WO2024065222A1 - 侧行链路sl定位方法和装置 - Google Patents

侧行链路sl定位方法和装置 Download PDF

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Publication number
WO2024065222A1
WO2024065222A1 PCT/CN2022/121899 CN2022121899W WO2024065222A1 WO 2024065222 A1 WO2024065222 A1 WO 2024065222A1 CN 2022121899 W CN2022121899 W CN 2022121899W WO 2024065222 A1 WO2024065222 A1 WO 2024065222A1
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WO
WIPO (PCT)
Prior art keywords
terminal device
prs
measured
indication information
sent
Prior art date
Application number
PCT/CN2022/121899
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English (en)
French (fr)
Inventor
江小威
Original Assignee
北京小米移动软件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to PCT/CN2022/121899 priority Critical patent/WO2024065222A1/zh
Priority to CN202280003670.1A priority patent/CN116097868A/zh
Publication of WO2024065222A1 publication Critical patent/WO2024065222A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/21—Control channels or signalling for resource management in the uplink direction of a wireless link, i.e. towards the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/542—Allocation or scheduling criteria for wireless resources based on quality criteria using measured or perceived quality

Definitions

  • the present disclosure relates to the field of communication technology, and in particular to a SL positioning method and device.
  • the terminal device may not be able to measure the SL PRS (positioning reference signal).
  • the SL PRS positioning reference signal
  • the SL positioning process cannot be carried out, resulting in positioning failure. This is a problem that needs to be solved urgently.
  • the disclosed embodiments provide a side link SL positioning method and apparatus.
  • the first terminal device When the first terminal device is unable to measure the SL PRS, it can send an indication message to prevent the SL positioning process from being unable to proceed and avoid positioning failure.
  • an embodiment of the present disclosure provides a side link SL positioning method, which is executed by a first terminal device, and the method includes: in response to not measuring a SL positioning reference signal PRS that needs to be received during SL positioning, sending indication information to a base station, or sending indication information to a location management function LMF network element, or sending indication information to a second terminal device.
  • the terminal device in response to the failure to measure the SL positioning reference signal PRS required to be received during the SL positioning process, the terminal device sends an indication message to the base station, or sends an indication message to the location management function LMF network element, or sends an indication message to the second terminal device.
  • the first terminal device cannot measure the SL PRS, it can send an indication message to avoid the SL positioning process from being unable to proceed and avoid positioning failure.
  • an embodiment of the present disclosure provides another side link SL positioning method, which is executed by a base station, or an LMF network element, or a second terminal device, and the method includes: receiving an indication message sent by a first terminal device, wherein the indication message is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process.
  • an embodiment of the present disclosure provides a communication device, which has some or all of the functions of the first terminal device in the method described in the first aspect above.
  • the functions of the communication device may have some or all of the functions in the embodiments of the present disclosure, or may have the functions of implementing any one of the embodiments of the present disclosure alone.
  • the functions may be implemented by hardware, or may be implemented by hardware executing corresponding software.
  • the hardware or software includes one or more units or modules corresponding to the above functions.
  • the structure of the communication device may include a transceiver module and a processing module, and the processing module is configured to support the communication device to perform the corresponding functions in the above method.
  • the transceiver module is used to support communication between the communication device and other devices.
  • the communication device may also include a storage module, which is coupled to the transceiver module and the processing module, and stores computer programs and data necessary for the communication device.
  • the communication device includes: a transceiver module, configured to send indication information to a base station, or send indication information to a location management function LMF network element, or send indication information to a second terminal device in response to not measuring a SL positioning reference signal PRS that needs to be received during SL positioning.
  • a transceiver module configured to send indication information to a base station, or send indication information to a location management function LMF network element, or send indication information to a second terminal device in response to not measuring a SL positioning reference signal PRS that needs to be received during SL positioning.
  • an embodiment of the present disclosure provides another communication device, which has some or all of the functions of the base station or LMF network element or second terminal device in the method example described in the second aspect above.
  • the functions of the communication device may have the functions of some or all of the embodiments in the present disclosure, or may have the functions of implementing any one of the embodiments in the present disclosure alone.
  • the functions may be implemented by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more units or modules corresponding to the above functions.
  • the structure of the communication device may include a transceiver module and a processing module, and the processing module is configured to support the communication device to perform the corresponding functions in the above method.
  • the transceiver module is used to support communication between the communication device and other devices.
  • the communication device may also include a storage module, which is coupled to the transceiver module and the processing module, and stores computer programs and data necessary for the communication device.
  • the communication device includes: a transceiver module, configured to receive indication information sent by a first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during SL positioning.
  • an embodiment of the present disclosure provides a communication device, which includes a processor.
  • the processor calls a computer program in a memory, the method described in the first aspect is executed.
  • an embodiment of the present disclosure provides a communication device, which includes a processor.
  • the processor calls a computer program in a memory, the method described in the second aspect is executed.
  • an embodiment of the present disclosure provides a communication device, which includes a processor and a memory, in which a computer program is stored; the processor executes the computer program stored in the memory so that the communication device executes the method described in the first aspect above.
  • an embodiment of the present disclosure provides a communication device, which includes a processor and a memory, in which a computer program is stored; the processor executes the computer program stored in the memory so that the communication device executes the method described in the second aspect above.
  • an embodiment of the present disclosure provides a communication device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive code instructions and transmit them to the processor, and the processor is used to run the code instructions to enable the device to execute the method described in the first aspect above.
  • an embodiment of the present disclosure provides a communication device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive code instructions and transmit them to the processor, and the processor is used to run the code instructions to enable the device to execute the method described in the second aspect above.
  • an embodiment of the present disclosure provides a side link SL positioning system, the system including the communication device described in the third aspect and the communication device described in the fourth aspect, or the system including the communication device described in the fifth aspect and the communication device described in the sixth aspect, or the system including the communication device described in the seventh aspect and the communication device described in the eighth aspect, or the system including the communication device described in the ninth aspect and the communication device described in the tenth aspect.
  • an embodiment of the present invention provides a computer-readable storage medium for storing instructions for the above-mentioned first terminal device, and when the instructions are executed, the first terminal device executes the method described in the above-mentioned first aspect.
  • an embodiment of the present invention provides a readable storage medium for storing instructions used for the above-mentioned base station or LMF network element or second terminal device.
  • the base station or LMF network element or second terminal device executes the method described in the above-mentioned second aspect.
  • the present disclosure further provides a computer program product comprising a computer program, which, when executed on a computer, enables the computer to execute the method described in the first aspect above.
  • the present disclosure further provides a computer program product comprising a computer program, which, when executed on a computer, enables the computer to execute the method described in the second aspect above.
  • the present disclosure provides a chip system, which includes at least one processor and an interface, and is used to support a first terminal device to implement the functions involved in the first aspect, for example, determining or processing at least one of the data and information involved in the above method.
  • the chip system also includes a memory, and the memory is used to store computer programs and data necessary for the first terminal device.
  • the chip system can be composed of a chip, or it can include a chip and other discrete devices.
  • the present disclosure provides a chip system, which includes at least one processor and an interface, and is used to support a base station or an LMF network element or a second terminal device to implement the functions involved in the second aspect, for example, determining or processing at least one of the data and information involved in the above method.
  • the chip system also includes a memory, and the memory is used to store computer programs and data necessary for the base station or the LMF network element or the second terminal device.
  • the chip system can be composed of chips, or it can include chips and other discrete devices.
  • the present disclosure provides a computer program, which, when executed on a computer, enables the computer to execute the method described in the first aspect.
  • the present disclosure provides a computer program which, when executed on a computer, enables the computer to execute the method described in the second aspect.
  • FIG1 is an architecture diagram of a communication system provided by an embodiment of the present disclosure.
  • FIG2 is a schematic diagram of a positioning method based on DL-TDOA provided in an embodiment of the present disclosure
  • FIG3 is a flow chart of a sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG3A is a flow chart of a sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG4 is a flow chart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG5 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG6 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG7 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG8 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG9 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG10 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG11 is a flowchart of another sidelink SL positioning method provided by an embodiment of the present disclosure.
  • FIG12 is a structural diagram of a communication device provided in an embodiment of the present disclosure.
  • FIG13 is a structural diagram of another communication device provided in an embodiment of the present disclosure.
  • FIG. 14 is a schematic diagram of the structure of a chip provided in an embodiment of the present disclosure.
  • first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.
  • word “if” used herein may be interpreted as "at the time of” or "when” or "in response to determining”.
  • the information including but not limited to user device information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • signals involved in this disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.
  • the communication system may include but is not limited to a (radio) access network ((radio) access network, (R)AN), a terminal device and a core network device.
  • Access network devices communicate with each other in a wired or wireless manner, for example, communicating with each other through the Xn interface in Figure 1.
  • the access network device may cover one or more cells, such as: access network device 1 covers cell 1.1 and cell 1.2, and access network device 2 covers cell 2.1.
  • the terminal device may reside in the access network device in one of the cells and be in a connected state.
  • the terminal device may be converted from a connected state to an inactive state, that is, converted to a non-connected state, through an RRC release process.
  • the terminal device in the non-connected state may reside in the original cell, and perform uplink transmission and/or downlink transmission with the access network device in the original cell according to the transmission parameters of the terminal device in the original cell.
  • the terminal device in the non-connected state may also move to a new cell, and perform uplink transmission and/or downlink transmission with the access network device of the new cell according to the transmission parameters of the terminal device in the new cell.
  • FIG1 is only an exemplary framework diagram, and the number of nodes, the number of cells, and the state of the terminal device included in FIG1 are not limited. In addition to the functional nodes shown in FIG1, other nodes may also be included, such as: gateway devices, application servers, etc., without limitation.
  • the access network device communicates with the core network device through wired or wireless means, such as through the next generation (NG) interface.
  • NG next generation
  • the terminal device is an entity on the user side for receiving or transmitting signals, such as a mobile phone.
  • the terminal device can also be called a terminal device (terminal), user equipment (UE), mobile station (MS), mobile terminal (MT), etc.
  • the terminal device can be a car with communication function, a smart car, a mobile phone (mobile phone), a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control (industrial control), a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid (smart grid), a wireless terminal device in transportation safety (transportation safety), a wireless terminal device in a smart city (smart city), a wireless terminal device in a smart home (smart home), etc.
  • the embodiments of the present disclosure do not limit the specific technology and specific device form adopted by the terminal device.
  • (Radio) access network ((radio) access network, (R)AN) is used to provide network access functions for authorized terminal devices in a specific area, and can use transmission tunnels of different qualities according to the level of the terminal device, business requirements, etc.
  • (R)AN can manage wireless resources, provide access services for terminal devices, and then complete the forwarding of control information and/or data information between terminal devices and the core network (CN).
  • the access network device in the embodiment of the present disclosure is a device that provides wireless communication functions for terminal devices, and can also be called a network device.
  • the access network equipment may include: the next generation node basestation (gNB) in the 5G system, the evolved node B (eNB) in the long term evolution (LTE), the radio network controller (RNC), the node B (NB), the base station controller (BSC), the base transceiver station (BTS), the home base station (e.g., home evolved node B, or home node B, HNB), the base band unit (BBU), the transmission point (TRP), the transmitting point (TP), the small base station equipment (pico), the mobile switching center, or the network equipment in the future network.
  • the embodiments of the present disclosure do not limit the specific types of access network equipment. In systems with different wireless access technologies, the names of devices with access network equipment functions may be different.
  • the core network equipment may include AMF and/or a location management function network element.
  • the location management function network element includes a location server, which may be implemented as any one of the following: LMF (Location Management Function) network element, E-SMLC (Enhanced Serving Mobile Location Centre), SUPL (Secure User Plane Location), SUPL SLP (SUPL Location Platform).
  • LMF Location Management Function
  • E-SMLC Enhanced Serving Mobile Location Centre
  • SUPL Secure User Plane Location
  • SUPL SLP SUPL Location Platform
  • the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution provided by the embodiment of the present disclosure.
  • a person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.
  • used to indicate may include being used to indicate directly or indirectly.
  • the information may include that the information directly indicates A or indirectly indicates A, but it does not mean that the information must carry A.
  • the information indicated by the information is called the information to be indicated.
  • the information to be indicated there are many ways to indicate the information to be indicated, such as but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated.
  • the information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance.
  • the indication of specific information can also be achieved by means of the arrangement order of each information agreed in advance (such as specified by the protocol), thereby reducing the indication overhead to a certain extent.
  • the information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately, and the sending period and/or sending time of these sub-information can be the same or different.
  • the specific sending method is not limited in this disclosure. Among them, the sending period and/or sending time of these sub-information can be pre-defined, for example, pre-defined according to a protocol.
  • the embodiments of the present disclosure list multiple implementation methods to clearly illustrate the technical solutions of the embodiments of the present disclosure.
  • the multiple embodiments provided by the embodiments of the present disclosure can be executed separately, or can be executed together with the methods of other embodiments of the embodiments of the present disclosure, or can be executed together with some methods in other related technologies separately or in combination; the embodiments of the present disclosure do not limit this.
  • the positioning based on the SL (Sidelink) between the terminal devices includes absolute positioning, relative positioning, and ranging.
  • Absolute positioning is to determine the absolute coordinates of the terminal device
  • relative positioning is to determine the coordinates of the terminal device relative to a reference point
  • ranging is to determine the distance and/or angle of the terminal device relative to a reference point.
  • ranging usually only involves ranging between two terminal devices, but absolute positioning and relative positioning may involve multiple auxiliary terminal devices to participate in positioning.
  • FIG. 2 is a positioning method based on DL-TDOA (DownLink-Time Difference Of Arrival).
  • the terminal device UE can determine the specific position of the terminal device relative to the RSU by measuring multiple RSUs (Road Side Units), for example, more than or equal to 3 RSUs, through the positioning signal (SL PRS (positioning reference signal)) sent by the side link.
  • RSUs Road Side Units
  • S PRS positioning reference signal
  • UL-TDOA UpLink-Time Difference Of Arrival
  • multiple RTT Multi-Round Trip Time
  • AOA Angle Of Arrival
  • AOD Angle Of Departure
  • carrier phase positioning etc.
  • the positioning result is not converted into absolute position coordinates based on the absolute position information of RSU such as GPS (global positioning system), then the positioning result is relative positioning. On the contrary, it is absolute positioning.
  • the terminal device involved in relative positioning/absolute positioning is a positioning auxiliary terminal device, also called an anchor terminal device. Corresponding to the positioning auxiliary terminal device is the positioned terminal device.
  • the two are each other's positioning auxiliary terminal devices.
  • positioning auxiliary terminal devices such as RSU type positioning auxiliary terminal devices, which belong to an infrastructure and can provide positioning services by collaborating with other RSUs; for example, ordinary terminal devices can also be used as positioning auxiliary terminal devices, but it is difficult for them to assist in providing positioning services with other terminal devices; in addition, some positioning auxiliary terminal devices have location information such as GPS, which can assist other terminal devices in absolute positioning; some other positioning auxiliary terminal devices may not have location information such as GPS.
  • the terminal device may not be able to measure the SL PRS (positioning reference signal).
  • the SL PRS positioning reference signal
  • the SL positioning process cannot be carried out, resulting in positioning failure. This is a problem that needs to be solved urgently.
  • a sidelink SL positioning method is provided, and when the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, it can send an indication message to the base station, or send an indication message to the LMF network element, or send an indication message to the second terminal device.
  • the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, it can send an indication message to avoid the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 3 is a flowchart of a side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • S31 In response to not measuring the SL PRS required to be received during the SL positioning process, sending indication information to the base station, or sending indication information to the LMF network element, or sending indication information to the second terminal device.
  • the first terminal device when it fails to measure the SL PRS that needs to be received during the SL positioning process, it can send an indication message to the base station.
  • the first terminal device when it fails to measure the SL PRS that needs to be received during the SL positioning process, it can send an indication message to the LMF network element.
  • an indication message may be sent to the second terminal device.
  • the process of the first terminal device performing SL positioning may be the process of performing SL-RTT (Round Trip Time) or SL-TDOA (Time Difference Of Arrival) positioning, or the process of performing SL-AOA (Angle Of Arrival) positioning, or the process of performing SL-AOD (Angle Of Departure) positioning, etc., and the embodiments of the present disclosure do not impose specific restrictions on this.
  • the first terminal device may be a located terminal device, or an anchor terminal device; wherein the second terminal device may be a located terminal device, or a terminal device responsible for positioning calculation.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the second terminal device may also be a located terminal device, or the second terminal device may also be a terminal device responsible for positioning calculation.
  • the second terminal device when the first terminal device is an anchor terminal device, the second terminal device may also be a located terminal device, or the second terminal device may also be a terminal device responsible for positioning calculation.
  • the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, such as: the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.
  • the indication information sent by the first terminal device can be used to indicate that the SL PRS required to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, etc.
  • the situation in which the first terminal device fails to measure the SL PRS required to be received during the SL positioning process can be adjusted to avoid the inability to proceed with the SL positioning process and to avoid positioning failure.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the first terminal device needs to receive the SL PRS sent by the anchor terminal device.
  • the second terminal device may be a located terminal device, or a terminal device responsible for positioning calculation.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that no anchor terminal device can be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the first terminal device needs to receive the SL PRS sent by the target terminal device.
  • the second terminal device may be a located terminal device, or a terminal device responsible for positioning calculation.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the first terminal device needs to receive the SL PRS based on the SL PRS configuration information. In the absence of the SL PRS configuration information, the first terminal device cannot determine the SL PRS that needs to be received, which will result in the inability to measure the SL PRS that needs to be received.
  • the first terminal device did not measure the SL PRS that needed to be received during the SL positioning process. This may be because the SL PRS configuration information was missing during the SL positioning process, resulting in the inability to determine the SL PRS that needed to be received.
  • the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the base station can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the reason why the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process may be that the first terminal device does not receive enough SL PRS.
  • the first terminal device does not receive enough SL PRS.
  • at least three SL PRS are required, and the first terminal device only receives one or two SL PRS; for another example, during the SL-AOA positioning process, at least three SL PRS are required, and the first terminal device only receives one or two SL PRS, and so on.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-TDOA positioning process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-AOA positioning process.
  • the first terminal device sends indication information to the LMF network element, including:
  • the indication information is sent to the LMF network element through the provide location information message in the LPP message.
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends an indication message to the LMF network element.
  • the indication message can be sent to the LMF network element via a provide location information message in an SL LPP (LTE Positioning Protocol) message.
  • SL LPP LTE Positioning Protocol
  • the indication information is sent to the LMF network element.
  • the indication information can be sent to the LMF network element via a provide location information message in an LPP message.
  • the first terminal device sends indication information to the second terminal device, including:
  • the indication information is sent to the second terminal device via a provide location information message in an LPP message.
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends indication information to the second terminal device.
  • the indication information can be sent to the second terminal device via a provide location information message in an SL LPP (LTE Positioning Protocol) message.
  • SL LPP LTE Positioning Protocol
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends indication information to the second terminal device.
  • the indication information can be sent to the second terminal device via a provide location information message in an LPP message.
  • the first terminal device in response to the existence of a partially measurable SL PRS, measures the measurable SL PRS to obtain a measurement result; reports the measurement result to a base station, or reports the measurement result to an LMF network element, or reports the measurement result to a second terminal device.
  • the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process, where some measurable SL PRS may exist.
  • the first terminal device can measure the measurable SL PRS to obtain the measurement result and report the measurement result, or the first terminal device may not report the measurement result, that is, not report any measurement result at all.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the base station.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the LMF network element.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the second terminal device.
  • the first terminal device in response to sending a measurement report to the second terminal device through a PC5-S message, or sending a measurement report to the base station through an RRC message, performs at least one of the following:
  • a measurement report is sent, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the measurement report when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no measurement result that can be reported, the measurement report may be canceled from being sent to the second terminal device.
  • the first terminal device only needs to measure one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRS but cannot measure them. In this case, there is no measurement result to be reported, and the first terminal device can cancel sending the measurement report to the second terminal device.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that no SL PRS can be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the measurement report when the first terminal device sends a measurement report to the base station via an RRC (Radio Resource Control) message, if there is no measurement result to be reported, the measurement report may be canceled from being sent to the base station.
  • RRC Radio Resource Control
  • the first terminal device only needs to measure one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRS but cannot measure them. In this case, there is no measurement result to be reported, and the first terminal device can cancel sending the measurement report to the base station.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that the SL PRS cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the first terminal device in response to an inability to measure the SL PRS, triggers a measurement reporting process based on an SL-RRC message or an RRC message; or in response to an inability to measure the SL PRS, the first terminal device triggers a location reporting process based on an SL LPP message or an LPP message.
  • the first terminal device in response to an inability to measure the SL PRS, triggers a measurement reporting process based on an SL-RRC message or based on an RRC message; or in response to an inability to measure the SL PRS, the first terminal device triggers a position reporting process based on an SL LPP message or based on an LPP message.
  • the measurement report reported by the first terminal device may indicate that there are no measurement results, or may indicate that the SL PRS cannot be measured, or the measurement report may be empty, and so on.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received means that the SL PRS cannot be measured, a measurement reporting process based on the SL-RRC message is triggered.
  • the first terminal device triggers the measurement reporting process based on the SL-RRC message, and can send an SL-RRC message to the second terminal device to perform the measurement reporting process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received means that the SL PRS cannot be measured, a measurement reporting process based on the RRC message is triggered.
  • the first terminal device triggers the measurement reporting process based on the RRC message, and can send an RRC message to the base station to perform the measurement reporting process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received means that the SL PRS cannot be measured, a position reporting process based on the SL LPP message is triggered.
  • the first terminal device triggers the measurement reporting process based on the SL LPP message, and can send the SL LPP message to the second terminal device to perform the location reporting process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received refers to the inability to measure the SL PRS, a location reporting process based on the LPP message is triggered.
  • the first terminal device triggers the measurement reporting process based on the LPP message, and can send an LPP message to the second terminal device to perform a location reporting process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received means that the SL PRS cannot be measured, a position reporting process based on the SL LPP message is triggered.
  • the first terminal device triggers the measurement reporting process based on the SL LPP message, and can send the SL LPP message to the LMF device to perform the location reporting process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the failure to measure the SL PRS required to be received refers to the inability to measure the SL PRS, a location reporting process based on the LPP message is triggered.
  • the first terminal device triggers the location reporting process based on the LPP message, and can send an LPP message to the LMF device to perform the location reporting process.
  • triggering the measurement reporting process based on the SL-RRC message or the RRC message can directly trigger the measurement reporting process for indication, without triggering the measurement report to carry the indication based on other reasons of the first terminal device itself.
  • triggering the location reporting process based on the SL LPP message or based on the LPP message can directly trigger the location reporting process for indication, without triggering the measurement report to carry the indication based on other reasons of the first terminal device itself.
  • the first terminal device when the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, it sends an indication message to the base station, or sends an indication message to the location management function LMF network element, or sends an indication message to the second terminal device.
  • the first terminal device when the first terminal device fails to measure the SL PRS, it can send an indication message to avoid the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 4 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • the terminal device In response to not measuring the SL PRS required to be received during SL positioning, the terminal device sends an indication message to the base station, or sends an indication message to the LMF network element, or sends an indication message to the second terminal device.
  • S43 Report the measurement result to the base station, or report the measurement result to the LMF network element, or report the measurement result to the second terminal device.
  • the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process, where some measurable SL PRS may exist.
  • the first terminal device can measure the measurable SL PRS to obtain the measurement result and report the measurement result, or the first terminal device may not report the measurement result, that is, not report any measurement result at all.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the base station.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the LMF network element.
  • the first terminal device measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the second terminal device.
  • the content indicated by the indication information can refer to the relevant description in the above embodiment and will not be repeated here.
  • S41 to S43 can be implemented separately or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the first terminal device when the first terminal device fails to measure the SL PRS required to be received during SL positioning, the first terminal device sends an indication message to the base station, or sends an indication message to the location management function LMF network element, or sends an indication message to the second terminal device, and in response to the existence of partially measurable SL PRS, measures the measurable SL PRS to obtain a measurement result; reports the measurement result to the base station, or reports the measurement result to the LMF network element, or reports the measurement result to the second terminal device.
  • the first terminal device when the first terminal device cannot measure the SL PRS, it can send an indication message to avoid the SL positioning process from being unable to proceed and avoid positioning failure, and when there is a partially measurable SL PRS, the measurement result can be reported.
  • Figure 5 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends an indication message to the LMF network element.
  • the indication message can be sent to the LMF network element via a provide location information message in an SL LPP (LTE Positioning Protocol) message.
  • SL LPP LTE Positioning Protocol
  • the indication information is sent to the LMF network element.
  • the indication information can be sent to the LMF network element via a provide location information message in an LPP message.
  • the content indicated by the indication information can refer to the relevant description in the above embodiment and will not be repeated here.
  • S51 can be implemented alone or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 and/or S41 to S43 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the first terminal device when the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, the first terminal device sends an indication message to the LMF network element through the SL LPP message or the provide location information message in the LPP message. Therefore, when the first terminal device fails to measure the SL PRS, it can send an indication message to the LMF network element to avoid the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 6 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • an indication message is sent to the second terminal device via a SL LPP message or a provide location information message in the LPP message.
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends indication information to the second terminal device.
  • the indication information can be sent to the second terminal device via a provide location information message in an SL LPP (LTE Positioning Protocol) message.
  • SL LPP LTE Positioning Protocol
  • the first terminal device when the first terminal device fails to measure the SL positioning reference signal PRS that needs to be received during the SL positioning process, the first terminal device sends indication information to the second terminal device.
  • the indication information can be sent to the second terminal device via a provide location information message in an LPP message.
  • the content indicated by the indication information can refer to the relevant description in the above embodiment and will not be repeated here.
  • S61 can be implemented alone or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 and/or S41 to S43 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the first terminal device when the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, the first terminal device sends indication information to the second terminal device through the SL LPP message or the provide location information message in the LPP message.
  • the first terminal device when the first terminal device fails to measure the SL PRS, it can send indication information to the second terminal device to avoid the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 7 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • a measurement report is sent, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the measurement report when the first terminal device sends a measurement report to the second terminal device by sending a PC5-S message to the second terminal device, if there is no reportable measurement result, the measurement report can be canceled from being sent to the second terminal device.
  • the first terminal device only needs to measure one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRS but cannot measure them. In this case, there is no measurement result to be reported, and the first terminal device can cancel sending the measurement report to the second terminal device.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that no SL PRS can be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the content indicated by the indication information can refer to the relevant description in the above embodiment and will not be repeated here.
  • S71 and S72 can be implemented separately or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 and/or S41 to S43 and/or S61 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the first terminal device when the first terminal device is unable to measure the SL PRS, the first terminal device can send an indication message to the second terminal device to avoid the SL positioning process being unable to proceed and to avoid positioning failure, and a measurement report can also be sent to the second terminal device.
  • Figure 8 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the first terminal device, and the method may include but is not limited to the following steps:
  • a measurement report is sent, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to a base station by sending an RRC (Radio Resource Control) message to the base station, if there is no measurement result to be reported, the measurement report may be canceled from being sent to the base station.
  • RRC Radio Resource Control
  • the first terminal device only needs to measure one SL PRS but cannot measure it, or the first terminal device needs to measure multiple SL PRS but cannot measure them. In this case, there is no measurement result to be reported, and the first terminal device can cancel sending the measurement report to the base station.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that the SL PRS cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the content indicated by the indication information can refer to the relevant description in the above embodiment and will not be repeated here.
  • S81 and S82 can be implemented separately or in combination with any other steps in the embodiments of the present disclosure, for example, in combination with S31 and/or S41 to S43 and/or S61 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the first terminal device when it cannot measure the SL PRS, it can send an indication message to the base station to prevent the SL positioning process from being unable to proceed and to prevent positioning failure, and it can also send a measurement report to the base station.
  • Figure 9 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by a base station, and the method may include but is not limited to the following steps:
  • S91 Receive indication information sent by the first terminal device, wherein the indication information is sent when the first terminal device fails to measure the SL PRS required to be received during SL positioning.
  • the first terminal device can send indication information to the base station, and the base station receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, such as: the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.
  • the indication information sent by the first terminal device can be used to indicate that the SL PRS required to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, etc.
  • the situation in which the first terminal device fails to measure the SL PRS required to be received during the SL positioning process can be adjusted to avoid the inability to proceed with the SL positioning process and to avoid positioning failure.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that no anchor terminal device can be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the base station can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the base station can also be used to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the base station can be used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the reason why the first terminal device did not measure the SL PRS required to be received during the SL positioning process may be that the first terminal device did not receive enough SL PRS.
  • the first terminal device did not receive enough SL PRS.
  • at least three SL PRS are required, and the first terminal device only receives one or two SL PRS; for another example, during the SL-AOA positioning process, at least three SL PRS are required, and the first terminal device only receives one or two SL PRS, and so on.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-TDOA positioning process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-AOA positioning process.
  • the base station also receives measurement results reported by the first terminal device, wherein the measurement results are obtained by the first terminal device by measuring the measurable SL PRS in the presence of partially measurable SL PRS.
  • the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process, where some measurable SL PRS may exist.
  • the first terminal device can measure the measurable SL PRS to obtain the measurement result and report the measurement result, or the first terminal device may not report the measurement result, that is, not report any measurement result at all.
  • the first terminal device when there is a partially measurable SL PRS, measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the base station.
  • the base station also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device measuring the measurable SL PRS when there is a partially measurable SL PRS.
  • the base station receives a measurement report sent by the first terminal device; wherein the measurement report is sent by the first terminal device when sending a measurement report to the base station through an RRC message, and there is a reportable measurement result or there is no reportable measurement result, and the measurement report includes at least one of the following:
  • the measurement report is empty;
  • the measurement report indicates that there are no measurement results
  • the measurement report indicates that no SL PRS can be measured
  • the measurement report includes reportable measurement results
  • the measurement report includes reportable measurement results, as well as information indicating SL PRS that could not be measured;
  • the measurement report includes the reportable measurement results and an indication that some SL PRS could not be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there is no measurement result to be reported, the first terminal device may also send a measurement report to the base station, wherein the measurement report indicates that the SL PRS cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the base station via an RRC message, if there are reportable measurement results, the first terminal device may send a measurement report to the base station, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • S91 can be implemented alone or in combination with any other step in the embodiment of the present disclosure, for example, in combination with S31 in the embodiment of the present disclosure, and the embodiment of the present disclosure is not limited to this.
  • the base station receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process. This can prevent the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 10 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the LMF network element, and the method may include but is not limited to the following steps:
  • S101 Receive indication information sent by the first terminal device, wherein the indication information is sent when the first terminal device fails to measure the SL PRS required to be received during SL positioning.
  • the first terminal device when the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, the first terminal device may send an indication message to the LMF network element, and the LMF network element receives the indication message sent by the first terminal device, wherein the indication message is sent by the first terminal device when the first terminal device fails to measure the SL PRS required to be received during the SL positioning process.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, such as: the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.
  • the indication information sent by the first terminal device can be used to indicate that the SL PRS required to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, etc.
  • the situation in which the first terminal device fails to measure the SL PRS required to be received during the SL positioning process can be adjusted to avoid the inability to proceed with the SL positioning process and to avoid positioning failure.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the LMF network element can also be used to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the LMF network element can be used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the reason why the first terminal device did not measure the SL PRS required to be received during the SL positioning process may be that the first terminal device did not receive enough SL PRS.
  • the first terminal device did not receive enough SL PRS.
  • at least three SL PRS are required, and the first terminal device only receives one or two SL PRS; for another example, during the SL-AOA positioning process, at least three SL PRS are required, and the first terminal device only receives one or two SL PRS, and so on.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-TDOA positioning process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-AOA positioning process.
  • the LMF network element also receives measurement results reported by the first terminal device, wherein the measurement results are obtained by the first terminal device by measuring a measurable SL PRS in the presence of a partially measurable SL PRS.
  • the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process, wherein there may be some measurable SL PRS.
  • the first terminal device can measure the measurable SL PRS to obtain the measurement result and report the measurement result, or the first terminal device may not report the measurement result, that is, even if there is a measurement result, it will not be reported.
  • the first terminal device when there is a partially measurable SL PRS, measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the LMF network element.
  • the LMF network element also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device measuring the measurable SL PRS when there is a partially measurable SL PRS.
  • S101 can be implemented alone or in combination with any other step in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the LMF network element receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process. This can prevent the SL positioning process from being unable to proceed and avoid positioning failure.
  • Figure 11 is a flowchart of another side link SL positioning method provided by an embodiment of the present disclosure.
  • the method is executed by the second terminal device, and the method may include but is not limited to the following steps:
  • S111 Receive indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process.
  • the first terminal device can send indication information to the second terminal device, and the second terminal device receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process.
  • the first terminal device may be a located terminal device, or an anchor terminal device.
  • the first terminal device fails to measure the SL PRS that needs to be received during the SL positioning process, such as: the first terminal device does not receive the SL PRS, the first terminal device does not receive enough SL PRS, the first terminal device has no SL PRS configuration information, etc.
  • the indication information sent by the first terminal device can be used to indicate that the SL PRS required to be received is not measured, or can also be used to indicate that part or any SL PRS cannot be measured, or can also be used to indicate that there is no SL PRS configuration information, etc.
  • the situation in which the first terminal device fails to measure the SL PRS required to be received during the SL positioning process can be adjusted to avoid the inability to proceed with the SL positioning process and to avoid positioning failure.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that any anchor terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that no SL PRS can be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that some anchor terminal devices cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, wherein the SL PRS required to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that the target terminal device cannot be measured, or the indication information sent by the first terminal device to the second terminal device can also be used to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device can be used to indicate that there is no SL PRS configuration information.
  • the indication information sent by the first terminal device to the second terminal device can be used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the reason why the first terminal device did not measure the SL PRS required to be received during the SL positioning process may be that the first terminal device did not receive enough SL PRS.
  • the first terminal device did not receive enough SL PRS.
  • at least three SL PRS are required, and the first terminal device only receives one or two SL PRS; for another example, during the SL-AOA positioning process, at least three SL PRS are required, and the first terminal device only receives one or two SL PRS, and so on.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-TDOA positioning process.
  • the first terminal device fails to measure the SL PRS required to be received during the SL positioning process, which may be because sufficient SL PRS are not received during the SL-AOA positioning process.
  • the second terminal device also receives a measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring a measurable SL PRS in the presence of a partially measurable SL PRS.
  • the first terminal device does not measure the SL PRS that needs to be received during the SL positioning process, where some measurable SL PRS may exist.
  • the first terminal device can measure the measurable SL PRS to obtain the measurement result and report the measurement result, or the first terminal device may not report the measurement result, that is, not report any measurement result at all.
  • the first terminal device when there is a partially measurable SL PRS, measures the measurable SL PRS to obtain a measurement result, and reports the measurement result to the second terminal device.
  • the second terminal device also receives the measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device measuring the measurable SL PRS when there is a partially measurable SL PRS.
  • the second terminal device receives a measurement report sent by the first terminal device; wherein the measurement report is sent by the first terminal device to the second terminal device through a PC5-S message, and there is a reportable measurement result or there is no reportable measurement result, and the measurement report includes at least one of the following:
  • the measurement report is empty;
  • the measurement report indicates that there are no measurement results
  • the measurement report indicates that no SL PRS can be measured
  • the measurement report includes reportable measurement results
  • the measurement report includes reportable measurement results, as well as information indicating SL PRS that could not be measured;
  • the measurement report includes the reportable measurement results and an indication that some SL PRS could not be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report is empty.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that there is no measurement result.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there is no reportable measurement result, the first terminal device may also send a measurement report to the second terminal device, wherein the measurement report indicates that no SL PRS can be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and information indicating an SL PRS that cannot be measured.
  • the measurement report indicates information of the SL PRS that cannot be measured, and may provide a resource identifier of the SL PRS that cannot be measured in the measurement report, and/or provide identification information of the terminal device that sends the SL PRS that cannot be measured, such as a sidelink source layer 2 ID, and/or provide a service cell of the terminal device that sends the SL PRS that cannot be measured.
  • the first terminal device when the first terminal device sends a measurement report to the second terminal device via a PC5-S message, if there are reportable measurement results, the first terminal device may send a measurement report to the second terminal device, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • S111 can be implemented alone or in combination with any other step in the embodiments of the present disclosure, for example, in combination with S31 in the embodiments of the present disclosure, and the embodiments of the present disclosure are not limited to this.
  • the second terminal device receives the indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process. This can prevent the SL positioning process from being unable to proceed and avoid positioning failure.
  • the methods provided by the embodiments of the present disclosure are introduced from the perspectives of the first terminal device, the base station, the LMF network element and the second terminal device respectively.
  • the communication device 1 shown in Figure 12 may include a transceiver module 11 and a processing module 12.
  • the transceiver module may include a sending module and/or a receiving module, the sending module is used to implement a sending function, the receiving module is used to implement a receiving function, and the transceiver module may implement a sending function and/or a receiving function.
  • the communication device 1 may be a first terminal device, or a device in the first terminal device, or a device that can be used in combination with the first terminal device.
  • the communication device 1 may be a base station, or a device in the base station, or a device that can be used in combination with the base station.
  • the communication device 1 may be a LMF network element, or a device in the LMF network element, or a device that can be used in combination with the LMF network element.
  • the communication device 1 may be a second terminal device, or a device in the second terminal device, or a device that can be used in combination with the second terminal device.
  • the communication device 1 is a first terminal device:
  • the device includes: a transceiver module 11.
  • the transceiver module 11 is configured to send indication information to the base station, or send indication information to the location management function LMF network element, or send indication information to the second terminal device in response to the SL positioning reference signal PRS that needs to be received is not measured during the SL positioning process.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the transceiver module 11 is also configured to send indication information to the LMF network element through a provide location information message in a SL LPP message; or to send indication information to the LMF network element through a provide location information message in a LPP message.
  • the transceiver module 11 is also configured to send indication information to the second terminal device through a provide location information message in the SL LPP message; or send indication information to the second terminal device through a provide location information message in the LPP message.
  • the device further includes: a processing module 12, configured to measure the measurable SL PRS to obtain a measurement result in response to the existence of a partially measurable SL PRS.
  • a processing module 12 configured to measure the measurable SL PRS to obtain a measurement result in response to the existence of a partially measurable SL PRS.
  • the transceiver module 11 is also configured to report the measurement result to the base station, or report the measurement result to the LMF network element, or report the measurement result to the second terminal device.
  • the transceiver module 11 is further configured to, in response to sending a measurement report to the second terminal device through a PC5-S message, or sending a measurement report to the base station through an RRC message, perform at least one of the following:
  • a measurement report is sent, wherein the measurement report includes the reportable measurement results and an indication that some SL PRS cannot be measured.
  • the transceiver module 11 is further configured to trigger a measurement reporting process based on an SL-RRC message or an RRC message in response to an inability to measure the SL PRS; or to trigger a location reporting process based on an SL LPP message or an LPP message in response to an inability to measure the SL PRS.
  • the communication device 1 is a base station, or a LMF network element, or a second terminal device:
  • the device includes: a transceiver module 11.
  • the transceiver module 11 is configured to receive indication information sent by the first terminal device, wherein the indication information is sent by the first terminal device when the SL PRS required to be received is not measured during the SL positioning process.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that any anchor terminal device cannot be measured or to indicate that any SL PRS cannot be measured.
  • the SL PRS that needs to be received includes the SL PRS sent by the anchor terminal device.
  • the indication information is used to indicate that some anchor terminal devices cannot be measured or to indicate that some SL PRS cannot be measured.
  • the SL PRS to be received includes the SL PRS sent by the target terminal device.
  • the indication information is used to indicate that the target terminal device cannot be measured or to indicate that the SL PRS cannot be measured.
  • the indication information is used to indicate that there is no SL PRS configuration information.
  • the SL PRS required to be received is not measured during the SL positioning process, including at least one of the following:
  • the transceiver module 11 is further configured to receive a measurement result reported by the first terminal device, wherein the measurement result is obtained by the first terminal device by measuring a measurable SL PRS in the presence of a partially measurable SL PRS.
  • the communication device 1 provided in the above embodiments of the present disclosure achieves the same or similar beneficial effects as the side link SL positioning method provided in some of the above embodiments, which will not be repeated here.
  • FIG. 13 is a schematic diagram of the structure of another communication device 1000 provided in an embodiment of the present disclosure.
  • the communication device 1000 can be a base station, a first terminal device, a second terminal device, an LMF network element, a chip, a chip system, or a processor that supports the base station or LMF network element to implement the above method, or a chip, a chip system, or a processor that supports the first terminal device or the second terminal device to implement the above method.
  • the communication device 1000 can be used to implement the method described in the above method embodiment, and the details can be referred to the description in the above method embodiment.
  • the communication device 1000 may include one or more processors 1001.
  • the processor 1001 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit.
  • the baseband processor may be used to process the communication protocol and the communication data
  • the central processing unit may be used to control the communication device (such as a network side device, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process the data of the computer program.
  • the communication device 1000 may further include one or more memories 1002, on which a computer program 1004 may be stored, and the memory 1002 executes the computer program 1004 so that the communication device 1000 executes the method described in the above method embodiment.
  • data may also be stored in the memory 1002.
  • the communication device 1000 and the memory 1002 may be provided separately or integrated together.
  • the communication device 1000 may further include a transceiver 1005 and an antenna 1006.
  • the transceiver 1005 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function.
  • the transceiver 1005 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., for implementing a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., for implementing a transmitting function.
  • the communication device 1000 may further include one or more interface circuits 1007.
  • the interface circuit 1007 is used to receive code instructions and transmit them to the processor 1001.
  • the processor 1001 executes the code instructions to enable the communication device 1000 to execute the method described in the above method embodiment.
  • the communication device 1000 is a first terminal device: the transceiver 1005 is used to execute S31 in Figure 3; S41 and S43 in Figure 4; S51 in Figure 5; S61 in Figure 6; S71 and S72 in Figure 7; S81 and S82 in Figure 8; the processor 1001 is used to execute S42 in Figure 4.
  • the communication device 1000 is a base station: the transceiver 1005 is used to execute S91 in FIG. 9 .
  • the communication device 1000 is a LMF network element: the transceiver 1005 is used to execute S101 in Figure 10.
  • the communication device 1000 is a second terminal device: the transceiver 1005 is used to execute S111 in FIG. 11 .
  • the processor 1001 may include a transceiver for implementing receiving and sending functions.
  • the transceiver may be a transceiver circuit, an interface, or an interface circuit.
  • the transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated.
  • the above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code/data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.
  • the processor 1001 may store a computer program 1003, which runs on the processor 1001 and enables the communication device 1000 to perform the method described in the above method embodiment.
  • the computer program 1003 may be fixed in the processor 1001, in which case the processor 1001 may be implemented by hardware.
  • the communication device 1000 may include a circuit that can implement the functions of sending or receiving or communicating in the aforementioned method embodiments.
  • the processor and transceiver described in the present disclosure may be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc.
  • the processor and transceiver may also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.
  • CMOS complementary metal oxide semiconductor
  • NMOS N-type metal oxide semiconductor
  • PMOS P-type metal oxide semiconductor
  • BJT bipolar junction transistor
  • BiCMOS bipolar CMOS
  • SiGe silicon germanium
  • GaAs gallium arsenide
  • the communication device described in the above embodiments may be a terminal device or a network side device, but the scope of the communication device described in the present disclosure is not limited thereto, and the structure of the communication device may not be limited by FIG. 13.
  • the communication device may be an independent device or may be part of a larger device.
  • the communication device may be:
  • the IC set may also include a storage component for storing data and computer programs;
  • ASIC such as modem
  • FIG. 14 is a structural diagram of a chip provided in an embodiment of the present disclosure.
  • the chip 1100 includes a processor 1101 and an interface 1103.
  • the number of the processor 1101 may be one or more, and the number of the interface 1103 may be multiple.
  • the interface 1103 is used to receive code instructions and transmit them to the processor.
  • Processor 1101 is used to run code instructions to execute the side link SL positioning method as described in some of the above embodiments.
  • the interface 1103 is used to receive code instructions and transmit them to the processor.
  • Processor 1101 is used to run code instructions to execute the side link SL positioning method as described in some of the above embodiments.
  • the interface 1103 is used to receive code instructions and transmit them to the processor.
  • Processor 1101 is used to run code instructions to execute the side link SL positioning method as described in some of the above embodiments.
  • the interface 1103 is used to receive code instructions and transmit them to the processor.
  • Processor 1101 is used to run code instructions to execute the side link SL positioning method as described in some of the above embodiments.
  • the chip 1100 further includes a memory 1102, and the memory 1102 is used to store necessary computer programs and data.
  • the disclosed embodiments also provide a side link SL positioning system, which includes the communication device as the first terminal device and the communication device as the base station in the aforementioned FIG. 12 embodiment, or the system includes the communication device as the first terminal device and the communication device as the LMF network element in the aforementioned FIG. 12 embodiment, or the system includes the communication device as the first terminal device and the communication device as the second terminal device in the aforementioned FIG. 12 embodiment, or the system includes the communication device as the first terminal device and the communication device as the base station in the aforementioned FIG. 13 embodiment, or the system includes the communication device as the first terminal device and the communication device as the LMF network element in the aforementioned FIG.
  • the system includes the communication device as the first terminal device and the communication device as the LMF network element in the aforementioned FIG. 13 embodiment, or the system includes the communication device as the first terminal device and the communication device as the second terminal device in the aforementioned FIG. 13 embodiment.
  • the present disclosure also provides a readable storage medium having instructions stored thereon, which implement the functions of any of the above method embodiments when executed by a computer.
  • the present disclosure also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.
  • the computer program product includes one or more computer programs.
  • the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • the computer program can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer program can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated.
  • the available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.
  • a magnetic medium e.g., a floppy disk, a hard disk, a magnetic tape
  • an optical medium e.g., a high-density digital video disc (DVD)
  • DVD high-density digital video disc
  • SSD solid state disk
  • At least one in the present disclosure may also be described as one or more, and a plurality may be two, three, four or more, which is not limited in the present disclosure.
  • the technical features in the technical feature are distinguished by “first”, “second”, “third”, “A”, “B”, “C” and “D”, etc., and there is no order of precedence or size between the technical features described by the "first”, “second”, “third”, “A”, “B”, “C” and “D”.
  • the corresponding relationships shown in the tables in the present disclosure can be configured or predefined.
  • the values of the information in each table are only examples and can be configured as other values, which are not limited by the present disclosure.
  • the corresponding relationships shown in some rows may not be configured.
  • appropriate deformation adjustments can be made based on the above table, such as splitting, merging, etc.
  • the names of the parameters shown in the titles of the above tables can also use other names that can be understood by the communication device, and the values or representations of the parameters can also be other values or representations that can be understood by the communication device.
  • other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables.
  • the predefined in the present disclosure may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

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Abstract

本公开实施例公开了一种侧行链路SL定位方法和装置，可应用于通信技术领域，由终端设备执行的方法包括：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。由此，第一终端设备在无法测量到SL PRS的情况下，可以发送指示信息，以避免SL定位流程无法进行，避免定位失败。

Description

侧行链路SL定位方法和装置 技术领域
本公开涉及通信技术领域，尤其涉及一种SL定位方法和装置。
背景技术
相关技术中，终端设备在进行SL(Sidelink，侧行链路)定位的过程中，有可能无法测量到SL PRS(positioning reference signal，定位参考信号)，在无法测量到SL PRS的情况下，SL定位的过程无法进行，会导致定位失败，这是亟需解决的问题。
发明内容
本公开实施例提供一种侧行链路SL定位方法和装置，第一终端设备在无法测量到SL PRS的情况下，可以发送指示信息，以避免SL定位流程无法进行，避免定位失败。
第一方面，本公开实施例提供一种侧行链路SL定位方法，该方法由第一终端设备执行，该方法包括：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。
在该技术方案中，终端设备响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。由此，第一终端设备在无法测量到SL PRS的情况下，可以发送指示信息，以避免SL定位流程无法进行，避免定位失败。
第二方面，本公开实施例提供另一种侧行链路SL定位方法，该方法由基站，或LMF网元，或第二终端设备执行，该方法包括：接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
第三方面，本公开实施例提供一种通信装置，该通信装置具有实现上述第一方面所述的方法中第一终端设备的部分或全部功能，比如通信装置的功能可具备本公开中的部分或全部实施例中的功能，也可以具备单独实施本公开中的任一个实施例的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的单元或模块。
在一种实现方式中，该通信装置的结构中可包括收发模块和处理模块，所述处理模块被配置为支持通信装置执行上述方法中相应的功能。所述收发模块用于支持通信装置与其他设备之间的通信。所述通信装置还可以包括存储模块，所述存储模块用于与收发模块和处理模块耦合，其保存通信装置必要的计算机程序和数据。
在一种实现方式中，所述通信装置包括：收发模块，被配置为响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。
第四方面，本公开实施例提供另一种通信装置，该通信装置具有实现上述第二方面所述的方法示例中基站或LMF网元或第二终端设备的部分或全部功能，比如通信装置的功能可具备本公开中的部分或全部实施例中的功能，也可以具备单独实施本公开中的任一个实施例的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的单元或模块。
在一种实现方式中，该通信装置的结构中可包括收发模块和处理模块，该处理模块被配置为支持通信装置执行上述方法中相应的功能。收发模块用于支持通信装置与其他设备之间的通信。所述通信装置还可以包括存储模块，所述存储模块用于与收发模块和处理模块耦合，其保存通信装置必要的计算机程序和数据。
在一种实现方式中，所述通信装置包括：收发模块，被配置为接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
第五方面，本公开实施例提供一种通信装置，该通信装置包括处理器，当该处理器调用存储器中的计算机程序时，执行上述第一方面所述的方法。
第六方面，本公开实施例提供一种通信装置，该通信装置包括处理器，当该处理器调用存储器中的计算机程序时，执行上述第二方面所述的方法。
第七方面，本公开实施例提供一种通信装置，该通信装置包括处理器和存储器，该存储器中存储有计算机程序；所述处理器执行该存储器所存储的计算机程序，以使该通信装置执行上述第一方面所述的方法。
第八方面，本公开实施例提供一种通信装置，该通信装置包括处理器和存储器，该存储器中存储有计算机程序；所述处理器执行该存储器所存储的计算机程序，以使该通信装置执行上述第二方面所述的方法。
第九方面，本公开实施例提供一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第一方面所述的方法。
第十方面，本公开实施例提供一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第二方面所述的方法。
第十一方面，本公开实施例提供一种侧行链路SL定位系统，该系统包括第三方面所述的通信装置以及第四方面所述的通信装置，或者，该系统包括第五方面所述的通信装置以及第六方面所述的通信装置，或者，该系统包括第七方面所述的通信装置以及第八方面所述的通信装置，或者，该系统包括第九方面所述的通信装置以及第十方面所述的通信装置。
第十二方面，本发明实施例提供一种计算机可读存储介质，用于储存为上述第一终端设备所用的指令，当所述指令被执行时，使所述第一终端设备执行上述第一方面所述的方法。
第十三方面，本发明实施例提供一种可读存储介质，用于储存为上述基站或LMF网元或第二终端设备所用的指令，当所述指令被执行时，使所述基站或LMF网元或第二终端设备执行上述第二方面所述的方法。
第十四方面，本公开还提供一种包括计算机程序的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面所述的方法。
第十五方面，本公开还提供一种包括计算机程序的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第二方面所述的方法。
第十六方面，本公开提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持第一终端设备实现第一方面所涉及的功能，例如，确定或处理上述方法中所涉及的数据和信息中的至少一种。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存第一终端设备必要的计算机程序和数据。该芯片系统，可以由芯片构成，也可以包括芯片和其他分立器件。
第十七方面，本公开提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持基站或LMF网元或第二终端设备实现第二方面所涉及的功能，例如，确定或处理上述方法中所涉及的数据和信息中的至少一种。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存基站或LMF网元或第二终端设备必要的计算机程序和数据。该芯片系统，可以由芯片构成，也可以包括芯片和其他分立器件。
第十八方面，本公开提供一种计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面所述的方法。
第十九方面，本公开提供一种计算机程序，当其在计算机上运行时，使得计算机执行上述第二方面所述的方法。
附图说明
为了更清楚地说明本公开实施例或背景技术中的技术方案，下面将对本公开实施例或背景技术中所需要使用的附图进行说明。
图1是本公开实施例提供的一种通信系统的架构图；
图2是本公开实施例提供的一种基于DL-TDOA的定位方法的示意图；
图3是本公开实施例提供的一种侧行链路SL定位方法的流程图；
图3A是本公开实施例提供的一种侧行链路SL定位方法的流程图；
图4是本公开实施例提供的另一种侧行链路SL定位方法的流程图；
图5是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图6是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图7是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图8是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图9是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图10是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图11是本公开实施例提供的又一种侧行链路SL定位方法的流程图；
图12是本公开实施例提供的一种通信装置的结构图；
图13是本公开实施例提供的另一种通信装置的结构图；
图14是本公开实施例提供的一种芯片的结构示意图。
具体实施方式
为了更好的理解本公开实施例公开的一种侧行链路SL定位方法和装置，下面首先对本公开实施例适用的通信系统进行描述。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也是旨在包括多数形式，除非上下文清楚地表示其它含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，例如，在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
需要说明的是，本公开所涉及的信息(包括但不限于用户设备信息、用户个人信息等)、数据(包括但不限于用于分析的数据、存储的数据、展示的数据等)以及信号，均为经用户授权或者经过各方充分授权的，且相关数据的收集、使用和处理需要遵守相关国家和地区的相关法律法规和标准。
请参见图1，图1是本公开实施例提供的一种通信系统的示意图，如图1所示，该通信系统可以包括不限于一个(无线)接入网络((radio)access network，(R)AN)、一个终端设备和一个核心网设备。接入网设备与接入网设备之间通过有线或无线的方式进行通信，例如通过图1中的Xn接口相互通信。接入网设备可以覆盖一个或者多个小区，如：接入网设备1覆盖有小区1.1、小区1.2，接入网设备2覆盖有小区2.1。终端设备可以在其中一个小区中驻留接入网设备，处于连接态。进一步，终端设备可以经过RRC释放过程从连接态转换为非激活态，即转换为非连接态。处于非连接态的终端设备可以驻留在原小区，根据该终端设备在原小区的传输参数，与原小区中的接入网设备进行上行传输和/或下行传输。处于非连接态的终端设备也可以移动到新的小区，根据该终端设备在新的小区的传输参数，与新的小区的接入网设备进行上行传输和/或下行传输。
需要说明的是，图1仅为示例性框架图，图1中包括的节点的数量、小区数量以及终端设备所处状态不受限制。除图1所示功能节点外，还可以包括其他节点，如：网关设备、应用服务器等等，不予限制。接入网设备通过有线或无线的方式与核心网设备相互通信，如通过下一代(next generation，NG)接口相互通信。
其中，终端设备是用户侧的一种用于接收或发射信号的实体，如手机。终端设备也可以称为终端设备(terminal)、用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端设备(mobile terminal，MT)等。终端设备可以是具备通信功能的汽车、智能汽车、手机(mobile phone)、穿戴式设备、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、工业控制(industrial control)中的无线终端设备、无人驾驶(self-driving)中的无线终端设备、远程手术(remote medical surgery)中的无线终端设备、智能电网(smart grid)中的无线终端设备、运输安全(transportation safety)中的无线终端设备、智慧城市(smart city)中的无线终端设备、智慧家庭(smart home)中的无线终端设备等等。本公开的实施例对终端设备所采用的具体技术和具体设备形态不做限定。
(无线)接入网络((radio)access network，(R)AN)，用于为特定区域的授权终端设备提供入网功能，并能够根据终端设备的级别，业务的需求等使用不同质量的传输隧道。如(R)AN可管理无线资源，为终端设备提供接入服务，进而完成控制信息和/或数据信息在终端设备和核心网(core network，CN)之间的转发。本公开实施例中的接入网设备是一种为终端设备提供无线通信功能的设备，也可称为网络设备。如该接入网设备可以包括：5G系统中的下一代基站节点(next generation node basestation，gNB)、长期演进(longterm evolution，LTE)中的演进型节点B(evolved node B，eNB)、无线网络控制器(radionetwork controller，RNC)、节点B(node B，NB)、基站控制器(base station controller，BSC)、基站收发台(base transceiver station，BTS)、家庭基站(例如，home evolvednodeB，或home node B，HNB)、基带单元(base band unit，BBU)、传输点(transmitting andreceiving point，TRP)、发射点(transmitting point，TP)、小基站设备(pico)、移动交换中心，或者未来网络中的网络设备等。可理解，本公开实施例对接入网设备的具体类型不作限定。在不同无线接入技术的系统中，具备接入网设备功能的设备的名称可能会有所不同。
核心网设备可以是包括AMF和/或一种位置管理功能网元。可选地，位置管理功能网元包括位置服务器(location server)，位置服务器可以实现为以下任意一项：LMF(Location Management Function，位置管理功能)网元、E-SMLC(Enhanced Serving Mobile Location Centre，增强服务的流动定位中心)、SUPL(Secure User Plane Location，安全用户平面定位)、SUPL SLP(SUPL Location Platform，安全用户平面定位定位平台)。
可以理解的是，本公开实施例描述的通信系统是为了更加清楚的说明本公开实施例的技术方案，并不构成对于本公开实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本公开实施例提供的技术方案对于类似的技术问题，同样适用。
此外，为了便于理解本公开实施例，做出以下几点说明。
第一，本公开实施例中，“用于指示”可以包括用于直接指示和用于间接指示。当描述某一信息用于指示A时，可以包括该信息直接指示A或间接指示A，而并不代表该信息中一定携带有A。
将信息所指示的信息称为待指示信息，则具体实现过程中，对待指示信息进行指示的方式有很多种，例如但不限于，可以直接指示待指示信息，如待指示信息本身或者该待指示信息的索引等。也可以通过指示其他信息来间接指示待指示信息，其中该其他信息与待指示信息之间存在关联关系。还可以仅仅指示待指示信息的一部分，而待指示信息的其他部分则是已知的或者提前约定的。例如，还可以借助预先约定(例如协议规定)的各个信息的排列顺序来实现对特定信息的指示，从而在一定程度上降低指示开销。
待指示信息可以作为一个整体一起发送，也可以分成多个子信息分开发送，而且这些子信息的发送周期和/或发送时机可以相同，也可以不同。具体发送方法本公开不进行限定。其中，这些子信息的发送周期和/或发送时机可以是预先定义的，例如根据协议预先定义的。
第二，本公开实施例列举了多个实施方式以对本公开实施例的技术方案进行清晰地说明。当然，本领域内技术人员可以理解，本公开实施例提供的多个实施例，可以被单独执行，也可以与本公开实施例中其他实施例的方法结合后一起被执行，还可以单独或结合后与其他相关技术中的一些方法一起被执行；本公开实施例并不对此进行限定。
本公开实施例中，基于终端设备和终端设备间SL(Sidelink，侧行链路)定位包括绝对定位，相对定位，以及测距。绝对定位也即确定终端设备的绝对坐标，相对定位则是确定终端设备相对一个参考点的坐标，测距则是确定终端设备相对一个参考点的距离和/或角度。
其中，测距通常仅涉及两个终端设备间进行测距，但绝对定位和相对定位则可能涉及多个辅助终端设备来参与定位。
如图2所示，图2为基于DL-TDOA(DownLink-Time Difference Of Arrival，下行链路到达时间差)的定位方法，终端设备(UE)通过测量多个RSU(Road Side Unit，路侧单元)，例如大于等于3个RSU，通过侧行链路发送的定位信号(SL PRS(positioning reference signal，定位参考信号))，就可以确定终端设备相对于RSU的具体位置。除了DL-TDOA，定位方案还有UL-TDOA(UpLink-Time Difference Of Arrival，上行链路到达时间差)，multiple RTT(Multi-Round Trip Time，多次往返时间)，AOA(Angle Of Arrival，到达角度)，AOD(Angle Of Departure，发射角度)，载波相位(carrier phase)定位等等。如果定位结果没有基于RSU的GPS(global positioning system，全球卫星定位系统)等绝对位置信息转换成绝对位置坐标，那么定位结果就是相对定位。反之，就是绝对定位。参与到相对定位/绝对定位的终端设备就是定位辅助终端设备，也叫做锚点(anchor)终端设备。与定位辅助终端设备相对应的，是被定位终端设备。
其中，如果定位仅涉及到两个终端设备，则二者互相是对方的定位辅助终端设备。
其中，定位辅助终端设备，存在不同的类型，比如RSU类型的定位辅助终端设备，它属于一种基础设施，它可以通过与其它RSU一起协作提供定位服务；比如普通的终端设备也可以作为定位辅助终端设备，其就难以与其它终端设备一起协助提供定位服务；另外，有些定位辅助终端设备有GPS等位置信息，其可以辅助其它终端设备进行绝对定位；其它一些定位辅助终端设备可能不具备GPS等位置信息。
相关技术中，终端设备在进行SL(Sidelink，侧行链路又称为侧行链路)定位的过程中，有可能无法测量到SL PRS(positioning reference signal，定位参考信号)，在无法测量到SL PRS的情况下，SL定位的过程无法进行，会导致定位失败，这是亟需解决的问题。
基于此，本公开实施例中，提供一种侧行链路SL定位方法，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向基站发送指示信息，或向LMF网元发送指示信息，或向第二终端设备发送指示信息。由此，第一终端设备在可以在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以发送指示信息，以避免SL定位的过程无法进行，避免定位失败。
下面结合附图对本公开所提供的一种侧行链路SL定位方法和装置进行详细地介绍。
请参见图3，图3是本公开实施例提供的一种侧行链路SL定位方法的流程图。
如图3所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S31：响应于进行SL定位的过程中未测量到需要接收的SL PRS，向基站发送指示信息，或向LMF网元发送指示信息，或向第二终端设备发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向基站发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向LMF网元发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向第二终端设备发送指示信息。
其中，第一终端设备进行SL定位的过程，可以是进行SL-RTT(Round Trip Time，往返时间)，或SL-TDOA(Time Difference Of Arrival，到达时间差)定位的过程，或进行SL-AOA(Angle Of Arrival，到达角度)定位的过程，或进行SL-AOD(Angle Of Departure，发射角度)定位的过程，等等，本公开实施例对此不作具体限制。
本公开实施例中，第一终端设备可以为被定位终端设备，或者anchor终端设备；其中，第二终端设备可以为被定位终端设备，或者负责定位计算的终端设备。
示例性地，如图3A所示，第一终端设备可以为被定位终端设备，或者anchor终端设备。
其中，第一终端设备为被定位终端设备的情况下，第二终端设备也可以为被定位终端设备，或者第二终端设备还可以为负责定位计算的终端设备。
其中，第一终端设备为anchor终端设备的情况下，第二终端设备也可以为被定位终端设备，或者第二终端设备还可以为负责定位计算的终端设备。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因有多种，例如：第一终端设备未接收到SL PRS、第一终端设备未接收到足够的SL PRS、第一终端设备无SL PRS配置信息，等等。
基于此，本公开实施例中，第一终端设备发送的指示信息可以用于指示未测量到需要接收的SL PRS，或者还可以用于指示无法测量部分或任何SL PRS，或者还可以用于指示无SL PRS配置信息，等等，在此情况下，可以对SL定位的过程中第一终端设备未测量到需要接收的SL PRS的情况，进行调整，避免SL定位流程无法进行，避免定位失败。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
本公开实施例中，第一终端设备可以为被定位终端设备，或anchor终端设备，第一终端设备需要接收锚点终端设备发送的SL PRS，此时第二终端设备可以为被定位终端设备，或者负责定位计算的终端设备。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
本公开实施例中，第一终端设备可以为被定位终端设备，或anchor终端设备，第一终端设备需要接收目标终端设备发送的SL PRS，此时第二终端设备可以为被定位终端设备，或者负责定位计算的终端设备。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
可以理解的是，第一终端设备需要根据SL PRS配置信息接收SL PRS，在缺少SL PRS配置信息的情况下，第一终端设备无法确定需要接收的SL PRS，也就会导致无法测量到需要接收的SL PRS。
基于此，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL定位的过程中，缺少SL PRS配置信息，导致无法确定需要接收的SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向基站发送的指示 信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因，可能为第一终端设备未接收到足够的SL PRS。例如，在进行SL-TDOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS；又例如，在进行SL-AOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS，等等。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-TDOA定位的过程中未接收到足够的SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-AOA定位的过程中未接收到足够的SL PRS。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
在一些实施例中，第一终端设备向LMF网元发送指示信息，包括：
通过SL LPP消息中的提供位置信息消息向LMF网元发送指示信息；或者
通过LPP消息中的提供位置信息消息向LMF网元发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向LMF网元发送指示信息，可以通过SL LPP(LTE Positioning Protocol，LTE定位协议)消息中的提供位置信息消息向LMF网元发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向LMF网元发送指示信息，可以通过LPP消息中的提供位置信息消息向LMF网元发送指示信息。
在一些实施例中，第一终端设备向第二终端设备发送指示信息，包括：
通过SL LPP消息中的提供位置信息消息向第二终端设备发送指示信息；或者
通过LPP消息中的提供位置信息消息向第二终端设备发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向第二终端设备发送指示信息，可以通过SL LPP(LTE Positioning Protocol，LTE定位协议)消息中的提供位置信息消息向第二终端设备发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向第二终端设备发送指示信息，可以通过LPP消息中的提供位置信息消息向第二终端设备发送指示信息。
在一些实施例中，第一终端设备响应于存在部分可测量的SL PRS，对可测量的SL PRS进行测量得到测量结果；向基站上报测量结果，或向LMF网元上报测量结果，或向第二终端设备上报测量结果。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，可能存在部分可测量的SL PRS，在此情况下，第一终端设备可以对可测量的SL PRS进行测量得到测量结果，并进行测量结果的上报，或者第一终端设备还可以不进行测量结果的上报，也即全部都不上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向基站上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向LMF网元上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向第二终端设备上报测量结果。
在一些实施例中，第一终端设备响应于通过PC5-S消息向第二终端设备发送测量报告，或通过RRC消息向基站发送测量报告，执行以下至少一个：
在不存在可上报的测量结果的情况下，取消发送测量报告；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告为空；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示无测量结果；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示测量不到SL PRS；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，可以取消向第二终端设备发送测量报告。
示例性地，第一终端设备仅需要测量一个SL PRS但无法测量，或者第一终端设备需要测量多个SL PRS，均无法测量，在此情况下，不存在可上报的测量结果，第一终端设备可以取消向第二终端设备发送测量报告。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识(sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在通过RRC(Radio Resource Control，无线资源控制)消息向基站发送测量报告的情况下，若不存在可上报的测量结果，可以取消向基站发送测量报告。
示例性地，第一终端设备仅需要测量一个SL PRS但无法测量，或者第一终端设备需要测量多个SL PRS，均无法测量，在此情况下，不存在可上报的测量结果，第一终端设备可以取消向基站发送测量报告。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识 (sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
在一些实施例中，第一终端设备响应于无法测量到SL PRS，触发基于SL-RRC消息或基于RRC消息的测量上报流程；或者响应于无法测量到SL PRS，触发基于SL LPP消息或基于LPP消息的位置上报流程。
本公开实施例中，第一终端设备响应于无法测量到SL PRS，触发基于SL-RRC消息或基于RRC消息的测量上报流程；或者响应于无法测量到SL PRS，触发基于SL LPP消息或基于LPP消息的位置上报流程，第一终端设备上报的测量报告中，可以指示无测量结果，或者可以指示无法测量到SL PRS，或者测量报告还可以为空，等等。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于SL-RRC消息的测量上报流程。
其中，第一终端设备触发基于SL-RRC消息的测量上报流程，可以为向第二终端设备发送SL-RRC消息进行测量上报流程。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于RRC消息的测量上报流程。
其中，第一终端设备触发基于RRC消息的测量上报流程，可以为向基站发送RRC消息进行测量上报流程。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于SL LPP消息的位置上报流程。
其中，第一终端设备触发基于SL LPP消息的测量上报流程，可以为向第二终端设备发送SL LPP消息进行位置上报流程。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于LPP消息的位置上报流程。
其中，第一终端设备触发基于LPP消息的测量上报流程，可以为向第二终端设备发送LPP消息进行位置上报流程。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于SL LPP消息的位置上报流程。
其中，第一终端设备触发基于SL LPP消息的测量上报流程，可以为向LMF设备发送SL LPP消息进行位置上报流程。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，未测量到需要接收的SL PRS为无法测量到SL PRS的情况下，触发基于LPP消息的位置上报流程。
其中，第一终端设备触发基于LPP消息的位置上报流程，可以为向LMF设备发送LPP消息进行位置上报流程。
可以理解的是，第一终端设备在无法测量到SL PRS的情况下，触发基于SL-RRC消息或基于RRC消息的测量上报流程，可以直接触发测量上报流程进行指示，而无需基于第一终端设备自身的其他原因触发测量上报进行携带指示。
可以理解的是，第一终端设备在无法测量到SL PRS的情况下，触发基于SL LPP消息或基于LPP消息的位置上报流程，可以直接触发位置上报流程进行指示，而无需基于第一终端设备自身的其他原因触发测量上报进行携带指示。
通过实施本公开实施例，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。由此，第一终端设备在无法测量到SL PRS的情况下，可以发送指示信息，以避免SL定位流程无法进行，避免定位失败。
请参见图4，图4是本公开实施例提供的另一种侧行链路SL定位方法的流程图。
如图4所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S41：终端设备响应于进行SL定位的过程中未测量到需要接收的SL PRS，向基站发送指示信息，或向LMF网元发送指示信息，或向第二终端设备发送指示信息。
其中，S41的相关描述可以参见上述实施例中的相关描述，此处不再赘述。
S42：响应于存在部分可测量的SL PRS，对可测量的SL PRS进行测量得到测量结果。
S43：向基站上报测量结果，或向LMF网元上报测量结果，或向第二终端设备上报测量结果。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，可能存在部分可测量的SL PRS，在此情况下，第一终端设备可以对可测量的SL PRS进行测量得到测量结果，并进行测量结果的上报，或者第一终端设备还可以不进行测量结果的上报，也即全部都不上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向基站上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向LMF网元上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向第二终端设备上报测量结果。
其中，指示信息指示的内容可以参见上述实施例中的相关描述，此处不再赘述。
需要说明的是，本公开实施例中，S41至S43可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息，响应于存在部分可测量的SL PRS，对可测量的SL PRS进行测量得到测量结果；向基站上报测量结果，或向LMF网元上报测量结果，或向第二终端设备上报测量结果。由此，第一终端设备在无法测量到SL PRS的情况下，可以发送指示信息，以避免SL定位流程无法进行，避免定位失败，并且在存在部分可测量的SL PRS的情况下，可以进行测量结果的上报。
请参见图5，图5是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图5所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S51：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，通过SL LPP消息或LPP消息中的提供位置信息消息向LMF网元发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向LMF网元发送指示信息，可以通过SL LPP(LTE Positioning Protocol，LTE定位协议)消息中的提供位置信息消息向LMF网元发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向LMF网元发送指示信息，可以通过LPP消息中的提供位置信息消息向LMF网元发送指示信息。
其中，指示信息指示的内容可以参见上述实施例中的相关描述，此处不再赘述。
需要说明的是，本公开实施例中，S51可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31和/或S41至S43一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，通过SL LPP消息或LPP消息中的提供位置信息消息向LMF网元发送指示信息。由此，第一终端设备在无法测量到SL PRS的情况下，可以向LMF网元发送指示信息，以避免SL定位流程无法进行，避免定位失败。
请参见图6，图6是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图6所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S61：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，通过SL LPP消息或LPP消息中的提供位置信息消息向第二终端设备发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向第二终端设备发送指示信息，可以通过SL LPP(LTE Positioning Protocol，LTE定位协议)消息中的提供位置信息消息向第二终端设备发送指示信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS的情况下，向第二终端设备发送指示信息，可以通过LPP消息中的提供位置信息消息向第二终端设备 发送指示信息。
其中，指示信息指示的内容可以参见上述实施例中的相关描述，此处不再赘述。
需要说明的是，本公开实施例中，S61可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31和/或S41至S43一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，通过SL LPP消息或LPP消息中的提供位置信息消息向第二终端设备发送指示信息。由此，第一终端设备在无法测量到SL PRS的情况下，可以向第二终端设备发送指示信息，以避免SL定位流程无法进行，避免定位失败。
请参见图7，图7是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图7所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S71：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向第二终端设备发送指示信息。
其中，S71的相关描述可以参见上述实施例中的相关描述，此处不再赘述。
S72：响应于通过PC5-S消息向第二终端设备发送测量报告，执行以下至少一个：
在不存在可上报的测量结果的情况下，取消发送测量报告；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告为空；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示无测量结果；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示测量不到SL PRS；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在采用向第二终端设备发送PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，可以取消向第二终端设备发送测量报告。
示例性地，第一终端设备仅需要测量一个SL PRS但无法测量，或者第一终端设备需要测量多个SL PRS，均无法测量，在此情况下，不存在可上报的测量结果，第一终端设备可以取消向第二终端设备发送测量报告。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识(sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
其中，指示信息指示的内容可以参见上述实施例中的相关描述，此处不再赘述。
需要说明的是，本公开实施例中，S71与S72可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31和/或S41至S43和/或S61一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第一终端设备在无法测量到SL PRS的情况下，可以向第二终端设备发送指示信息，以避免SL定位流程无法进行，避免定位失败，并且还可以向第二终端设备发送测量报告。
请参见图8，图8是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图8所示，该方法由第一终端设备执行，该方法可以包括但不限于如下步骤：
S81：响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息。
其中，S81的相关描述可以参见上述实施例中的相关描述，此处不再赘述。
S82：响应于通过RRC消息向基站发送测量报告，执行以下至少一个：
在不存在可上报的测量结果的情况下，取消发送测量报告；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告为空；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示无测量结果；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示测量不到SL PRS；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在采用向基站发送RRC(Radio Resource Control，无线资源控制)消息的方式向基站发送测量报告的情况下，若不存在可上报的测量结果，可以取消向基站发送测量报告。
示例性地，第一终端设备仅需要测量一个SL PRS但无法测量，或者第一终端设备需要测量多个SL PRS，均无法测量，在此情况下，不存在可上报的测量结果，第一终端设备可以取消向基站发送测量报告。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识(sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
其中，指示信息指示的内容可以参见上述实施例中的相关描述，此处不再赘述。
需要说明的是，本公开实施例中，S81与S82可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31和/或S41至S43和/或S61一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第一终端设备在无法测量到SL PRS的情况下，可以向基站发送指示信息，以避免SL定位流程无法进行，避免定位失败，并且还可以向基站发送测量报告。
请参见图9，图9是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图9所示，该方法由基站执行，该方法可以包括但不限于如下步骤：
S91：接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向基站发送指示信息，基站接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备可以为被定位终端设备，或者anchor终端设备。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因有多种，例如：第一终端设备未接收到SL PRS、第一终端设备未接收到足够的SL PRS、第一终端设备无SL PRS配置信息，等等。
基于此，本公开实施例中，第一终端设备发送的指示信息可以用于指示未测量到需要接收的SL PRS，或者还可以用于指示无法测量部分或任何SL PRS，或者还可以用于指示无SL PRS配置信息，等等，在此情况下，可以对SL定位的过程中第一终端设备未测量到需要接收的SL PRS的情况，进行调整，避免SL定位流程无法进行，避免定位失败。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向基站发送的指示信息还可以用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向基站发送的指示信息可以用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因，可能为第一终端设备未接收到足够的SL PRS。例如，在进行SL-TDOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS；又例如，在进行SL-AOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS，等等。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-TDOA定位的过程中未接收到足够的SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-AOA定位的过程中未接收到足够的SL PRS。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
在一些实施例中，基站还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，可能存在部分可测量的SL PRS，在此情况下，第一终端设备可以对可测量的SL PRS进行测量得到测量结果，并进行测量结果的上报，或者第一终端设备还可以不进行测量结果的上报，也即全部都不上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向基站上报测量结果，基站还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
在一些实施例中，基站接收第一终端设备发送的测量报告；其中，所述测量报告为所述第一终端设备在通过RRC消息向基站发送测量报告，存在可上报的测量结果或不存在可上报的测量结果的情况下发送的，所述测量报告包括以下至少一个：
测量报告为空；
测量报告指示无测量结果；
测量报告指示测量不到SL PRS；
测量报告包括可上报的测量结果；
测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向基站发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识(sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过RRC消息向基站发送测量报告的情况下，若存在可上报的 测量结果，第一终端设备可以向基站发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
需要说明的是，本公开实施例中，S91可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，基站接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的，由此，可以避免SL定位流程无法进行，避免定位失败。
请参见图10，图10是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图10所示，该方法由LMF网元执行，该方法可以包括但不限于如下步骤：
S101：接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向LMF网元发送指示信息，LMF网元接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备可以为被定位终端设备，或者anchor终端设备。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因有多种，例如：第一终端设备未接收到SL PRS、第一终端设备未接收到足够的SL PRS、第一终端设备无SL PRS配置信息，等等。
基于此，本公开实施例中，第一终端设备发送的指示信息可以用于指示未测量到需要接收的SL PRS，或者还可以用于指示无法测量部分或任何SL PRS，或者还可以用于指示无SL PRS配置信息，等等，在此情况下，可以对SL定位的过程中第一终端设备未测量到需要接收的SL PRS的情况，进行调整，避免SL定位流程无法进行，避免定位失败。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检 测不到目标终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向LMF网元发送的指示信息还可以用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向LMF网元发送的指示信息可以用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因，可能为第一终端设备未接收到足够的SL PRS。例如，在进行SL-TDOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS；又例如，在进行SL-AOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS，等等。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-TDOA定位的过程中未接收到足够的SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-AOA定位的过程中未接收到足够的SL PRS。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
在一些实施例中，LMF网元还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，可能存在部分可测量的SL PRS，在此情况下，第一终端设备可以对可测量的SL PRS进行测量得到测量结果，并进行测量结果的上报，或者第一终端设备还可以不进行测量结果的上报，也即即使有测量结果也不上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向LMF网元上报测量结果，LMF网元还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
需要说明的是，本公开实施例中，S101可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，LMF网元接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的，由此，可以避免SL定位流程无法进行，避免定位失败。
请参见图11，图11是本公开实施例提供的又一种侧行链路SL定位方法的流程图。
如图11所示，该方法由第二终端设备执行，该方法可以包括但不限于如下步骤：
S111：接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下，可以向第二终端设备发送指示信息，第二终端设备接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
本公开实施例中，第一终端设备可以为被定位终端设备，或者anchor终端设备。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因有多种，例如：第一终端设备未接收到SL PRS、第一终端设备未接收到足够的SL PRS、第一终端设备无SL PRS 配置信息，等等。
基于此，本公开实施例中，第一终端设备发送的指示信息可以用于指示未测量到需要接收的SL PRS，或者还可以用于指示无法测量部分或任何SL PRS，或者还可以用于指示无SL PRS配置信息，等等，在此情况下，可以对SL定位的过程中第一终端设备未测量到需要接收的SL PRS的情况，进行调整，避免SL定位流程无法进行，避免定位失败。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量任何锚点终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
示例性地，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量部分锚点终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备发送的指示信息还可以用于指示无法测量SL PRS。
示例性地，需要接收的SL PRS包括目标终端设备发送的SL PRS，在未测量到需要接收的SL PRS为第一终端设备检测不到目标终端设备发送的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无法测量目标终端设备，或者第一终端设备向第二终端设备发送的指示信息还可以用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备发送的指示信息可以用于指示无SL PRS配置信息。
示例性地，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，在第一终端设备缺少SL PRS配置信息，导致未测量到需要接收的SL PRS的情况下，第一终端设备向第二终端设备发送的指示信息可以用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的原因，可能为第一终端设备未接收到足够的SL PRS。例如，在进行SL-TDOA定位的过程中，需要至少三个SL PRS，第一终端设备仅接受到一个或两个SL PRS；又例如，在进行SL-AOA定位的过程中，需要至少三个SL  PRS，第一终端设备仅接受到一个或两个SL PRS，等等。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-TDOA定位的过程中未接收到足够的SL PRS。
本公开实施例中，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，可以为在进行SL-AOA定位的过程中未接收到足够的SL PRS。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
在一些实施例中，第二终端设备还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
可以理解的是，第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS，其中，可能存在部分可测量的SL PRS，在此情况下，第一终端设备可以对可测量的SL PRS进行测量得到测量结果，并进行测量结果的上报，或者第一终端设备还可以不进行测量结果的上报，也即全部都不上报测量结果。
示例性地，第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到测量结果，向第二终端设备上报测量结果，第二终端设备还接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
在一些实施例中，第二终端设备接收第一终端设备发送的测量报告；其中，所述测量报告为所述第一终端设备在通过PC5-S消息向第二终端设备发送测量报告，存在可上报的测量结果或不存在可上报的测量结果的情况下发送的，所述测量报告包括以下至少一个：
测量报告为空；
测量报告指示无测量结果；
测量报告指示测量不到SL PRS；
测量报告包括可上报的测量结果；
测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告为空。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示无测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若不存在可上报的测量结果，第一终端设备也可以向第二终端设备发送测量报告，其中，测量报告指示测量不到SL PRS。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息。
示例性地，测量报告指示无法测量的SL PRS的信息，可以在测量报告中提供无法测量的SL PRS的资源标识，和/或提供发送该无法测量的SL PRS的终端设备标识信息，例如侧行链路资源层2标识(sidelink source layer 2 ID)，和/或提供发送该无法测量的SL PRS的终端设备的服务小区。
本公开实施例中，第一终端设备在通过PC5-S消息向第二终端设备发送测量报告的情况下，若存在可上报的测量结果，第一终端设备可以向第二终端设备发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
需要说明的是，上述实施例并没有穷举，仅为部分实施例的示意，并且上述实施例可以单独被实施，也可以多个进行组合被实施，上述实施例仅作为示意，不作为对本公开实施例保护范围的具体限制。
需要说明的是，本公开实施例中，S111可以单独被实施，也可以结合本公开实施例中的任何一个其他步骤一起被实施，例如结合本公开实施例中的S31一起被实施，本公开实施例并不对此做出限定。
通过实施本公开实施例，第二终端设备接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的，由此，可以避免SL定位流程无法进行，避免定位失败。
上述本公开提供的实施例中，分别从第一终端设备、基站、LMF网元和第二终端设备的角度对本公开实施例提供的方法进行了介绍。
请参见图12，为本公开实施例提供的一种通信装置1的结构示意图。图12所示的通信装置1可包括收发模块11和处理模块12。收发模块可包括发送模块和/或接收模块，发送模块用于实现发送功能，接收模块用于实现接收功能，收发模块可以实现发送功能和/或接收功能。
通信装置1可以是第一终端设备，也可以是第一终端设备中的装置，还可以是能够与第一终端设备匹配使用的装置。或者，通信装置1可以是基站，也可以是基站中的装置，还可以是能够与基站匹配使用的装置。或者，通信装置1可以是LMF网元，也可以是LMF网元中的装置，还可以是能够与LMF网元匹配使用的装置。或者，通信装置1可以是第二终端设备，也可以是第二终端设备中的装置，还可以是能够与第二终端设备匹配使用的装置。
通信装置1为第一终端设备：
该装置，包括：收发模块11。
收发模块11，被配置为响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
在一些实施例中，收发模块11，还被配置为通过SL LPP消息中的提供位置信息消息向LMF网元发送指示信息；或者通过LPP消息中的提供位置信息消息向LMF网元发送指示信息。
在一些实施例中，收发模块11，还被配置为通过SL LPP消息中的提供位置信息消息向第二终端设备发送指示信息；或者通过LPP消息中的提供位置信息消息向第二终端设备发送指示信息。
在一些实施例中，该装置，还包括：处理模块12，被配置为响应于存在部分可测量的SL PRS，对可测量的SL PRS进行测量得到测量结果。
收发模块11，还被配置为向基站上报测量结果，或向LMF网元上报测量结果，或向第二终端设备上报测量结果。
在一些实施例中，收发模块11，还被配置为响应于通过PC5-S消息向第二终端设备发送测量报告，或通过RRC消息向基站发送测量报告，执行以下至少一个：
在不存在可上报的测量结果的情况下，取消发送测量报告；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告为空；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示无测量结果；
在不存在可上报的测量结果的情况下，发送测量报告，其中，测量报告指示测量不到SL PRS；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示无法测量的SL PRS的信息；
在存在可上报的测量结果的情况下，发送测量报告，其中，测量报告包括可上报的测量结果，以及指示有部分SL PRS无法测量。
在一些实施例中，收发模块11，还被配置为响应于无法测量到SL PRS，触发基于SL-RRC消息或基于RRC消息的测量上报流程；或者响应于无法测量到SL PRS，触发基于SL LPP消息或基于LPP消息的位置上报流程。
通信装置1为基站、或LMF网元、或第二终端设备：
该装置，包括：收发模块11。
收发模块11，被配置为接收第一终端设备发送的指示信息，其中，指示信息为第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
在一些实施例中，需要接收的SL PRS包括锚点终端设备发送的SL PRS，在第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
在一些实施例中，需要接收的SL PRS包括目标终端设备发送的SL PRS，在第一终端设备检测不到目标终端设备发送的SL PRS的情况下，指示信息用于指示无法测量目标终端设备或用于指示无法测量SL PRS。
在一些实施例中，在第一终端设备缺少SL PRS配置信息的情况下，指示信息用于指示无SL PRS配置信息。
在一些实施例中，进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
在一些实施例中，收发模块11，还被配置为接收第一终端设备上报的测量结果，其中，测量结果为第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
关于上述实施例中的通信装置1，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
本公开上述实施例中提供的通信装置1，与上面一些实施例中提供的侧行链路SL定位方法取得相同或相似的有益效果，此处不再赘述。
请参见图13，图13是本公开实施例提供的另一种通信装置1000的结构示意图。通信装置1000可以是基站，也可以是第一终端设备，也可以是第二终端设备，也可以是LMF网元，也可以是支持基站或LMF网元实现上述方法的芯片、芯片系统、或处理器等，还可以是支持第一终端设备或第二终端设备实现上述方法的芯片、芯片系统、或处理器等。该通信装置1000可用于实现上述方法实施例中描述的方法，具体可以参见上述方法实施例中的说明。
通信装置1000可以包括一个或多个处理器1001。处理器1001可以是通用处理器或者专用处理器等。例如可以是基带处理器或中央处理器。基带处理器可以用于对通信协议以及通信数据进行处理，中央处理器可以用于对通信装置(如，网络侧设备、基带芯片，终端设备、终端设备芯片，DU或CU等)进行控制，执行计算机程序，处理计算机程序的数据。
可选的，通信装置1000中还可以包括一个或多个存储器1002，其上可以存有计算机程序1004，存储器1002执行所述计算机程序1004，以使得通信装置1000执行上述方法实施例中描述的方法。可选的，所述存储器1002中还可以存储有数据。通信装置1000和存储器1002可以单独设置，也可以集成在一起。
可选的，通信装置1000还可以包括收发器1005、天线1006。收发器1005可以称为收发单元、收发机、或收发电路等，用于实现收发功能。收发器1005可以包括接收器和发送器，接收器可以称为接收机或接收电路等，用于实现接收功能；发送器可以称为发送机或发送电路等，用于实现发送功能。
可选的，通信装置1000中还可以包括一个或多个接口电路1007。接口电路1007用于接收代码指令并传输至处理器1001。处理器1001运行所述代码指令以使通信装置1000执行上述方法实施例中描述的方法。
通信装置1000为第一终端设备：收发器1005用于执行图3中的S31；图4中的S41和S43；图5中的S51；图6中的S61；图7中的S71和S72；图8中的S81和S82；处理器1001用于执行图4中的S42。
通信装置1000为基站：收发器1005用于执行图9中的S91。
通信装置1000为LMF网元：收发器1005用于执行图10中的S101。
通信装置1000为第二终端设备：收发器1005用于执行图11中的S111。
在一种实现方式中，处理器1001中可以包括用于实现接收和发送功能的收发器。例如该收发器可以是收发电路，或者是接口，或者是接口电路。用于实现接收和发送功能的收发电路、接口或接口电路可以是分开的，也可以集成在一起。上述收发电路、接口或接口电路可以用于代码/数据的读写，或者，上述收发电路、接口或接口电路可以用于信号的传输或传递。
在一种实现方式中，处理器1001可以存有计算机程序1003，计算机程序1003在处理器1001上运行，可使得通信装置1000执行上述方法实施例中描述的方法。计算机程序1003可能固化在处理器1001中，该种情况下，处理器1001可能由硬件实现。
在一种实现方式中，通信装置1000可以包括电路，所述电路可以实现前述方法实施例中发送或接收或者通信的功能。本公开中描述的处理器和收发器可实现在集成电路(integrated circuit，IC)、模拟IC、射频集成电路RFIC、混合信号IC、专用集成电路(application specific integrated circuit，ASIC)、印刷电路板(printed circuit board，PCB)、电子设备等上。该处理器和收发器也可以用各种IC工艺技术来制造，例如互补金属氧化物半导体(complementary metal oxide semiconductor，CMOS)、N型金属氧化物半导体(nMetal-oxide-semiconductor，NMOS)、P型金属氧化物半导体(positive channel metal oxide semiconductor，PMOS)、双极结型晶体管(bipolar junction transistor，BJT)、双极CMOS(BiCMOS)、硅锗(SiGe)、砷化镓(GaAs)等。
以上实施例描述中的通信装置可以是终端设备或网络侧设备，但本公开中描述的通信装置的范围并不限于此，而且通信装置的结构可以不受图13的限制。通信装置可以是独立的设备或者可以是较大设备的一部分。例如所述通信装置可以是：
(1)独立的集成电路IC，或芯片，或，芯片系统或子系统；
(2)具有一个或多个IC的集合，可选的，该IC集合也可以包括用于存储数据，计算机程序的存储部件；
(3)ASIC，例如调制解调器(Modem)；
(4)可嵌入在其他设备内的模块；
(5)接收机、终端设备、智能终端设备、蜂窝电话、无线设备、手持机、移动单元、车载设备、网络设备、云设备、人工智能设备等等；
(6)其他等等。
对于通信装置可以是芯片或芯片系统的情况，请参见图14，为本公开实施例中提供的一种芯片的结构图。
芯片1100包括处理器1101和接口1103。其中，处理器1101的数量可以是一个或多个，接口1103的数量可以是多个。
对于芯片用于实现本公开实施例中第一终端设备的功能的情况：
接口1103，用于接收代码指令并传输至所述处理器。
处理器1101，用于运行代码指令以执行如上面一些实施例所述的侧行链路SL定位方法。
对于芯片用于实现本公开实施例中第二终端设备的功能的情况：
接口1103，用于接收代码指令并传输至所述处理器。
处理器1101，用于运行代码指令以执行如上面一些实施例所述的侧行链路SL定位方法。
对于芯片用于实现本公开实施例中基站的功能的情况：
接口1103，用于接收代码指令并传输至所述处理器。
处理器1101，用于运行代码指令以执行如上面一些实施例所述的侧行链路SL定位方法。
对于芯片用于实现本公开实施例中LMF网元的功能的情况：
接口1103，用于接收代码指令并传输至所述处理器。
处理器1101，用于运行代码指令以执行如上面一些实施例所述的侧行链路SL定位方法。
可选的，芯片1100还包括存储器1102，存储器1102用于存储必要的计算机程序和数据。
本领域技术人员还可以了解到本公开实施例列出的各种说明性逻辑块(illustrative logical block)和步骤(step)可以通过电子硬件、电脑软件，或两者的结合进行实现。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现所述的功能，但这种实现不应被理解为超出本公开实施例保护的范围。
本公开实施例还提供一种侧行链路SL定位系统，该系统包括前述图12实施例中作为第一终端设备的通信装置和作为基站的通信装置，或者，该系统包括前述图12实施例中作为第一终端设备的通信装置和作为LMF网元的通信装置，或者，该系统包括前述图12实施例中作为第一终端设备的通信装置和作为第二终端设备的通信装置，或者，该系统包括前述图13实施例中作为第一终端设备的通信装置和作为基站的通信装置，或者，该系统包括前述图13实施例中作为第一终端设备的通信装置和作为LMF网元的通信装置，或者，该系统包括前述图13实施例中作为第一终端设备的通信装置和作为第二终端设备的通信装置。
本公开还提供一种可读存储介质，其上存储有指令，该指令被计算机执行时实现上述任一方法实施例的功能。
本公开还提供一种计算机程序产品，该计算机程序产品被计算机执行时实现上述任一方法实施例的功能。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机程序。在计算机上加载和执行所述计算机程序时，全部或部分地产生按照本公开实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机程序可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机程序可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
本领域普通技术人员可以理解：本公开中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本公开实施例的范围，也表示先后顺序。
本公开中的至少一个还可以描述为一个或多个，多个可以是两个、三个、四个或者更多个，本公开不做限制。在本公开实施例中，对于一种技术特征，通过“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”等区分该种技术特征中的技术特征，该“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”描述的技术特征间无先后顺序或者大小顺序。
本公开中各表所示的对应关系可以被配置，也可以是预定义的。各表中的信息的取值仅仅是举例，可以配置为其他值，本公开并不限定。在配置信息与各参数的对应关系时，并不一定要求必须配置各表中示意出的所有对应关系。例如，本公开中的表格中，某些行示出的对应关系也可以不配置。又例如，可以基于上述表格做适当的变形调整，例如，拆分，合并等等。上述各表中标题示出参数的名称也可以采用通信装置可理解的其他名称，其参数的取值或表示方式也可以通信装置可理解的其他取值或表示方式。上述各表在实现时，也可以采用其他的数据结构，例如可以采用数组、队列、容器、栈、线性表、指针、链表、树、图、结构体、类、堆、散列表或哈希表等。
本公开中的预定义可以理解为定义、预先定义、存储、预存储、预协商、预配置、固化、或预烧制。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本公开的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (23)

  1. 一种侧行链路SL定位方法，其特征在于，所述方法由第一终端设备执行，包括：
    响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，发送指示信息，并且其中，所述发送指示信息包括以下中的至少一项：
    向基站发送指示信息；
    向位置管理功能LMF网元发送指示信息；
    向第二终端设备发送指示信息。
  2. 如权利要求1所述的方法，其特征在于，所述需要接收的SL PRS包括锚点终端设备发送的SL PRS，在所述第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
  3. 如权利要求1所述的方法，其特征在于，所述需要接收的SL PRS包括锚点终端设备发送的SL PRS，在所述第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
  4. 如权利要求1所述的方法，其特征在于，所述需要接收的SL PRS包括目标终端设备发送的SL PRS，在所述第一终端设备检测不到所述目标终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量所述目标终端设备或用于指示无法测量SL PRS。
  5. 如权利要求1所述的方法，其特征在于，在所述第一终端设备缺少SL PRS配置信息的情况下，所述指示信息用于指示无SL PRS配置信息。
  6. 如权利要求1至5中任一项所述的方法，其特征在于，所述SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
    侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
    侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
  7. 如权利要求1至6中任一项所述的方法，其特征在于，所述向LMF网元发送指示信息，包括：
    通过SL长期演进LTE定位协议LPP消息中的提供位置信息消息向所述LMF网元发送所述指示信息；或者
    通过LPP消息中的提供位置信息消息向所述LMF网元发送所述指示信息。
  8. 如权利要求1至6中任一项所述的方法，其特征在于，所述向第二终端设备发送指示信息，包括：
    通过SL LPP消息中的提供位置信息消息向所述第二终端设备发送所述指示信息；或者
    通过LPP消息中的提供位置信息消息向所述第二终端设备发送所述指示信息。
  9. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    响应于存在部分可测量的SL PRS，对可测量的SL PRS进行测量得到测量结果；
    向所述基站上报所述测量结果，或向所述LMF网元上报所述测量结果，或向所述第二终端设备上报所述测量结果。
  10. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    响应于通过PC5-S消息向所述第二终端设备发送测量报告，或通过无线资源控制RRC消息向所述基站发送测量报告，执行以下至少一个：
    在不存在可上报的测量结果的情况下，取消发送所述测量报告；
    在不存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告为空；
    在不存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告指示无测量结果；
    在不存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告指示测量不到SLPRS；
    在存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告包括所述可上报的测量结果；
    在存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告包括所述可上报的测量结果，以及指示无法测量的SL PRS的信息；
    在存在可上报的测量结果的情况下，发送所述测量报告，其中，所述测量报告包括所述可上报的测量结果，以及指示有部分SL PRS无法测量。
  11. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    响应于无法测量到SL PRS，触发基于SL-RRC消息或基于RRC消息的测量上报流程；或者
    响应于无法测量到SL PRS，触发基于SL LPP消息或基于LPP消息的位置上报流程。
  12. 一种侧行链路SL定位方法，其特征在于，所述方法由基站、LMF网元或第二终端设备执行，包括：
    接收第一终端设备发送的指示信息，其中，所述指示信息为所述第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
  13. 如权利要求12所述的方法，其特征在于，所述需要接收的SL PRS包括锚点终端设备发送的SL PRS，在所述第一终端设备检测不到任何锚点终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量任何锚点终端设备或用于指示无法测量任何SL PRS。
  14. 如权利要求12所述的方法，其特征在于，所述需要接收的SL PRS包括锚点终端设备发送的SL PRS，在所述第一终端设备检测不到部分锚点终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量部分锚点终端设备或用于指示无法测量部分SL PRS。
  15. 如权利要求12所述的方法，其特征在于，所述需要接收的SL PRS包括目标终端设备发送的SL PRS，在所述第一终端设备检测不到所述目标终端设备发送的SL PRS的情况下，所述指示信息用于指示无法测量所述目标终端设备或用于指示无法测量SL PRS。
  16. 如权利要求12所述的方法，其特征在于，在所述第一终端设备缺少SL PRS配置信息的情况下，所述指示信息用于指示无SL PRS配置信息。
  17. 如权利要求12至16中任一项所述的方法，其特征在于，所述进行SL定位的过程中未测量到需要接收的SL PRS，包括以下至少一个：
    进行侧行链路到达时间差SL-TDOA定位的过程中未接收到足够的SL PRS；
    进行侧行链路到达角度SL-AOA定位的过程中未接收到足够的SL PRS。
  18. 如权利要求12所述的方法，其特征在于，所述方法还包括：
    接收所述第一终端设备上报的测量结果，其中，所述测量结果为所述第一终端设备在存在部分可测量的SL PRS的情况下，对可测量的SL PRS进行测量得到的。
  19. 一种通信装置，其特征在于，所述装置包括：
    收发模块，被配置为响应于进行SL定位的过程中未测量到需要接收的SL定位参考信号PRS，向基站发送指示信息，或向位置管理功能LMF网元发送指示信息，或向第二终端设备发送指示信息。
  20. 一种通信装置，其特征在于，所述装置包括：
    收发模块，被配置为接收第一终端设备发送的指示信息，其中，所述指示信息为所述第一终端设备在进行SL定位的过程中未测量到需要接收的SL PRS的情况下发送的。
  21. 一种通信装置，其特征在于，所述装置包括处理器和存储器，所述存储器中存储有计算机程序，所述处理器执行所述存储器中存储的计算机程序，以使所述装置执行如权利要求1至11中任一项所述的方法，或所述处理器执行所述存储器中存储的计算机程序，以使所述装置执行如权利要求12至18中任一项所述的方法。
  22. 一种通信装置，其特征在于，包括：处理器和接口电路；
    所述接口电路，用于接收代码指令并传输至所述处理器；
    所述处理器，用于运行所述代码指令以执行如权利要求1至11中任一项所述的方法，或用于运行所述代码指令以执行如权利要求12至18中任一项所述的方法。
  23. 一种计算机可读存储介质，用于存储有指令，当所述指令被执行时，使如权利要求1至11中任一项所述的方法被实现，或当所述指令被执行时，使如权利要求12至18中任一项所述的方法被实现。
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