBs of the 24-bit layer 2 identity of UE4; the length of the destination ID field is 16 bits, and the 16 bits in the destination ID field carry the remaining bits of the first identity. , for example, carries the remaining 16 bits except the DST field, which are the 16 LSBs of the 24-bit first identifier.
  • UE3 ignores the destination ID field in the SCI at the PHY layer, and only checks whether the source ID field in the second-stage SCI is equal to the 8 LSBs of the 24-bit layer 2 identifier of UE4.
  • UE3 ignores the SL MAC PDU sub-sub at the MAC layer.
  • the DST field in the header only checks whether the SRC field in the SL MAC PDU sub-header is equal to the 16MSB in the 24-bit layer 2 identification of UE4.
  • UE3 determines that the first message does not include the first SL-PRS, so UE3 also does not measure the first SL-PRS.
  • S1508 can be performed before, after or at the same time as S1509.
  • UE2 measures the first SL-PRS, and if UE2 needs to send the measurement result to the UE, execute:
  • S1510-S1512 are the same as S1210-S1212 respectively.
  • UE2 does not need to send the measurement result of the first SL-PRS to UE4.
  • S1505 and S1510 may not exist.
  • UE2 measures the first SL-PRS. After PRS, its position can be determined based on the measurement results of the first SL-PRS.
  • UE3 does not need to send the measurement result of the first SL-PRS to UE4. There is no S1506 and S1511 at this time.
  • after UE3 measures the first SL-PRS it can measure the first SL-PRS according to the first SL-PRS. The measurement results determine its position.
  • the receiver of the first SL-PRS does not need to send the measurement results to the sender of the first SL-PRS, then there is no need to communicate between the sender of the first SL-PRS and the receiver of the first SL-PRS. Establish a unicast connection.
  • UE2 and UE3 can send the measurement results to UE4 through other UEs, such as UE5.
  • the positioning method used in the positioning scenario of method 1500 does not require transmission of measurement results, there is no need to transmit the measurement results. In this case, S1510-S1512 may not exist, and S1505 and S1506 may not exist.
  • the first terminal device may send the first message on a resource in a resource pool dedicated to transmitting sidelink positioning reference signals, and may implicitly indicate that the first message includes the first SL-PRS, so that After receiving the first message on the resource in the resource pool of the sidelink positioning reference signal, the second terminal device may determine that the first message includes the first SL-PRS, thereby providing a transmission sidelink positioning reference signal method.
  • the first terminal device can broadcast or multicast the first message once in the resource pool specifically used to transmit sidelink positioning reference signals, and in at least one terminal device Each terminal device may receive the first message on a resource in a resource pool dedicated to transmitting sidelink positioning reference signals, and determine that the first message includes the first SL-PRS, so that at least one terminal device may measure the first SL-PRS.
  • An SL-PRS thereby avoiding the overhead caused by the first terminal device needing to send sidelink positioning reference signals to each terminal device separately.
  • the embodiments in method 600, method 1200 and method 1300 and the embodiments in method 1400 and method 1500 can be independent or combined with each other, and the embodiments of the present application are not limited to this.
  • the embodiments in the method 600, the method 1200 and the method 1300 and the embodiments in the method 1400 and the method 1500 may be independent, the physics of the same nouns in the method 600, the method 1200 and the method 1300 and the method 1400 and the method 1500 The meanings may be different.
  • the physical meaning of the first identification in the method 600, the method 1200 and the method 1300 is different from the physical meaning of the first identification in the method 1400 and the method 1500.
  • the physical meaning of the second terminal device in the method 600, the method 1200 and the method 1300 may be different from the physical meaning of the second terminal device in the method 1400 and the method 1500.
  • the embodiments in the method 600, the method 1200 and the method 1300 and the embodiments in the method 1400 and the method 1500 can be combined with each other, the physics of the same nouns in the method 600, the method 1200 and the method 1300 and the method 1400 and the method 1500
  • the meanings may be different.
  • the first identifier in method 1400 and method 1500 may be replaced by a second identifier.
  • the second terminal device may be replaced by a third terminal device in methods 1400 and 1500.
  • the format of the SCI may implicitly indicate that the sender will send the first SL-PRS. For example, if the first terminal device sends the first format SCI and the first SL-PRS, the second terminal in at least one terminal device When the device receives the first format SCI, the second terminal device determines to measure the first SL-PRS associated with the first format SCI. The following is described in conjunction with the embodiment of Figure 16. As shown in Figure 16, method 1600 includes:
  • the first terminal device sends the first format SCI to at least one terminal device.
  • the second terminal device receives the first format SCI, which includes the complete identification of the first terminal device.
  • the identity of the first terminal device is the layer 2 identity of the first terminal device.
  • the first format SCI includes the complete layer 2 identification of the first terminal device.
  • the first format SCI includes a complete 24-bit layer 2 identification of the first terminal device.
  • method 1600 further includes: the first terminal device determines to send the first message to at least one terminal device.
  • the first terminal device determines to assist at least one terminal device in positioning or the first terminal device determines that at least one terminal device wants to assist the first terminal device in positioning.
  • the first terminal device determines to assist at least one terminal device in positioning or the first terminal device determines that at least one terminal device wants to assist the first terminal device in positioning.
  • method 1600 further includes: the positioning initiator triggers positioning.
  • the positioning initiator triggers positioning.
  • the positioning party initiates positioning please refer to the description of S610. To avoid redundancy, no detailed description will be given.
  • At least one terminal device may be one terminal device or two terminal devices or more than two terminal devices. This embodiment of the present application does not place any limit on the number of terminal devices that perform side link positioning with the first terminal device. .
  • the second terminal device is one terminal device among the at least one terminal device.
  • This embodiment of the present application only takes the second terminal device of the at least one terminal device as an example.
  • Other terminal devices among the at least one terminal device are different from the first terminal device.
  • the two terminal devices are similar and will not be described in detail to avoid redundancy.
  • the first terminal device sends the first SL-PRS to at least one terminal device, the second terminal device in the at least one terminal device receives the first SL-PRS, and the first format SCI is associated with the first SL-PRS.
  • S1620 includes: the first terminal device sends the first SL-PRS to at least one terminal device in a broadcast or multicast manner, thus avoiding the need for the first terminal device to send the first SL-PRS to each terminal device in the at least one terminal device.
  • the signaling overhead caused by sending the first SL-PRS respectively.
  • the second terminal device may determine that the first terminal device also sent the first SL associated with the first format SCI. -PRS, the second terminal device will measure the first SL-PRS associated with the SCI.
  • the first format SCI in S1610 is the first stage SCI.
  • the first stage SCI is used to schedule the first SL-PRS. That is to say, if the first format SCI is a first-stage SCI, and the first-stage SCI includes a complete identification of the first terminal device, such as a complete 24-bit identification, then the second terminal device measures the first SL -PRS.
  • the first stage SCI may include a source ID field, where the length of the source ID field is 24 bits, and the 24 bits in the source ID field carry the complete layer 2 identification of the first terminal device.
  • the first stage SCI is used to schedule the first message, and the first message includes the first SL-PRS.
  • the identity of the first message is the identity of the first terminal device.
  • the SCI in S1610 is the second stage SCI.
  • the complete identity of the first terminal device included in the second-stage SCI is used to indicate that the first SL-PRS is sent by the first terminal device.
  • the second terminal device can determine and measure the first SL based on the second-stage SCI. -PRS. That is to say, the second terminal device according to the first terminal device
  • the identification determines that the SCI of the second stage is sent by the first terminal device.
  • the second terminal device further determines based on the second stage SCI including the complete identification of the first terminal device that the first terminal device also sent the SCI of the second stage.
  • the associated first SL-PRS is such that the second terminal device measures the first SL-PRS.
  • the second stage SCI may include a source ID field, where the length of the source ID field is 24 bits, and the 24 bits in the source ID field carry the complete layer 2 identification of the first terminal device.
  • the first terminal device can also send the first-stage SCI.
  • the first-stage SCI is used to schedule the first message.
  • the first message includes the second-stage SCI and the first SL-PRS.
  • the source identifier of the first message is the identifier of the first terminal device. That is to say, at this time, S1610 and S1620 may be sent in one message.
  • the SCI of the second stage is associated with the first SL-PRS, and the SCI of the first stage can also be associated with the first SL-PRS.
  • the second terminal device measures the first SL-PRS.
  • the method 1600 includes the second terminal device determining that the first message includes the first SL-PRS according to the first format SCI.
  • the second terminal device may determine that the first message is sent by the first terminal device according to the identification of the first terminal device included in the first format SCI.
  • the second terminal device determines that the first message includes the first SL-PRS according to the first format SCI, and at the same time determines that it is the first SL sent by the first terminal device according to the complete identity of the first terminal device included in the first format SCI.
  • -PRS execute S1620, and the second terminal device does not need to submit data to the MAC layer at the PHY layer.
  • the second terminal device sends the measurement result of the first SL-PRS to the first terminal device.
  • the measurement result of the first SL-PRS is used for positioning, for example, to assist the first terminal device in positioning.
  • S1640 includes: the second terminal device may send the measurement result of the first SL-PRS to the first terminal device through the unicast connection.
  • S1640 includes: the second terminal device may send the first SL-PRS to the first terminal device through other terminal devices, for example, the second terminal device may send the first SL-PRS to the first terminal device through the fifth terminal device. measurement results.
  • the second terminal device in the case where a unicast connection exists between the second terminal device and the fifth terminal device, and a unicast connection exists between the fifth terminal device and the first terminal device, the second terminal device communicates with the third party through the fifth terminal device.
  • the first terminal device sends the measurement result of the first SL-PRS, including: the second terminal device sends the measurement result of the first SL-PRS to the fifth terminal device through a unicast connection with the fifth terminal device, and the fifth terminal device passes The unicast connection with the first terminal device sends the measurement results of the first SL-PRS.
  • the second terminal device may not send the measurement result of the first SL-PRS to the first terminal device.
  • there may be no unicast connection between the second terminal device and the first terminal device. that is to say, S1640 does not exist at this time.
  • the measurement result of the first SL-PRS may be the measurement result obtained by measuring the first SL-PRS by the second terminal device, or the measurement result of the first SL-PRS may include the measurement result of the second terminal device based on the first SL-PRS.
  • the obtained location information for example, the location information may be the location information of the first terminal device or the location information of the second terminal device.
  • the first terminal device is UE4, and at least one terminal device includes UE2 and UE3.
  • method 1700 includes:
  • S1701-S1706 are the same as S1201-S1206 respectively.
  • UE4 sends the first format SCI
  • UE2 and UE3 receive the first format SCI
  • the first format SCI includes the complete layer 2 identifier of UE4.
  • UE4 when UE4 sends the first format SCI, UE4 sends the first format SCI in a broadcast or multicast manner.
  • S1708 UE4 sends the first SL-PRS, UE2 and UE3 receive the first SL-PRS, and the first format SCI is associated with the first SL-PRS.
  • UE4 when UE4 sends the first SL-PRS, UE4 sends the first SL-PRS in a broadcast or multicast manner.
  • S1707 precedes S1708.
  • S1707 may precede S1708.
  • S1707 and S1708 are performed simultaneously.
  • the SCI in S1707 is the second-stage SCI.
  • S1707 and S1708 can be in the first message, and the first-stage SCI is used for Dispatch the first message.
  • UE2 determines that the first SL-PRS associated with the first format SCI is sent by the UE according to the complete source layer 2 identifier included in the first format SCI.
  • UE2 determines that the currently scheduled transmission includes the first SL-PRS according to the first format SCI. UE2 does not need to submit the currently scheduled transmission to the MAC layer at the PHY layer. UE2 further determines that the SCI is S1703 based on the source layer 2 identifier of the UE. sent by the determined UE4, so that UE2 can measure the first SL-PRS.
  • UE3 determines that the first SL-PRS associated with the first format SCI is sent by the UE based on the complete source layer 2 identifier included in the first format SCI.
  • UE3 determines that the currently scheduled transmission includes the first SL-PRS according to the first format SCI. UE3 does not need to submit the currently scheduled transmission to the MAC layer at the PHY layer. UE3 further determines that the SCI is S1704 based on the UE's source layer 2 identifier. sent by the determined UE4, so that UE3 can measure the first SL-PRS.
  • S1709 can be performed before, after or at the same time as S1710.
  • S1711-S1713 are the same as S1210-S1212 respectively.
  • UE2 does not need to send the measurement result of the first SL-PRS to the UE.
  • S1705 and S1711 may not exist.
  • UE2 measures the first SL-PRS. After PRS, its position can be determined based on the measurement results of the first SL-PRS.
  • UE3 does not need to send the measurement result of the first SL-PRS to the UE.
  • S1706 and S1712 do not exist.
  • after UE3 measures the first SL-PRS it can The measurement results determine its position.
  • the receiver of the first SL-PRS does not need to send the measurement results to the sender of the first SL-PRS, then there is no need to communicate between the sender of the first SL-PRS and the receiver of the first SL-PRS. Establish a unicast connection.
  • UE2 and UE3 can send the measurement results to UE4 through other UEs, such as UE5.
  • the positioning method used in the positioning scenario of method 1600 does not require transmission of measurement results, there is no need to transmit the measurement results. In this case, S1711-S1713 may not exist, and S1705 and S1706 may not exist.
  • the format of the SCI can implicitly indicate that the first terminal device sending the SCI also sent the first SL-PRS, so that the first format SCI received by the second terminal device and the complete SCI included in the first format
  • the identification of the first terminal device determines that the first terminal device sent the first SL-PRS, so that the second terminal device can determine to measure the first SL-PRS.
  • This provides a method for transmitting sidelink positioning reference signals.
  • the first terminal device can send a SCI and the first SL-PRS through broadcast or multicast, and each terminal device in at least one terminal device can determine the third SCI to be sent.
  • a terminal device also sends the first SL-PRS, so that at least one terminal device can measure the first SL-PRS, thereby avoiding the need for the first terminal device to The overhead caused by sending the SCI and the first SL-PRS side row to each terminal device respectively.
  • the same noun can express different meanings.
  • the first message can be different, the first identifier can be different, and in different embodiments the second terminal Devices can vary.
  • the embodiment of the present application only takes the sidelink positioning reference signal as the first SL-PRS as an example.
  • the sidelink positioning reference signal may also be a channel sounding reference signal. (sounding reference signal, SRS).
  • assisting in positioning a certain device can be understood as assisting in positioning a certain device.
  • assisting in positioning of a first terminal device by at least one terminal device can be understood as assisting in positioning of a first terminal by at least one terminal device.
  • the first terminal device assisting the positioning of at least one terminal device can be understood as the first terminal device assisting the positioning of at least one terminal device.
  • the positioning scenarios applicable to the embodiments of the present application include but are not limited to the scenarios in Figure 2 or Figure 3, and the embodiments of the present application are also applicable to other positioning scenarios.
  • the embodiments of the present application do not impose any restrictions on positioning technology, and the embodiments of the present application are applicable to any positioning technology.
  • FIG. 18 shows a communication device 1800 provided by an embodiment of the present application.
  • the communication device 1800 includes a processor 1810 and a transceiver 1820.
  • the processor 1810 and the transceiver 1820 communicate with each other through an internal connection path, and the processor 1810 is used to execute instructions to control the transceiver 1820 to send signals and/or receive signals.
  • the communication device 1800 may also include a memory 1830, which communicates with the processor 1810 and the transceiver 1820 through internal connection paths.
  • the memory 1830 is used to store instructions, and the processor 1810 can execute the instructions stored in the memory 1830 .
  • the communication device 1800 is used to implement various processes and operations corresponding to the first terminal device in the above method 600.
  • the communication device 1800 is used to implement various processes and operations corresponding to the third terminal device in the above method 600.
  • the communication device 1800 is used to implement various processes and operations corresponding to the first terminal device in the above method 1400.
  • the communication device 1800 is used to implement various processes and operations corresponding to the second terminal device in the above method 1400.
  • the communication device 1800 is used to implement various processes and operations corresponding to the first terminal device in the above method 1600. In a possible implementation manner, the communication device 1800 is used to implement various processes and operations corresponding to each process and operation corresponding to the second terminal device in the above method 1600.
  • the communication device 1800 may be specifically the first terminal device, the second terminal device, or the third terminal device in the above embodiments, or may be a chip or a chip system.
  • the transceiver 1820 may be the transceiver circuit of the chip, which is not limited here.
  • the communication device 1800 may be used to perform various operations and/or processes corresponding to the first terminal device, the second terminal device, or the third terminal device in the above method embodiment.
  • the memory 1830 may include read-only memory and random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory.
  • the memory may also store device type information.
  • the processor 1810 may be used to execute instructions stored in the memory, and when the processor 1810 executes the instructions stored in the memory, the processor 1810 is used to execute the above-mentioned steps with the first terminal device or the second terminal device or the third terminal device. Each operation and/or process of the corresponding method embodiment.
  • each operation of the above method can be completed through the integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the operations of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the operations of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities.
  • each operation of the above method embodiment can be completed through the integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. .
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the operations of the methods disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the operations of the above method in combination with its hardware.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the present application also provides a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the first step in the above method embodiment. Each operation or process performed by a terminal device, a second terminal device, or a third terminal device.
  • the present application also provides a computer-readable storage medium.
  • the computer-readable storage medium stores program code.
  • the program code When the program code is run on a computer, it causes the computer to execute the above method embodiment. Each operation or process performed by the first terminal device, the second terminal device, or the third terminal device.
  • the present application also provides a communication system, which includes the aforementioned one or more first terminal devices, one or more second terminal devices, and one or more third terminal devices. At least two items.
  • the communication unit performs the receiving or transmitting operations in the method embodiments.
  • Other operations may be performed by the processing unit (processor).
  • the functions of specific units may be based on corresponding method embodiments.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • each functional unit may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated.
  • the usable media may be magnetic media (e.g., floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, solid state disk (SSD)), etc.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the operations of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code. .

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente demande concerne un procédé de transmission d'un signal de référence de positionnement de liaison latérale et un appareil de communication. Un premier dispositif terminal peut envoyer un premier message à au moins un dispositif terminal, le premier message contenant des premières informations d'indication, et les premières informations d'indication étant utilisées pour indiquer que le premier message comporte un premier signal de référence de liaison latérale. De cette manière, après que ledit au moins un dispositif terminal reçoit les premières informations d'indication, il peut être déterminé que le premier message reçu comprend un premier signal de référence de positionnement de liaison latérale. De cette manière, le problème de l'impossibilité pour ledit au moins un dispositif terminal de déterminer si le premier signal de référence de positionnement de liaison latérale est reçu est évité, ce qui permet d'obtenir un procédé de transmission d'un signal de référence de liaison latérale.
PCT/CN2023/100262 2022-06-30 2023-06-14 Procédé de transmission de signal de référence de positionnement de liaison latérale et appareil de communication WO2024001793A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210769502.5 2022-06-30
CN202210769502 2022-06-30
CN202210918531.3 2022-08-01
CN202210918531.3A CN117377060A (zh) 2022-06-30 2022-08-01 传输侧行链路定位参考信号的方法和通信装置

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021086093A1 (fr) * 2019-11-03 2021-05-06 엘지전자 주식회사 Procédé et dispositif de transmission de s-prs dans nr v2x
CN112995899A (zh) * 2021-05-08 2021-06-18 北京大唐高鸿数据网络技术有限公司 车路协同定位方法、装置、车载定位系统及路侧设备
WO2021188208A1 (fr) * 2020-03-19 2021-09-23 Qualcomm Incorporated Détermination de ressources de signal de référence de positionnement dans un positionnement coopératif assisté par liaison latérale hors couverture
WO2021240478A1 (fr) * 2020-05-29 2021-12-02 Lenovo (Singapore) Pte. Ltd. Configuration de groupe de ressources de liaison latérale

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021086093A1 (fr) * 2019-11-03 2021-05-06 엘지전자 주식회사 Procédé et dispositif de transmission de s-prs dans nr v2x
WO2021188208A1 (fr) * 2020-03-19 2021-09-23 Qualcomm Incorporated Détermination de ressources de signal de référence de positionnement dans un positionnement coopératif assisté par liaison latérale hors couverture
WO2021240478A1 (fr) * 2020-05-29 2021-12-02 Lenovo (Singapore) Pte. Ltd. Configuration de groupe de ressources de liaison latérale
CN112995899A (zh) * 2021-05-08 2021-06-18 北京大唐高鸿数据网络技术有限公司 车路协同定位方法、装置、车载定位系统及路侧设备

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