WO2024011643A1

WO2024011643A1 - Methods, terminal devices and computer readable medium for communication

Info

Publication number: WO2024011643A1
Application number: PCT/CN2022/106132
Authority: WO
Inventors: Ying Zhao; Zhaobang MIAO; Wei Chen; Gang Wang
Original assignee: Nec Corporation
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2024-01-18

Abstract

Example embodiments of the present disclosure relate to coordinated positioning via sidelink resource. A first terminal device determines inter-UE coordination (IUC) information. The IUC information includes first information and second information. The first information aids a sidelink resource selection procedure at a second terminal device. The second information facilitates resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device. And the first terminal device transmits the IUC information to the second terminal device. Through this solution, several enhancements to requesting and providing method for IUC information to facilitate the resource allocation in SL positioning are provided.

Description

METHODS, TERMINAL DEVICES AND COMPUTER READABLE MEDIUM FOR COMMUNICATION

FIELD

Embodiments of the present disclosure generally relate to the field of communications, and in particular, to methods, terminal devices and computer readable medium for sidelink positioning.

BACKGROUND

Determining the location or position of a device that is accessing a wireless communication network may be useful for many applications including, for example, autonomous driving, emergency calls, personal navigation, asset tracking, locating a friend or family member, etc. A work item was conducted in the third Generation Partnership Project (3GPP) for native positioning support in New Radio (NR) during Release 16. As a result of that work, the following positioning solutions are specified for Release 16 NR positioning.

Generally speaking, in a wireless positioning system, if a device (such as, a mobile terminal, a vehicle, and the like) wants to obtain its position, the device needs to exchange and measure a plurality of positioning reference signals (PRSs) with multiple positioning devices. As a result, during the positioning procedure, both the device to be positioned and the multiple positioning devices need to be allocated with a suitable resource for a transmission of PRSs. Therefore, the resource allocation for transmission of PRSs is very important in the wireless positioning system.

SUMMARY

In general, example embodiments of the present disclosure provide a solution for sidelink resource allocation for positioning. Embodiments that do not fall under the scope of the claims, if any, are to be interpreted as examples useful for understanding various embodiments of the disclosure.

In a first aspect, there is provided a method for communication. The method comprises: determining, at a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at a second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and transmitting the IUC information to the second terminal device.

In a second aspect, there is provided a method for communication. The method comprises: receiving, at a second terminal device from a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at the second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and performing, based on the IUC information, the sidelink positioning procedure with the first terminal device.

In a third aspect, there is provided a first terminal device. The first terminal dev ice comprises a processor; and a memory storing computer program code; the memory and the computer program code configured to, with the processor, cause the terminal device to perform the method according to the first aspect.

In a fourth aspect, there is provided a second terminal device. The second terminal device comprises a processor; and a memory storing computer program code; the memory and the computer program code configured to, with the processor, cause the network device to perform the method according to the second aspect.

In a fifth aspect, there is provided a computer readable medium. The computer readable medium comprises program instructions for causing an apparatus to perform at least the method according to the first and second aspects.

It is to be understood that the summary section is not intended to identify key or essential features of embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become easily comprehensible through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

Some example embodiments will now be described with reference to the accompanying drawings, where:

Fig. 1 illustrates an example environment in which example embodiments of the present disclosure can be implemented;

Fig. 2 illustrates a signaling flow for sidelink positioning according to some example embodiments of the present disclosure;

Fig. 3 illustrates a flowchart of an example method implemented at a first terminal device according to some example embodiments of the present disclosure;

Fig. 4 illustrates a flowchart of another method implemented at a second terminal device according to some other example embodiments of the present disclosure; and

Fig. 5 illustrates a block diagram of an example computer readable medium in accordance with some example embodiments of the present disclosure.

Throughout the drawings, the same or similar reference numerals represent the same or similar element.

DETAILED DESCRIPTION

Principle of the present disclosure will now be described with reference to some example embodiments. It is to be understood that these embodiments are described only for the purpose of illustration and help those skilled in the art to understand and implement the present disclosure, without suggesting any limitations as to the scope of the disclosure. The disclosure described herein can be implemented in various manners other than the ones described below.

In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skills in the art to which this disclosure belongs.

As used herein, the term “terminal device” refers to any device having wireless or wired communication capabilities. Examples of the terminal device include, but not limited to, user equipment (UE) , personal computers, desktops, mobile phones, cellular phones, smart phones, personal digital assistants (PDAs) , portable computers, tablets, wearable devices, internet of things (IoT) devices, Ultra-reliable and Low Latency Communications (URLLC) devices, Internet of Everything (IoE) devices, machine type communication (MTC) devices, device on vehicle for V2X communication where X means pedestrian, vehicle, or infrastructure/network, devices for Integrated Access and Backhaul (IAB) , Small Data Transmission (SDT) , mobility, Multicast and Broadcast Services (MBS) , positioning, dynamic/flexible duplex in commercial networks, reduced capability (RedCap) , Space borne vehicles or Air borne vehicles in Non-terrestrial networks (NTN) including Satellites and High Altitude Platforms (HAPs) encompassing Unmanned Aircraft Systems (UAS) , eXtended Reality (XR) devices including different types of realities such as Augmented Reality (AR) , Mixed Reality (MR) and Virtual Reality (VR) , the unmanned aerial vehicle (UAV) commonly known as a drone which is an aircraft without any human pilot, devices on high speed train (HST) , or image capture devices such as digital cameras, sensors, gaming devices, music storage and playback appliances, or Internet appliances enabling wireless or wired Internet access and browsing and the like. The terminal device’ can further has ‘multicast/broadcast’ feature, to support public safety and mission critical, V2X applications, transparent IPv4/IPv6 multicast delivery, IPTV, smart TV, radio services, software delivery over wireless, group communications and IoT applications. It may also incorporate one or multiple Subscriber Identity Module (SIM) as known as Multi-SIM. The term “terminal device” can be used interchangeably with a UE, a mobile station, a subscriber station, a mobile terminal, a user terminal or a wireless device.

The term “network device” refers to a device which is capable of providing or hosting a cell or coverage where terminal devices can communicate. Examples of a network device include, but not limited to, a Node B (NodeB or NB) , an evolved NodeB (eNodeB or eNB) , a next generation NodeB (gNB) , a transmission reception point (TRP) , a remote radio unit (RRU) , a radio head (RH) , a remote radio head (RRH) , an IAB node, a low power node such as a femto node, a pico node, a reconfigurable intelligent surface (RIS) , Network-controlled Repeaters, and the like.

The terminal device or the network device may have Artificial intelligence (AI) or Machine learning capability. It generally includes a model which has been trained from numerous collected data for a specific function, and can be used to predict some information.

The terminal or the network device may work on several frequency ranges, e.g. FR1 (410 MHz –7125 MHz) , FR2 (24.25GHz to 71GHz) , frequency band larger than 100GHz as well as Tera Hertz (THz) . It can further work on licensed/unlicensed/shared spectrum. The terminal device may have more than one connection with the network devices under Multi-Radio Dual Connectivity (MR-DC) application scenario. The terminal device or the network device can work on full duplex, flexible duplex and cross division duplex modes.

The network device may have the function of network energy saving, Self-Organizing Networks (SON) /Minimization of Drive Tests (MDT) . The terminal may have the function of power saving.

The embodiments of the present disclosure may be performed in test equipment, e.g. signal generator, signal analyzer, spectrum analyzer, network analyzer, test terminal device, test network device, channel emulator

The embodiments of the present disclosure may be performed according to any generation communication protocols either currently known or to be developed in the future. Examples of the communication protocols include, but not limited to, the first generation (1G) , the second generation (2G) , 2.5G, 2.75G, the third generation (3G) , the fourth generation (4G) , 4.5G, the fifth generation (5G) communication protocols, 5.5G, 5G-Advanced networks, or the sixth generation (6G) networks.

The terminal device in positioning can transmit related data with each other. As used herein, the term “resource” or “transmission resource” may refer to any resource for performing a communication, such as a resource in time domain, a resource in frequency domain, a resource in space domain, a resource in code domain, or any other resource enabling a communication, and the like. In the following, a resource in frequency domain or time domain will be used as an example of a transmission resource for describing some example embodiments of the present disclosure. It is to be understood that example embodiments of the present disclosure are equally applicable to other resources in other resource domains.

As used herein, the term “sidelink” refers to a direct communication link and/or discovery link between two or more terminal devices, the term “PC5” refer to an interface which enables communication and/or discovery between two or more terminal devices without traversing any network node and the term “PC5 direct link” refers to the link established between two or more terminal devices over the PC5 interface. The term “sidelink” and “PC5 direct link” described herein are equivalent to each other.

As used herein, the term “RS” may refer to any signal that could be used for estimating the position or location of a device, such as cell-specific reference signal (CRS) , sounding reference signal (SRS) , demodulation reference signal (DMRS) , positioning reference signal (PRS) , or any other RS suitable enabling positioning, and the like. In the following, a PRS will be used as an example of the RS for describing some example embodiments of the present disclosure. It is noted that example embodiments of the present disclosure are equally applicable to other RSs.

As used herein, the term “IUC” may refer to inter-UE coordination method in sidelink communication. The terminal devices may exchange information with one another over sidelink which can aid the resource allocation by contention based resource selecting. There may have two schemes for doing so. For example, there may have two terminal devices, such as, terminal-A and terminal-B. The terminal-B has a sidelink transmission to perform and receives coordination information from terminal-A.

In scheme 1, the terminal-A can provide to terminal-B indications of resources that are preferred to be included in terminal-B's (re-) selected resources, or preferred to be excluded. When given resources to include, terminal-B may rely only on those resources, at least if it does not support sensing/resource exclusion, or may combine them with resources identified by its own sensing procedure, before making a final selection. Transmissions of, and requests for, coordination information are sent by terminal-A or terminal-B. Coordination information can be in response to a request from terminal-B, or due to an internal cause at terminal-A. A request is sent in unicast to terminal-A, which responds also in unicast. When due to an internal cause, terminal-A uses unicast to indicate resources preferred to be included, and unicast, groupcast or broadcast to indicate resources preferred to be excluded.

In scheme 2, the terminal-A can provide to terminal-B an indication that resources reserved for terminal-B's transmission (which may or may not be to terminal-A) will be, or could be, subject to conflict with a transmission from another terminal. Terminal-B can then re-select new resources to replace them. The indication from terminal-A is a physical sidelink feedback channel (PSFCH) sent to terminal-B in resources which are (pre-) configured separately from those for sidelink hybrid automatic repeat request (SL-HARQ) operation, and from which terminal-B can derive which of its transmissions is indicated for re-selection.

In both schemes, terminal-A can identify resources according to a number of conditions which are based on the sidelink Reference Signal Receiving Power (SL-RSRP) of the resources in question as a function of the traffic priority, and/or whether terminal-A would be unable to receive a transmission from terminal-B, due to performing its own transmission, i.e. a half-duplex problem. The purpose of this exchange of information is to give terminal-B information about resource occupancy acquired by terminal-A which it might not be able to determine on its own due to hidden nodes, exposed nodes, persistent collisions, etc.

According to the principle of different PRS based positioning methods, the UE location relies on the measurements on PRSs from at least two anchor nodes, along with the necessary assisted information for absolute positioning or relative positioning, respectively. Each anchor node may transmit sidelink (SL) positioning reference signal (PRS) through directional beams, and a SL PRS beam corresponds to a certain spatial direction and coverage.

For out-of-coverage (OOC) scenario, anchor nodes may be UE-type roadside unit (RSU) and/or anchor UE (UE supporting positioning of target UE) . Assuming the target UE establishes separate PC5 connection (s) with one or multiple anchor nodes, the signaling, SL PRS (pre) configuration and positioning related information may be transmitted via PC5 interface, as well as the IUC related configuration (supporting scheme 1 and/or scheme 2 IUC) exchanging between target UE and anchor nodes involved in current SL positioning procedure.

As used herein, the singular forms ‘a’ , ‘an’ and ‘the’ are intended to include the plural forms as well, unless the context clearly indicates otherwise. The term ‘includes’ and its variants are to be read as open terms that mean ‘includes, but is not limited to. ’ The term ‘based on’ is to be read as ‘at least in part based on. ’ The term ‘some embodiments’ and ‘an embodiment’ are to be read as ‘at least some embodiments. ’ The term ‘another embodiment’ is to be read as ‘at least one other embodiment. ’ The terms ‘first, ’ ‘second, ’ and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below.

In some examples, values, procedures, or apparatus are referred to as ‘best, ’ ‘lowest, ’ ‘highest, ’ ‘minimum, ’ ‘maximum, ’ or the like. It will be appreciated that such descriptions are intended to indicate that a selection among many used functional alternatives can be made, and such selections need not be better, smaller, higher, or otherwise preferable to other selections.

The term “circuitry” used herein may refer to hardware circuits and/or combinations of hardware circuits and software. For example, the circuitry may be a combination of analog and/or digital hardware circuits with software/firmware. As a further example, the circuitry may be any portions of hardware processors with software including digital signal processor (s) , software, and memory (ies) that work together to cause an apparatus, such as a terminal device or a network device, to perform various functions. In a still further example, the circuitry may be hardware circuits and or processors, such as a microprocessor or a portion of a microprocessor, that requires software/firmware for operation, but the software may not be present when it is not needed for operation. As used herein, the term circuitry also covers an implementation of merely a hardware circuit or processor (s) or a portion of a hardware circuit or processor (s) and its (or their) accompanying software and/or firmware.

The principle in sidelink positioning is maximum reusing existing reference signals, procedures, etc. from sidelink communication and from positioning. And the sidelink positioning should cover the coverage scenarios of in-coverage, partial-coverage and out-of-coverage.

But the problems is although the IUC may be utilized to support the SL positioning solutions, especially for the OOC scenarios, the enhancement to procedure and/or signaling of the existing protocols is necessary to implements the SL positioning methods based on the IUC feature.

Regarding the solution of SL positioning based on IUC method for the OOC scenario, after exchanging of positioning capabilities and transferring of assistance data between a target UE and one or multiple anchor nodes, this application provides several enhancements to requesting and providing method for IUC information to facilitate the resource allocation in SL positioning.

The solution provides the method of combining UE-A related resource information in the IUC information and introducing corresponding indication. The solution also provides the method of combining multiple positioning procedure related resource information in a signal IUC information and introducing corresponding indication. The solution also provides the method of introducing preferred level for multiple resource combinations and corresponding indication in the IUC information. The solution also provide the method of combining multiple resources related to different transactions in a positioning procedure and introducing corresponding indication. The solution also provides the method of enhancing the IUC request for the IUC information about multiple separate resources related to different transactions in a positioning procedure. The solution also provides the method of introducing the applicable object indication of non-preferred resource in the IUC information.

Through this solution, with less expected impact on the existing specs of SL and positioning, the potential SL positioning method based on IUC information requesting and providing are given to facilitate SL positioning with shortened latency and enhanced reliability. Example embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG. 1A illustrates an example environment 100 in which example embodiments of the present disclosure can be implemented. The environment 100, which may be a part of a communication network, may comprise a terminal device 110, a terminal device 120, and a network device 130. It is to be understood that the number of devices in Fig. 1 is given for the purpose of illustration without suggesting any limitations to the present disclosure. The communication network 100 may include any suitable number of network devices and/or terminal devices adapted for implementing embodiments of the present disclosure. In the example of Fig. 1, the network device 130 provides a serving area called as cell 140. The terminal device 120 is within the coverage of the cell 140, but the terminal device 110 is out of the coverage of the cell 140, which also means a failure of accessing the network device 130.

As shown in Fig. 1A, the terminal device 110 and the terminal device 120 can communicate with each other via sidelink communication. Sidelink communication is a wireless radio communication directly between two or more terminal devices, such as two or more terminal devices among the terminal device 110 and the terminal device 120. In this type of communication, the two or more terminal devices that are geographically proximate to each other can directly communicate without going through the network device 130 or through a core network. Data transmission in sidelink communication is thus different from typical cellular network communications, in which a terminal device transmits data to the network device 130 (i.e., uplink transmissions) or receives data from the network device 130 (i.e., downlink transmissions) . In sidelink communication, data is transmitted directly from a source terminal device (such as the terminal device 110) to a target terminal device (such as the terminal device 120) through the Unified Air Interface, e.g., PC5 interface, (i.e., sidelink transmissions) , as shown in Fig. 1. Further, as a specific example, the terminal device 110 is a device to be positioned, and the terminal device 110 may exchange and measure RSs with the terminal devices 120 to determine its position.

Fig 1B shows illustrates another example environment 100 in which example embodiments of the present disclosure can be implemented. Both terminal device 110 and terminal device 120 are in the coverage of network device 130. The solution of the application may also apply to the environment of Fig 1B.

Communications in the environment 100 may be implemented according to any proper communication protocol (s) , comprising, but not limited to, cellular communication protocols of the first generation (1G) , the second generation (2G) , the third generation (3G) , the fourth generation (4G) and the fifth generation (5G) and on the like, wireless local network communication protocols such as Institute for Electrical and Electronics Engineers (IEEE) 802.11 and the like, and/or any other protocols currently known or to be developed in the future. Moreover, the communication may utilize any proper wireless communication technology, comprising but not limited to: Code Division Multiple Access (CDMA) , Frequency Division Multiple Access (FDMA) , Time Division Multiple Access (TDMA) , Frequency Division Duplex (FDD) , Time Division Duplex (TDD) , Multiple-Input Multiple-Output (MIMO) , Orthogonal Frequency Division Multiple (OFDM) , Discrete Fourier Transform spread OFDM (DFT-s-OFDM) and/or any other technologies currently known or to be developed in the future.

Reference is now made to Fig. 2, which shows a signaling flow 200 for sidelink resource allocation in positioning according to some example embodiments of the present disclosure. For the purpose of discussion, the signaling flow 200 will be described with reference to Fig. 1. The signaling flow 200 may involve the terminal device 110, the terminal devices 120. Further, it is to be understood that the order of the signalings and actions in Fig. 2 is shown only for the purpose of illustrations. The order of the signalings and actions illustrated in signaling chart 200 may be performed in any suitable order adapted for implementing embodiments of the present disclosure.

In the signaling flow 200, the first terminal device 110 and the second terminal device 120 is for positioning. Each of the terminal devices may exchange and measure RSs to determine their position. In operation, each of the terminal devices may determines (205) the IUC information 202 about the sidelink resources for transmitting the RSs. The IUC information 202 may comprise first information and second information. The first information is for aiding a sidelink resource selection procedure at second terminal device 120. The second information is for facilitating resource allocation in a sidelink positioning procedure associated with the first terminal device 110 and the second terminal device 120.

The terminal device 110 then transmits (210) the IUC information 202 to terminal device 120. Accordingly, the terminal device 120 receives (215) the IUC information 202 from the terminal device 110. Upon receiving (215) the IUC information 202, the terminal device 120 performs (220) the sidelink positioning procedure with the terminal device 110 based on the IUC information 202.

In some embodiments, the terminal device 120 may select resources for transmitting the RSs according to the IUC information. This type resource may be referred to as “preferred resource” . In some embodiments, the first information may also indicate the resources which are preferred to be excluded by terminal device 120 for transmitting the RSs. This type resource may be referred to as “non-preferred resource” .

In some embodiments, SL PRS resource related parameters may be including the subcarrier spacing (SCS) /cyclic prefix (CP) for SL PRS resource, SL PRS resource set configuration identity, SL PRS resource configuration identity, SL PRS resource periodicity, the number of SL PRS resource repetition, the offset between two repeated instances of a SL PRS source, starting slot/symbol of SL PRS resource, comb size of a SL PRS source and so on.

In some embodiments, the SL PRS resource selection is based on IUC mechanism. The determination of these parameters of may rely on both the (pre) configuration (which may be conveyed in assistance data transfer and/or IUC information requesting) and the sensed/indicated applicable resource (s) . For the latter, there may have two methods to determine/indicate one or more SL PRS parameter (s) . The first method is (pre) defining the association between the SL PRS parameter (s) and applicable resource (s) . And the second indicating the parameter (s) along with the enhanced IUC information (may be as additional indication/information to legacy IUC information, or as information within one of fields in a new sidelink control information (SCI) , or medium access control-control element (MAC-CE) .

In some embodiments, there may have two schemes for IUC related information providing and requesting based on terminal 110’s and/or terminal 120’s sensing/reservation on resource. The scheme 1 is inserting the additional indication/information within new field to existing IUC information/request. The scheme 2 is putting forward a new SCI format (such as SCI format 2-D) /MAC-CE to convey the enhanced IUC information based on existing inter-UE coordination mechanism for resource (re-) selection procedure, which may be only used for positioning related resources allocation, such as the resource indication/reservation for SL PRS transmission. The new SCI format may include legacy IUC information and other indication/information introduced in this ISS.

IUC information for resource object

In some embodiments, the second information indicates the association between the first terminal device 110 or the second terminal device 120 and corresponding resource.

For example, during a positioning procedure, such as Round-Trip Time (RTT) based location, there are bidirectional transactions related to SL PRS and measurement report between terminal device 110 and terminal device 120. Normally, the positioning service is sensitive to latency and reliability.

Aiming to simplify signaling and shorten the time delay, the object of corresponding resource conveyed in IUC information is introduced to cover the case wherein a preferred or non-preferred resource may be indicated for intended transmission not only from terminal 120 but also from terminal 110 in IUC method through unicast.

In some embodiments, the IUC information may be indicated by reinterpreting the existing field in SCI/MAC-CE, such as HARQ process number (for up to 4 resource combinations in IUC information through MAC-CE only) or Redundancy version (for up to 2 resource combinations in IUC information through SCI format 2-C &MAC-CE) .

In some embodiments, the IUC information may be indicated by introducing a new field with certain number of bits, such as M bits where M is the number of resource combinations conveyed in IUC information. Similarly, for IUC information through SCI 2-C &MAC-CE or MAC-CE only, M=2 or M>2 respectively.

For example, the new field may be introduced in 3rd Generation Partnership Project Technical Specification (3GPP TS) 38.212 as below:

It is noted that the parameter “sl-UEAResourceReserve” may be predefined and transmitted via a PC5 channel. In some embodiments, the IUC information can be indicated by a field in new SCI format which may convey comprehensive resource indication/reservation information obtained by IUC mechanism and other indication/information related to SL PRS resource parameters.

IUC information for procedure on resource

In some embodiments, the second information is for facilitating resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures. The first information indicates a plurality of resources for the plurality of sidelink positioning procedures, and the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures. The plurality of sidelink positioning procedures is based on different positioning methods.

For example, there may have more than one positioning procedure based on different methods between terminal 110 and terminal 120. This is for improving efficiency and reducing delay. So the IUC information of resource allocation also indicates the positioning procedure number of corresponding resource. By this way, the resources related to multiple positioning procedures, are indicated for intended transmissions from terminal 110 and/or terminal 120.

In some embodiments, the IUC information may be indicated by reinterpreting the existing field in SCI/MAC-CE, such as HARQ process number, for the association between each indicated resource and the corresponding positioning procedure. In some embodiments, the IUC information may be indicated by introducing a new field comprising N sets of bits, and each set indicates the association between certain indicated resource and the corresponding positioning procedure, where N is the number of resource combinations conveyed in IUC information.

For example, the new field may be introduced in 3GPP TS 38.212 as below:

It is noted that the parameter “sl-MultiResourceReservePro” may be predefined and transmitted via a PC5 channel. In some embodiments, the IUC information may be indicated by a field in new SCI format which may convey comprehensive resource indication/reservation information obtained by IUC mechanism and other indication/information related to SL PRS resource parameters.

IUC information for preferred resource level

In some embodiments, the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and the second information indicates a preferred level for each of the plurality of preferred resources. For example, when IUC information requesting is triggered due to an internal cause of terminal device 110 and/or terminal device 120 relies only on resources conveyed in IUC information, multiple preferred resources determined by terminal device 110 may have different applicability at least from the perspective of terminal device 110. The preferred level of resource indicated in IUC information is introduced to improve flexibility and efficiency for the case wherein the multiple candidate resources related to the same transmission in a positioning procedure.

In some embodiments, the determination of a candidate preferred resource level may rely on at least one of the following, but not limited to: the differential sensing results and positioning process (such as RSRP measurement, the association between time-frequency of SL PRS transmission and corresponding measurement report, etc. ) among multiple candidate resources. The candidate resource with better applicability may be leveled as more preferred resources.

In some embodiments, the IUC information may be indicated by reinterpreting the existing field (s) to provide corresponding preferred level indication for each resource (within N resource combinations) conveyed in IUC information. In some embodiments, the IUC information may be indicated by introducing a new field comprising N sets of bits, and each set indicates the preferred level of the corresponding candidate resource (within N resource combinations) conveyed in IUC information.

For example, the new field may be introduced in 3GPP TS 38.212 as below:

It is noted that the parameter “sl-MultiResourceReserveLv” may be predefined and transmitted via a PC5 channel. In some embodiments, the IUC information may be indicated by a field in new SCI format which may convey comprehensive resource indication/reservation information obtained by IUC mechanism and other indication/information related to SL PRS resource parameters.

IUC information for transaction on resource

In some embodiments, the first information indicates a plurality of non-preferred or preferred resources for a plurality of different transactions in the sidelink positioning procedure, and the second information indicates, for each resource of the plurality of non-preferred or preferred resources, a corresponding transaction among the plurality of different transactions.

As an example, for certain kind of positioning method, such as per-panel location, the N non-preferred or preferred resources conveyed in IUC information may be indicated for K (K>=2) different transactions in the same positioning procedure between terminal 110 and terminal 120. So the information may comprise the transaction indication corresponding to each resource within N resource combinations.

In some embodiments, the IUC information may be indicated by reinterpreting the existing field (s) to provide association between a resource (within N resource combinations) and corresponding transaction. In some embodiments, the IUC information may be indicated by introducing a new field comprising N sets of bits corresponding to N resource combinations respectively, and each set indicates the separate association between a resource and related transaction.

For example, the new field may be introduced in 3GPP TS 38.212 as below:

It is noted that the parameter “sl-MultiResourceReserveTransac” may be predefined and transmitted via a PC5 channel. In some embodiments, the IUC information may be indicated by a field in new SCI format which may convey comprehensive resource indication/reservation information obtained by IUC mechanism and other indication/information related to SL PRS resource parameters.

IUC information for non-preferred resource applicable

In some embodiments, the first information indicates a non-preferred resource for a subset of the plurality of terminal devices, and the second information indicates the subset of terminal devices to which the non-preferred resource is applicable. For example, a positioning group, including the target UE and two or more anchor nodes, may be set up based on certain signaling/procedure or geographic proximity. Then the non-preferred source conveyed in IUC information may be indicated to all members in the group through group cast.

According to the different scenarios (may be with respect to location, SL PRS feature, positioning method and other elements in the positioning process) for each member in the group, a non-preferred resource for certain member may be not non-preferred for the other member, i.e. the sensed resource status may vary among the members in the group. The object of each non-preferred resource conveyed in IUC information is introduced to cover the case wherein a non-preferred resource may be not applicable to all members in the group.

In some embodiments, the IUC information may be indicated by reinterpreting the existing field (s) to provide association between a non-preferred resource (within N resource combinations) and corresponding node (s) in the group. In some embodiments, the IUC information may be indicated by a new field comprising N sets of bits corresponding to N resource combinations respectively, and each set indicates the separate association between a non-preferred resource and related node (s) in the group.

For example, the new field may be introduced in 3GPP TS 38.212 as below:

It is noted that the parameter “sl-MultiResourceReserveException” may be predefined and transmitted via a PC5 channel. It is noted that the parameter “N _group-member” may be transmitted via a PC5 channel. In some embodiments, the IUC information may be indicated by a field in new SCI format which may convey comprehensive resource indication/reservation information obtained by IUC mechanism and other indication/information related to SL PRS resource parameters.

Request for IUC information

In some embodiments, the terminal device 110 may receive request for a plurality of resources for the IUC information from the second terminal device 120. For example, the terminal 110 may receive an explicit request from terminal 120 for the IUC information, the request may be augmented with K (K>=2) resources (instead of only one requested resource) related to multiple intended transactions/transmissions in a positioning procedure. There may be a strong correlation between these transactions/transmissions.

In some embodiments, the request may be indicated by updating the existing field (s) . For example, the fields may be updated in 3GPP TS 38.212 as below:

It is noted that the parameter “K” may be transmitted via a PC5 channel.

In some embodiments, the IUC information may comprise indications for a set of preferred and/or non-preferred resource (s) .

In some example embodiments, the second message is transmitted via sidelink control information (SCI) on a physical sidelink control channel (PSCCH) .

In some example embodiments, the second message is transmitted via MAC-CE on a physical sidelink control channel (PSCCH) . For example, the related contents may be updated in 3GPP TS 38.214 as below:

It is to be understood that in some other example embodiments, the second message may be transmitted via any suitable type of sidelink channel (such as, dedicated channel, data channel, common control channel, and the like) and any type of suitable sidelink message, and the scope of the present disclosure is not limited in this regard.

In some example embodiments, the second terminal device 120 may determine a set of preferred or non-preferred resources for a transaction in the sidelink positioning procedure based on the first information and the second information.

Fig. 3 shows a flowchart of an example method 300 implemented at the first terminal device 110 in accordance with some example embodiments of the present disclosure. For the purpose of discussion, the method 300 will be described from the perspective of the first terminal device 110 with respect to Figs. 1 to 2.

At block 310, the first terminal device 110 determines IUC information including first information and second information, the first information being for aiding a sidelink resource selection procedure at the second terminal device 120, the second information being for facilitating resource allocation in a sidelink positioning procedure associated with the first terminal device 110 and the second terminal device 120. At block 320, the first terminal device 110 transmits the IUC information to the second terminal device.

In some embodiments, the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device 110 and the second terminal device. In some embodiments, the second information indicates whether the sidelink transmission is from the first terminal device 110 to the second terminal device or from the second terminal device to the first terminal device 110.

In some embodiments, the second information is for facilitating resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures. In some embodiments, the first information indicates a plurality of resources for the plurality of sidelink positioning procedures.

In some embodiments, the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures. In some embodiments, the plurality of sidelink positioning procedures is based on different positioning methods. In some embodiments, the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure. In some embodiments, the second information indicates a preferred level for each of the plurality of preferred resources.

In some embodiments, the first terminal device 110 may further determine the preferred level based on at least one of following: sensing results on the plurality of preferred resources, reference signal received power (RSRP) measurements on the plurality of preferred resources, and an association, for each of the plurality of preferred resources, between a time-frequency position of a sidelink (SL) positioning reference signal (PRS) transmission and a corresponding measurement report.

In some embodiments, the first terminal device 110 may further receive, from the second terminal device, a request for the IUC information. In some embodiments, the IUC information is transmitted through a unicast transmission from the first terminal device 110 to the second terminal device. In some embodiments, the IUC information is transmitted through a groupcast transmission from the first terminal device 110 to a plurality of terminal devices including the second terminal device, and the first terminal device 110 and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.

In some embodiments, the first information indicates a non-preferred resource for a subset of the plurality of terminal devices, and the second information indicates the subset of terminal devices to which the non-preferred resource is applicable. In some embodiments, the second information is included in at least one of: an existing field of existing signaling, a new field of the existing signaling, and a field of new signaling.

In some embodiments, the existing signaling includes an existing sidelink control information (SCI) format or an existing medium access control (MAC) -control element (CE) , and the new signaling includes a new SCI format or a new MAC-CE. In some embodiments, the sidelink positioning procedure is for an out-of-coverage scenario in which at least one of the first terminal device 110 and the second terminal device is out of coverage of a serving network device.

Fig. 4 shows a flowchart of an example method 400 implemented at the second terminal device 120 in accordance with some example embodiments of the present disclosure. For the purpose of discussion, the method 400 will be described from the perspective of the second terminal device 120 with respect to Figs. 1 to 2.

At block 410, the second terminal device 120 receives IUC information including first information and second information, the first information being for aiding a sidelink resource selection procedure at the second terminal device, the second information being for facilitating resource allocation in a sidelink positioning procedure associated with the first terminal device 110 and the second terminal device. At block 420, the second terminal device 120 performs, based on the IUC information, the sidelink positioning procedure with the first terminal device 110.

In some embodiments, the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device 110 and the second terminal device, and the second information indicates whether the sidelink transmission is from the first terminal device 110 to the second terminal device or from the second terminal device to the first terminal device 110. In some embodiments, the second information is for facilitating resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures.

In some embodiments, the first information indicates a plurality of resources for the plurality of sidelink positioning procedures, and the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures. In some embodiments, the plurality of sidelink positioning procedures are based on different positioning methods.

In some embodiments, the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and the second information indicates a preferred level for each of the plurality of preferred resources. In some embodiments, the first information indicates a plurality of non-preferred or preferred resources for a plurality of different transactions in the sidelink positioning procedure, and the second information indicates, for each resource of the plurality of non-preferred or preferred resources, a corresponding transaction among the plurality of different transactions.

In some embodiments, the second terminal device 120 may further transmit, to the first terminal device 110, a request for the IUC information associated with a predetermined purpose of a plurality of predetermined purposes in the sidelink positioning procedure, each of the plurality of predetermined purposes being associated with corresponding IUC information.

In some embodiments, the IUC information is received through a unicast transmission from the first terminal device 110 to the second terminal device. In some embodiments, the IUC information is received through a groupcast transmission from the first terminal device 110 to a plurality of terminal devices including the second terminal device, and the first terminal device 110 and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.

In some embodiments, the existing signaling includes an existing sidelink control information (SCI) format or an existing medium access control (MAC) -control element (CE) , and the new signaling includes a new SCI format or a new MAC-CE. In some embodiments, the second terminal device 120 can further determine a set of preferred or non-preferred resources for a transaction in the sidelink positioning procedure based on the first information and the second information. In some embodiments, the sidelink positioning procedure is for an out-of-coverage scenario in which at least one of the first terminal device 110 and the second terminal device is out of coverage of a serving network device.

In some embodiments, the second terminal device 120 may further determine an applicable resource for transmitting a sidelink (SL) positioning reference signal (PRS) to the first terminal device 110, in the event that the first terminal device 110 is a target terminal device and the second terminal device is an anchor terminal device in the sidelink positioning procedure.

In some embodiments, the second terminal device 120 can further determine a SL PRS parameter based on a predefined association between the applicable resource and the SL PRS parameter. Alternatively, the second terminal device 120 may determine the SL PRS parameter associated with the applicable resource from the second information.

Fig. 5 is a simplified block diagram of a device 500 that is suitable for implementing some embodiments of the present disclosure. The device 500 can be considered as a further example embodiment of the

network devices

110 and 120 as shown in FIG. 1. Accordingly, the device 500 can be implemented at or as at least a part of the above network devices or terminal devices.

As shown, the device 500 includes a processor 510, a memory 520 coupled to the processor 510, a suitable transmitter (TX) and receiver (RX) 540 coupled to the processor 510, and a communication interface coupled to the TX/RX 540. The memory 520 stores at least a part of a program 530. The TX/RX 540 is for bidirectional communications. The TX/RX 540 has at least one antenna to facilitate communication, though in practice an Access Node mentioned in this application may have several ones. The communication interface may represent any interface that is necessary for communication with other network elements, such as X2 interface for bidirectional communications between gNBs or eNBs, S1 interface for communication between a Mobility Management Entity (MME) /Serving Gateway (S-GW) and the gNB or eNB, Un interface for communication between the gNB or eNB and a relay node (RN) , or Uu interface for communication between the gNB or eNB and a terminal device.

The program 530 is assumed to include program instructions that, when executed by the associated processor 510, enable the device 500 to operate in accordance with the embodiments of the present disclosure, as discussed herein with reference to FIGS. 2-4. The embodiments herein may be implemented by computer software executable by the processor 1510 of the device 500, or by hardware, or by a combination of software and hardware. The processor 510 may be configured to implement various embodiments of the present disclosure. Furthermore, a combination of the processor 510 and memory 520 may form processing means 550 adapted to implement various embodiments of the present disclosure.

The memory 520 may be of any type suitable to the local technical network and may be implemented using any suitable data storage technology, such as a non-transitory computer readable storage medium, semiconductor based memory devices, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory, as non-limiting examples. While only one memory 520 is shown in the device 500, there may be several physically distinct memory modules in the device 500. The processor 1210 may be of any type suitable to the local technical network, and may include one or more of general purpose computers, special purpose computers, microprocessors, digital signal processors (DSPs) and processors based on multicore processor architecture, as non-limiting examples. The device 500 may have multiple processors, such as an application specific integrated circuit chip that is slaved in time to a clock which synchronizes the main processor.

In some embodiments, a terminal device comprises circuitry configured to perform method 300 and/or 400.

The components included in the apparatuses and/or devices of the present disclosure may be implemented in various manners, including software, hardware, firmware, or any combination thereof. In one embodiment, one or more units may be implemented using software and/or firmware, for example, machine-executable instructions stored on the storage medium. In addition to or instead of machine-executable instructions, parts or all of the units in the apparatuses and/or devices may be implemented, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs) , Application-specific Integrated Circuits (ASICs) , Application-specific Standard Products (ASSPs) , System-on-a-chip systems (SOCs) , Complex Programmable Logic Devices (CPLDs) , and the like.

Generally, various embodiments of the present disclosure may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device. While various aspects of embodiments of the present disclosure are illustrated and described as block diagrams, flowcharts, or using some other pictorial representation, it will be appreciated that the blocks, apparatus, systems, technique terminal devices or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof.

The present disclosure also provides at least one computer program product tangibly stored on a non-transitory computer readable storage medium. The computer program product includes computer-executable instructions, such as those included in program modules, being executed in a device on a target real or virtual processor, to carry out the process or method as described above with reference to any of Figs. 2 to 4. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, or the like that perform particular tasks or implement particular abstract data types. The functionality of the program modules may be combined or split between program modules as desired in various embodiments. Machine-executable instructions for program modules may be executed within a local or distributed device. In a distributed device, program modules may be located in both local and remote storage media.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowcharts and/or block diagrams to be implemented. The program code may execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

The above program code may be embodied on a machine readable medium, which may be any tangible medium that may contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine readable medium may be a machine readable signal medium or a machine readable storage medium. A machine readable medium may include but not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine readable storage medium would include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM) , a read-only memory (ROM) , an erasable programmable read-only memory (EPROM or Flash memory) , an optical fiber, a portable compact disc read-only memory (CD-ROM) , an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific embodiment details are contained in the above discussions, these should not be construed as limitations on the scope of the present disclosure, but rather as descriptions of features that may be specific to particular embodiments. Certain features that are described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable sub-combination.

Although the present disclosure has been described in language specific to structural features and/or methodological acts, it is to be understood that the present disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

In summary, embodiments of the present disclosure may provide the following solutions.

A method for communication, comprising: determining, at a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at a second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and transmitting the IUC information to the second terminal device.

In some embodiments, the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device and the second terminal device.

In some embodiments, the second information indicates the association between the first terminal device or the second terminal device and the corresponding resource.

In some embodiments, the second information is for facilitating resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures.

In some embodiments, the first information indicates a plurality of resources for the plurality of sidelink positioning procedures.

In some embodiments, the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures.

In some embodiments, the plurality of sidelink positioning procedures is based on different positioning methods.

In some embodiments, the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and

In some embodiments, the second information indicates a preferred level for each of the plurality of preferred resources.

In some embodiments, the method further comprises determining the preferred level based on at least but not limited one of following: sensing results on the plurality of preferred resources, reference signal received power (RSRP) measurements on the plurality of preferred resources, and an association, for each of the plurality of preferred resources, between a time-frequency position of a sidelink (SL) positioning reference signal (PRS) transmission and a corresponding measurement report.

In some embodiments, the method further comprises receiving, from the second terminal device, a request for the IUC information associated with a predetermined transaction of a plurality of predetermined transactions in the sidelink positioning procedure, each of the plurality of predetermined transactions being associated with corresponding IUC information.

In some embodiments, the IUC information is transmitted through a unicast transmission from the first terminal device to the second terminal device.

In some embodiments, the IUC information is transmitted through a groupcast transmission from the first terminal device to a plurality of terminal devices including the second terminal device, and the first terminal device and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.

In some embodiments, the first information indicates a non-preferred resource for a subset of the plurality of terminal devices, and the second information indicates the subset of terminal devices to which the non-preferred resource is applicable.

In some embodiments, the second information is included in a field of sidelink control information (SCI) format or medium access control (MAC) -control element (CE) .

In some embodiments, the sidelink positioning procedure is for an out-of-coverage scenario in which at least one of the first terminal device and the second terminal device is out of coverage of a serving network device.

A method for communication, comprising: receiving, at a second terminal device from a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at the second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and performing, based on the IUC information, the sidelink positioning procedure with the first terminal device.

In some embodiments, the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device and the second terminal device, and the second information indicates the association between the first terminal device or the second terminal device and the corresponding resource.

In some embodiments, the first information indicates a plurality of resources for the plurality of sidelink positioning procedures, and the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures.

In some embodiments, the plurality of sidelink positioning procedures are based on different positioning methods.

In some embodiments, the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and the second information indicates a preferred level for each of the plurality of preferred resources.

In some embodiments, the method further comprises transmitting, to the first terminal device, a request for the IUC information.

In some embodiments, the IUC information is received through a unicast transmission from the first terminal device to the second terminal device.

In some embodiments, the IUC information is received through a groupcast transmission from the first terminal device to a plurality of terminal devices including the second terminal device, and the first terminal device and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.

In some embodiments, the method further comprises determining a set of preferred or non-preferred resources for a transaction in the sidelink positioning procedure based on the first information and the second information.

In some embodiments, the method further comprises determining an applicable resource for transmitting a sidelink (SL) positioning reference signal (PRS) to the first terminal device, in the event that the first terminal device is a target terminal device and the second terminal device is an anchor terminal device in the sidelink positioning procedure.

In some embodiments, the method further comprises determining a SL PRS parameter based on a predefined association between the applicable resource and the SL PRS parameter; or determining the SL PRS parameter associated with the applicable resource from the second information.

A first terminal device comprising: a processor; and a memory storing computer program code; the memory and the computer program code configured to, with the processor, cause the terminal device to perform the method according to above methods.

A second terminal device comprising: a processor; and a memory storing computer program code; the memory and the computer program code configured to, with the processor, cause the network device to perform the method according to above methods.

A computer readable medium having instructions stored thereon, the instructions, when executed by a processor of an apparatus, causing the apparatus to perform the method according to above methods.

Claims

A method for communication, comprising:

determining, at a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at a second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and

transmitting the IUC information to the second terminal device.
The method of claim 1, wherein:

the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device and the second terminal device in the sidelink positioning procedure, and

the second information indicates association between the first terminal device or the second terminal device and corresponding resource.
The method of claim 1, wherein the second information is for resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures.
The method of claim 3, wherein:

the first information indicates a plurality of resources for the plurality of sidelink positioning procedures, and

the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures.
The method of claim 1, wherein:

the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and

the second information indicates a preferred level for each of the plurality of preferred resources.
The method of claim 1, wherein:

the first information indicates a plurality of non-preferred or preferred resources for a plurality of different transactions in the sidelink positioning procedure, and

the second information indicates, for each resource of the plurality of non-preferred or preferred resources, a corresponding transaction among the plurality of different transactions.
The method of claim 1, further comprising:

receiving, from the second terminal device, a request for the IUC information associated with a predetermined transaction of a plurality of predetermined transactions in the sidelink positioning procedure, each of the plurality of predetermined transactions being associated with corresponding IUC information.
The method of claim 1, wherein:

the IUC information is transmitted through a groupcast transmission from the first terminal device to a plurality of terminal devices including the second terminal device, and

the first terminal device and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.
The method of claim 8, wherein:

the first information indicates a non-preferred resource for a subset of the plurality of terminal devices, and

the second information indicates the subset of terminal devices to which the non-preferred resource is applicable.
The method of claim 1, wherein the second information is included in a field of sidelink control information (SCI) format or medium access control (MAC) -control element (CE) .
A method for communication, comprising:

receiving, at a second terminal device from a first terminal device, inter-UE coordination (IUC) information including first information and second information, the first information being for a sidelink resource selection procedure at the second terminal device, the second information being for resource allocation in a sidelink positioning procedure associated with the first terminal device and the second terminal device; and

performing, based on the IUC information, the sidelink positioning procedure with the first terminal device.
The method of claim 11, wherein:

the first information indicates a preferred or non-preferred resource for a sidelink transmission between the first terminal device and the second terminal device in the sidelink positioning procedure, and

the second information indicates association between the first terminal device or the second terminal device and corresponding resource.
The method of claim 11, wherein the second information is for resource allocation in a plurality of sidelink positioning procedures, and the sidelink positioning procedure is one of the plurality of sidelink positioning procedures.
The method of claim 13, wherein:

the first information indicates a plurality of resources for the plurality of sidelink positioning procedures, and

the second information indicates, for each of the plurality of resources, a corresponding sidelink positioning procedure among the plurality of sidelink positioning procedures.
The method of claim 11, wherein:

the first information indicates a plurality of preferred resources for a sidelink transmission in the sidelink positioning procedure, and

the second information indicates a preferred level for each of the plurality of preferred resources.
The method of claim 11, wherein:

the first information indicates a plurality of non-preferred or preferred resources for a plurality of different transactions in the sidelink positioning procedure, and

the second information indicates, for each resource of the plurality of non-preferred or preferred resources, a corresponding transaction among the plurality of different transactions.
The method of claim 11, further comprising:

transmitting, to the first terminal device, a request for the IUC information associated with a predetermined transaction of a plurality of predetermined transactions in the sidelink positioning procedure, each of the plurality of predetermined transactions being associated with corresponding IUC information.
The method of claim 11, wherein:

the IUC information is received through a groupcast transmission from the first terminal device to a plurality of terminal devices including the second terminal device, and

the first terminal device and the plurality of terminal devices form a positioning group including a target terminal device and anchor terminal devices.
The method of claim 18, wherein:

the first information indicates a non-preferred resource for a subset of the plurality of terminal devices, and

the second information indicates the subset of terminal devices to which the non-preferred resource is applicable.
The method of claim 11, further comprising:

determining a set of preferred or non-preferred resources for a transaction in the sidelink positioning procedure based on the first information and the second information.