WO2024092523A1 - 侧行链路定位消息的发送方法、接收方法及其装置 - Google Patents

侧行链路定位消息的发送方法、接收方法及其装置 Download PDF

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Publication number
WO2024092523A1
WO2024092523A1 PCT/CN2022/129078 CN2022129078W WO2024092523A1 WO 2024092523 A1 WO2024092523 A1 WO 2024092523A1 CN 2022129078 W CN2022129078 W CN 2022129078W WO 2024092523 A1 WO2024092523 A1 WO 2024092523A1
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Prior art keywords
terminal device
address
receiving
positioning
sending
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PCT/CN2022/129078
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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
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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 CN202280004031.7A priority Critical patent/CN115997392A/zh
Priority to PCT/CN2022/129078 priority patent/WO2024092523A1/zh
Publication of WO2024092523A1 publication Critical patent/WO2024092523A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • 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
    • H04W72/25—Control channels or signalling for resource management between terminals via a wireless link, e.g. sidelink
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

Definitions

  • the present application relates to the field of communication technology, and in particular to a method for sending and receiving a side link positioning message and a device thereof.
  • the positioning of terminal devices can be achieved based on the sidelink (SL) between terminal devices.
  • the positioning based on the sidelink can include absolute positioning, relative positioning and ranging.
  • the terminal devices interact with each other through the sidelink positioning messages of the Sidelink Positioning Protocol/Ranging and sidelink positioning protocol (SLPP/RSPP) to achieve positioning.
  • SLPP/RSPP Sidelink Positioning Protocol/Ranging and sidelink positioning protocol
  • the embodiments of the present application provide a method for sending and receiving a side link positioning message and an apparatus thereof, which can be applied to the field of communication technology.
  • a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device, so that when the receiving terminal device receives a side link positioning message with the same serial number, it discards the currently received side link positioning message, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • an embodiment of the present application provides a method for sending a side link positioning message, which is executed by a sending terminal device.
  • the method includes: sending a side link positioning message carrying a serial number to a receiving terminal device.
  • a sending terminal device may send a side link positioning message carrying a serial number to a receiving terminal device, so that when the receiving terminal device receives a side link positioning message with the same serial number, it discards the currently received side link positioning message, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • an embodiment of the present application provides a method for receiving a side link positioning message, which is executed by a receiving terminal device.
  • the method includes: receiving a side link positioning message carrying a serial number sent by a sending terminal device.
  • a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device, so that when a side link positioning message with the same serial number is received, the currently received side link positioning message is discarded, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • an embodiment of the present application provides a communication device, which has some or all of the functions of the sending terminal device in the method described in the first aspect above, such as the functions of the communication device can have some or all of the functions in the embodiments of the present application, or can have the functions of implementing any one of the embodiments of the present application separately.
  • the functions can be implemented by hardware, or can 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 unit and a processing unit, and the processing unit is configured to support the communication device to perform the corresponding functions in the above method.
  • the transceiver unit is used to support communication between the communication device and other devices.
  • the communication device may also include a storage unit, which is coupled to the transceiver unit and the processing unit, and stores computer programs and data necessary for the communication device.
  • the processing unit may be a processor
  • the transceiver unit may be a transceiver or a communication interface
  • the storage unit may be a memory
  • an embodiment of the present application provides another communication device, which has some or all of the functions of the receiving terminal device in the method example described in the second aspect above, such as the functions of the communication device may have some or all of the functions in the embodiments of the present application, or may have the functions of implementing any one of the embodiments of the present application separately.
  • the functions may be implemented by hardware, or by hardware executing corresponding software implementations.
  • 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 unit and a processing unit, and the processing unit is configured to support the communication device to perform the corresponding functions in the above method.
  • the transceiver unit is used to support communication between the communication device and other devices.
  • the communication device may also include a storage unit, which is coupled to the transceiver unit and the processing unit and stores computer programs and data necessary for the communication device.
  • the processing unit may be a processor
  • the transceiver unit may be a transceiver or a communication interface
  • the storage unit may be a memory
  • an embodiment of the present application 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 application 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 application 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 application 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 application 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 application provides a communication device, which includes a processor and an interface circuit, 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 application provides a communication system, which includes the communication device described in the third aspect and the communication device described in the fourth aspect, or the system includes the communication device described in the fifth aspect and the communication device described in the sixth aspect, or the system includes the communication device described in the seventh aspect and the communication device described in the eighth aspect, or the system includes 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 used by the above-mentioned sending terminal device, and when the instructions are executed, the sending terminal device executes the method described in the first aspect.
  • an embodiment of the present invention provides a readable storage medium for storing instructions for the above-mentioned receiving terminal device, and when the instructions are executed, the receiving terminal device executes the method described in the above-mentioned second aspect.
  • the present application also 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 application also 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 application provides a chip system, which includes at least one processor and an interface, and is used to support a sending 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 sending terminal device.
  • the chip system can be composed of a chip, or it can include a chip and other discrete devices.
  • the present application provides a chip system, which includes at least one processor and an interface, and is used to support a receiving 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 receiving terminal device.
  • the chip system can be composed of a chip, or it can include a chip and other discrete devices.
  • the present application provides a computer program which, when executed on a computer, enables the computer to execute the method described in the first aspect above.
  • the present application provides a computer program which, when executed on a computer, enables the computer to execute the method described in the second aspect above.
  • FIG1 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a positioning method based on downlink-time difference of arrival provided in an embodiment of the present application
  • FIG3 is a schematic diagram of a flow chart of a method for sending a sidelink positioning message provided in an embodiment of the present application
  • FIG4 is a schematic flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • FIG8 is a schematic flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • FIG9 is a schematic flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG10 is a schematic flow chart of another method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG11 is a schematic flow chart of another method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG12 is a schematic flow chart of another method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG13 is a schematic flow chart of another method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG14 is a schematic flow chart of another method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • FIG15 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application.
  • FIG16 is a schematic diagram of the structure of another communication device provided in an embodiment of the present application.
  • FIG. 17 is a schematic diagram of the structure of a chip provided in an embodiment of the present application.
  • Figure 1 is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application.
  • the communication system may include, but is not limited to, a network device and a terminal device.
  • the number and form of devices shown in Figure 1 are only used as examples and do not constitute a limitation on the embodiments of the present application. In actual applications, two or more network devices and two or more terminal devices may be included.
  • the communication system shown in Figure 1 includes a network device 101 and a terminal device 102 as an example.
  • LTE long term evolution
  • 5G fifth generation
  • NR 5G new radio
  • the side link in the embodiment of the present application can also be called a side link or a through link.
  • the network device 101 in the embodiment of the present application is an entity on the network side for transmitting or receiving signals.
  • the network device 101 may be an evolved NodeB (eNB), a transmission point (TRP), a next generation NodeB (gNB) in an NR system, a base station in other future mobile communication systems, or an access node in a wireless fidelity (WiFi) system.
  • eNB evolved NodeB
  • TRP transmission point
  • gNB next generation NodeB
  • WiFi wireless fidelity
  • the embodiment of the present application does not limit the specific technology and specific device form adopted by the network device.
  • the network device provided in the embodiment of the present application may be composed of a central unit (CU) and a distributed unit (DU), wherein the CU may also be referred to as a control unit.
  • CU central unit
  • DU distributed unit
  • the CU-DU structure may be used to split the protocol layer of the network device, such as a base station, and the functions of some protocol layers are placed in the CU for centralized control, and the functions of the remaining part or all of the protocol layers are distributed in the DU, and the DU is centrally controlled by the CU.
  • the terminal device 102 in the embodiment of the present application is an entity on the user side for receiving or transmitting signals, such as a mobile phone.
  • the terminal device may also be referred to as a terminal device (terminal), a user equipment (UE), a mobile station (MS), a mobile terminal device (MT), etc.
  • the terminal device may 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 application do not limit the specific technology and specific device form adopted by the terminal device.
  • the positioning of terminal devices can be achieved based on the sidelink (SL) between terminal devices.
  • the positioning based on the sidelink can include absolute positioning, relative positioning and ranging.
  • the terminal devices interact with each other through the sidelink positioning messages of the Sidelink Positioning Protocol/Ranging and sidelink positioning protocol (SLPP/RSPP) to achieve positioning.
  • SLPP/RSPP Sidelink Positioning Protocol/Ranging and sidelink positioning protocol
  • absolute positioning is used to determine the absolute coordinates of the terminal device
  • relative positioning is used to determine the coordinates of the terminal device relative to a reference point
  • ranging is used to determine the distance and/or angle of the terminal device relative to a reference point.
  • ranging may usually involve two terminal devices to participate in ranging
  • absolute positioning and relative positioning may usually involve multiple terminal devices to participate in positioning
  • a terminal device such as a user equipment (UE) can determine the specific position of the UE relative to multiple road side units (RSU) by measuring the positioning messages sent by multiple road side units (RSU) through the side link.
  • RSU road side units
  • the positioning schemes also include uplink-Time Difference of Arrival (UL-TDOA), multiple round-trip time (multiple RTT), angle of arrival (AOA)/angle of deviation (AOD), carrier phase positioning, etc.
  • the positioning result is not converted into absolute position coordinates based on the absolute position information of RSU, etc., then the positioning result is relative positioning; otherwise, it is absolute positioning.
  • the UE being positioned is the target UE, and other UEs that support positioning the target UE are anchor UEs. If positioning involves only two UEs, they are each other's anchor UEs.
  • the RSU type anchor UE belongs to an infrastructure, which can provide positioning services by collaborating with other RSUs.
  • ordinary mobile terminal UE can also be used as an anchor UE, but it is difficult for it to assist in providing positioning services with other UEs.
  • some anchor UEs have location information such as GPS, which can assist other UEs in absolute positioning. Some other anchor UEs may not have location information such as GPS.
  • group positioning For ranging or relative positioning, sometimes it is not only desirable to obtain the distance, angle or relative position between two UEs, but also desirable to obtain the distance, angle or relative position between a UE and a group of UEs. This kind of positional relationship between a UE and a group of UEs that needs to be measured is called group positioning.
  • the communication system described in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application.
  • Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.
  • the sending terminal device described in any embodiment of the present application is a terminal device for sending a sidelink positioning message, and may refer to, for example, the terminal device 102 in the communication system shown in FIG1 , or to the user equipment UE or roadside unit RSU shown in FIG2 .
  • the receiving terminal device described in any embodiment of the present application is a terminal device for receiving a sidelink positioning message, and may refer to, for example, the terminal device 102 in the communication system shown in FIG1 , or to the user equipment UE or roadside unit RSU shown in FIG2 .
  • side link positioning message receiving method provided in any embodiment of the present application can be executed alone, or in combination with possible implementation methods in other embodiments, or in combination with any technical solution in the related technology.
  • Figure 3 is a flow chart of a method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 3, the method may include but is not limited to the following steps:
  • Step S301 Send a sidelink positioning message carrying a sequence number to a receiving terminal device.
  • a sending terminal device may refer to a terminal device that sends a sidelink positioning message.
  • a receiving terminal device may refer to a terminal device that receives a sidelink positioning message. If a terminal device only sends messages during the sidelink positioning process, the terminal device may be a sending terminal device. If a terminal device only receives messages during the sidelink positioning process, the terminal device may be a receiving terminal device. If a terminal device both sends and receives messages during the sidelink positioning process, the terminal device may be both a sending terminal device and a receiving terminal device. When the terminal device is both a sending terminal device and a receiving terminal device, the message sent when it is a sending terminal device is different from the message received when it is a receiving terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • the process of the sending terminal device executing step S301 may be, for example, sending the sidelink positioning message carrying the sequence number to the receiving terminal device in response to the receiving address of the receiving terminal device being a unicast address, a multicast address, or a broadcast address. That is, when the receiving address of the sidelink positioning message to be sent is a unicast address, a multicast address, or a broadcast address, the sending terminal device may carry the sequence number in the sidelink positioning message.
  • the sidelink positioning message may be a message using the sidelink positioning protocol (Sidelink Positioning Protocol/Ranging and sidelink positioning protocol, SLPP/RSPP), for example, an SLPP message or an RSPP message.
  • SLPP/RSPP Sidelink Positioning Protocol/Ranging and sidelink positioning protocol
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message.
  • the sending terminal device determines that a side link positioning message needs to be sent, selects an unused sequence number from a sequence number resource pool, and adds it to the side link positioning message; when the sending terminal device needs to send another side link positioning message, it selects another unused sequence number from the sequence number resource pool, and adds it to the side link positioning message.
  • the process of the sending terminal device executing step S301 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • the sending terminal device determines that a side link positioning message needs to be sent. If the receiving address of the receiving terminal device is a unicast address, an unused sequence number is selected from the sequence number resource pool and added to the side link positioning message. When the sending terminal device needs to send another side link positioning message, if the receiving address of the receiving terminal device is a unicast address, another unused sequence number is selected from the sequence number resource pool and added to the side link positioning message.
  • serial number in the serial number resource pool may be, for example, a number having multiple digits, etc., and may be set according to actual needs, and is not specifically limited here.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • the method for sending a side link positioning message is such that a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device, so that when the receiving terminal device receives a side link positioning message with the same serial number, it discards the currently received side link positioning message, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 4 is a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 4, the method may include but is not limited to the following steps:
  • Step S401 Send a sidelink positioning message carrying a sequence number to a receiving terminal device; in the current positioning session, different sidelink positioning messages carry different sequence numbers.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • different sidelink positioning messages carry different sequence numbers, that is, the sequence number in the currently sent sidelink positioning message is different from the sequence numbers carried in other sidelink positioning messages other than the sidelink positioning message in the current positioning session.
  • each terminal device involved can count the sequence numbers carried in the messages that have been interacted in the positioning session and store them, so that when sending a sidelink positioning message, one of the sequence numbers that has not been stored is selected from the sequence number resource pool and added to the sidelink positioning message.
  • each terminal device involved can count and store the sequence numbers in the sent sidelink positioning messages and the sequence numbers in the received sidelink positioning messages.
  • the messages can be parsed to obtain the sequence numbers therein and stored.
  • the process of the sending terminal device executing step S401 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, a multicast address, or a broadcast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the sidelink positioning message to be sent is a unicast address, a multicast address, or a broadcast address, the sending terminal device may carry the sequence number in the sidelink positioning message.
  • the sidelink positioning message may be a SLPP message or a RSPP message.
  • the receiving address of the SLPP/RSPP message to be sent is a unicast address, a multicast address or a broadcast address
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message.
  • the sending terminal device determines that a side link positioning message needs to be sent, selects an unused sequence number from a sequence number resource pool, and adds it to the side link positioning message; when the sending terminal device needs to send another side link positioning message, it selects another unused sequence number from the sequence number resource pool, and adds it to the side link positioning message.
  • the process of the sending terminal device executing step S401 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • the sending terminal device determines that a side link positioning message needs to be sent. If the receiving address of the receiving terminal device is a unicast address, an unused sequence number is selected from the sequence number resource pool and added to the side link positioning message. When the sending terminal device needs to send another side link positioning message, if the receiving address of the receiving terminal device is a unicast address, another unused sequence number is selected from the sequence number resource pool and added to the side link positioning message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • the method for sending a side link positioning message provided in an embodiment of the present application is that a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device, and in the current positioning session, different side link positioning messages carry different serial numbers; so that when the receiving terminal device receives a side link positioning message with the same serial number from the same positioning session, it discards the currently received side link positioning message, thereby realizing duplicate detection and avoiding repeated reception of the same side link positioning message in the same positioning session.
  • Figure 5 is a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 5, the method may include but is not limited to the following steps:
  • Step S501 Send a side link positioning message carrying a sequence number to a receiving terminal device; in the current positioning session, different side link positioning messages sent to the same receiving address carry different sequence numbers.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any one of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • different sidelink positioning messages sent by sending terminal devices with different sending addresses to the same receiving address carry different sequence numbers.
  • the sequence number in the sidelink positioning message currently sent is different from the sequence number carried in the sidelink positioning message sent by other sending terminal devices to the receiving terminal device in the current positioning session.
  • each terminal device involved can count the sequence numbers in the sidelink positioning messages that carry the receiving address of the same receiving terminal device in the positioning session and store them, so that when another sidelink positioning message is sent to the receiving terminal device, one of the sequence numbers that has not been stored is selected from the sequence number resource pool and added to the sidelink positioning message.
  • the sequence numbers carried by different sidelink positioning messages sent by a sending terminal device with the same sending address to the same receiving address are different. That is to say, the sequence number in the currently sent sidelink positioning message is different from the sequence number carried in other sidelink positioning messages sent by the sending terminal device to the receiving terminal device in the current positioning session except for the sidelink positioning message.
  • each terminal device involved can count the sequence numbers in the sidelink positioning messages carrying the sending address when the terminal device is used as the sending terminal device and the receiving address of the same receiving terminal device in the positioning session, and store them, so that when another sidelink positioning message is sent to the receiving terminal device, one of the sequence numbers that has not been stored is selected from the sequence number resource pool and added to the sidelink positioning message.
  • the process of the sending terminal device executing step S501 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, a multicast address, or a broadcast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the sidelink positioning message to be sent is a unicast address, a multicast address, or a broadcast address, the sending terminal device may carry the sequence number in the sidelink positioning message.
  • the sidelink positioning message may be a SLPP message or a RSPP message.
  • the receiving address of the SLPP/RSPP message to be sent is a unicast address, a multicast address or a broadcast address
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message.
  • the process of the sending terminal device executing step S501 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated sequence number resource pool can be set for each terminal device.
  • multiple terminal devices can share a sequence number resource pool.
  • some terminal devices can set corresponding dedicated sequence number resource pools, and some terminal devices can share a sequence number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • the method for sending a side link positioning message provided in an embodiment of the present application is that a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device.
  • different side link positioning messages sent to the same receiving address carry different serial numbers; so that when the receiving terminal device receives a side link positioning message with the same serial number from the same sending terminal device in the same positioning session, the side link positioning message currently received is discarded, thereby realizing duplicate detection and avoiding repeated reception of the same side link positioning message from the same sending terminal device in the same positioning session.
  • Figure 6 is a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 6, the method may include but is not limited to the following steps:
  • Step S601 Send a side link positioning message carrying a serial number to a receiving terminal device; in the current positioning session, different side link positioning messages sent by sending terminal devices with different sending addresses to the same receiving address may carry the same or different serial numbers.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the sending terminal device executing step S601 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • different sidelink positioning messages sent by transmitting terminal devices with different transmitting addresses to the same receiving address may carry the same or different sequence numbers. That is, in one example, the sequence number in the currently transmitted sidelink positioning message may be the same as the sequence number carried in the sidelink positioning message sent by other transmitting terminal devices except the transmitting terminal device to the receiving terminal device in the current positioning session.
  • the sending terminal device when the sending terminal device sends a side link positioning message to the receiving terminal device, it can ignore the sequence numbers carried in the side link positioning messages sent by other sending terminal devices to the receiving terminal device, and directly select a sequence number from the sequence number resource pool and add it to the side link positioning message to be sent.
  • sequence number in the side link positioning message currently being sent may be different from the sequence number carried in the side link positioning message sent to the receiving terminal device by other sending terminal devices except the sending terminal device in the current positioning session.
  • the sending terminal device can interact with the receiving terminal device, obtain the sequence number carried in all the sidelink positioning messages received by it in unicast mode and store them; or, the sending terminal device can parse the sidelink positioning message sent to the receiving terminal device by other sending terminal devices in unicast mode, obtain the sequence number therein and store it. Therefore, when sending a sidelink positioning message to the receiving terminal device, one of the sequence numbers that has not been stored is selected from the sequence number resource pool and added to the sidelink positioning message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device; in the current positioning session, different side link positioning messages sent by sending terminal devices with different sending addresses to the same receiving address carry the same or different serial numbers; so that when the receiving terminal device receives a side link positioning message with the same serial number from different sending terminal devices in the same positioning session, the side link positioning message currently received may not be discarded; and when a side link positioning message with the same serial number is received from the same sending terminal device in the same positioning session, it is discarded, thereby achieving duplicate detection.
  • Figure 7 is a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 7, the method may include but is not limited to the following steps:
  • Step S701 Send a side link positioning message carrying a serial number to a receiving terminal device; in the current positioning session, different side link positioning messages sent by a sending terminal device with the same sending address to different receiving addresses may carry the same or different serial numbers.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • different side link positioning messages sent by a sending terminal device with the same sending address to different receiving addresses may carry the same or different sequence numbers. That is to say, in one example, the sequence number in the side link positioning message currently sent may be the same as the sequence number carried in the side link positioning message sent by the sending terminal device to other receiving terminal devices other than the receiving terminal device in the current positioning session.
  • the sending terminal device when the sending terminal device sends a side link positioning message to the receiving terminal device, it can ignore the sequence number carried in the side link positioning message sent by the sending terminal device to other receiving terminal devices, and can directly select a sequence number from the sequence number resource pool and add it to the side link positioning message to be sent.
  • sequence number in the side link positioning message currently being sent may be different from the sequence number carried in the side link positioning message sent by the sending terminal device to other receiving terminal devices other than the receiving terminal device in the current positioning session.
  • the sending terminal device can count and store the sequence numbers carried in the sidelink positioning message carrying the sending address of the sending terminal and other receiving addresses except the receiving address of the receiving terminal. Therefore, when sending a sidelink positioning message to the receiving terminal device, one of the sequence numbers that has not been stored is selected from the sequence number resource pool and added to the sidelink positioning message.
  • the process of the sending terminal device executing step S701 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, a multicast address, or a broadcast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the sidelink positioning message to be sent is a unicast address, a multicast address, or a broadcast address, the sending terminal device may carry the sequence number in the sidelink positioning message.
  • the sidelink positioning message may be a SLPP message or a RSPP message.
  • the receiving address of the SLPP/RSPP message to be sent is a unicast address, a multicast address or a broadcast address
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message.
  • the process of the sending terminal device executing step S701 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device; in the current positioning session, different side link positioning messages sent by a sending terminal device with the same sending address to different receiving addresses carry the same or different serial numbers; so that when the receiving terminal device receives a side link positioning message with the same serial number from the same sending terminal device in the same positioning session, the side link positioning message currently received can be discarded, without considering the side link positioning messages with the same serial number received from the sending terminal device by other receiving terminal devices, thereby achieving duplicate detection.
  • Figure 8 is a flow chart of another method for sending a sidelink positioning message provided in an embodiment of the present application.
  • the method for sending a sidelink positioning message is executed by a sending terminal device. As shown in Figure 8, the method may include but is not limited to the following steps:
  • Step S801 Send a sidelink positioning message carrying a sequence number to a receiving terminal device.
  • a sending terminal device may refer to a terminal device that sends a sidelink positioning message.
  • a receiving terminal device may refer to a terminal device that receives a sidelink positioning message. If a terminal device only sends messages during the sidelink positioning process, the terminal device may be a sending terminal device. If a terminal device only receives messages during the sidelink positioning process, the terminal device may be a receiving terminal device. If a terminal device both sends and receives messages during the sidelink positioning process, the terminal device may be both a sending terminal device and a receiving terminal device. When the terminal device is both a sending terminal device and a receiving terminal device, the message sent when it is a sending terminal device is different from the message received when it is a receiving terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • the process of the sending terminal device executing step 801 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, a multicast address, or a broadcast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the sidelink positioning message to be sent is a unicast address, a multicast address, or a broadcast address, the sending terminal device may carry the sequence number in the sidelink positioning message.
  • the sidelink positioning message may be a SLPP message or a RSPP message.
  • the receiving address of the SLPP/RSPP message to be sent is a unicast address, a multicast address or a broadcast address
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message.
  • the process of the sending terminal device executing step S801 may be, for example, in response to the receiving address of the receiving terminal device being a unicast address, sending the sidelink positioning message carrying the sequence number to the receiving terminal device. That is, when the receiving address of the receiving terminal device is a unicast address, the sending terminal device may carry the sequence number in the sidelink positioning message; when the receiving address of the receiving terminal device is a multicast address or a broadcast address, the sending terminal device may not carry the sequence number in the sidelink positioning message.
  • the side link positioning message may be a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address of the SLPP/RSPP message to be sent is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • Step S802 In response to the sending terminal device being the terminal device that initiates the current positioning session, when the current positioning session ends, deleting all sequence numbers in the current positioning session; or, in response to the sending terminal device not being the terminal device that initiates the current positioning session and the sending terminal device has not sent or received a sidelink positioning message within a preset time period, deleting all sequence numbers in the current positioning session.
  • the sending terminal device in response to the sending terminal device being the terminal device that initiates the current positioning session, when the current positioning session ends, all sequence numbers in the current positioning session are deleted.
  • the sending terminal device in the case where the sending terminal device is the terminal device that initiates the current positioning session, the current positioning session can be ended by the sending terminal device, and the sending terminal device can know the time point of ending the current positioning session, and then delete all sequence numbers in the current positioning session.
  • the sending terminal device can delete each sequence number counted or stored in the current positioning session, which may include at least one of the following: the sequence number carried in the sent side link positioning message, the sequence number carried in the received side link positioning message, and the sequence number carried in the side link positioning message sent by other sending terminal devices to the receiving terminal device.
  • all sequence numbers in the current positioning session are deleted.
  • the sending terminal device is not the terminal device that initiated the current positioning session, it is difficult for the sending terminal device to know the time point of ending the current positioning session, and therefore, all sequence numbers in the current positioning session may be deleted when no sidelink positioning message is sent or received within the preset time period.
  • the preset time period may be set by a protocol agreement, or configured by a network device, or configured by pre-configuration information.
  • the preset time period may be 10 minutes.
  • a sending terminal device can send a side link positioning message carrying a serial number to a receiving terminal device; in response to the sending terminal device being the terminal device that initiates the current positioning session, all serial numbers in the current positioning session are deleted when the current positioning session ends; or, in response to the sending terminal device not being the terminal device that initiates the current positioning session, and the sending terminal device has not sent or received a side link positioning message within a preset time period, all serial numbers in the current positioning session are deleted, so that when the receiving terminal device receives a side link positioning message with the same serial number, it discards the currently received side link positioning message, thereby realizing duplicate detection, avoiding the situation of repeated reception of side link positioning messages, and facilitating the reuse of serial numbers in subsequent positioning sessions.
  • Figure 9 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device.
  • the method may include but is not limited to the following steps:
  • Step S901 Receive a sidelink positioning message carrying a sequence number sent by a sending terminal device.
  • a sending terminal device may refer to a terminal device that sends a sidelink positioning message.
  • a receiving terminal device may refer to a terminal device that receives a sidelink positioning message. If a terminal device only sends messages during the sidelink positioning process, the terminal device may be a sending terminal device. If a terminal device only receives messages during the sidelink positioning process, the terminal device may be a receiving terminal device. If a terminal device both sends and receives messages during the sidelink positioning process, the terminal device may be both a sending terminal device and a receiving terminal device. When the terminal device is both a sending terminal device and a receiving terminal device, the message sent when it is a sending terminal device is different from the message received when it is a receiving terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • the process of the receiving terminal device executing step S901 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry a sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message may be a message using the sidelink positioning protocol (Sidelink Positioning Protocol/Ranging and sidelink positioning protocol, SLPP/RSPP), for example, an SLPP message or an RSPP message.
  • SLPP/RSPP Sidelink Positioning Protocol/Ranging and sidelink positioning protocol
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S901 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the set sequence number resource pool may be one, which is used for unicast, multicast and broadcast of the terminal device. In another example, the set sequence number resource pool may be three, which are used for unicast, multicast and broadcast of the terminal device in sequence. In the case of multiple terminal devices sharing a sequence number resource pool, in one example, the sequence number resource pool may be one, which is used for unicast, multicast and broadcast at the same time; in another example, the sequence number resource pool may be multiple, which are used for unicast, multicast and broadcast in sequence.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • the side link positioning message receiving method provided in the embodiment of the present application is such that a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device, so that when a side link positioning message with the same serial number is received, the currently received side link positioning message can be discarded, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 10 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device.
  • the method may include but is not limited to the following steps:
  • Step S1001 Receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the receiving terminal device executing step S1001 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message for example, is a SLPP message or an RSPP message.
  • the receiving address is a unicast address, a multicast address or a broadcast address
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S1001 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the set sequence number resource pool may be one, which is used for unicast, multicast and broadcast of the terminal device. In another example, the set sequence number resource pool may be three, which are used for unicast, multicast and broadcast of the terminal device in sequence. In the case of multiple terminal devices sharing a sequence number resource pool, in one example, the sequence number resource pool may be one, which is used for unicast, multicast and broadcast at the same time; in another example, the sequence number resource pool may be multiple, which are used for unicast, multicast and broadcast in sequence.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • Step S1002 In response to receiving at least two sidelink positioning messages with the same sequence number in the current positioning session, discarding the currently received sidelink positioning message.
  • each terminal device involved in the current positioning session, can count and store the sequence numbers carried in the sidelink positioning messages that have been exchanged in the positioning session.
  • the receiving terminal device can store the sequence numbers carried in the sidelink positioning messages that have been exchanged in the positioning session, so that when receiving a sidelink positioning message, it is determined whether the sequence number carried in the sidelink positioning message is repeated with the stored sequence number, and if it is repeated, the currently received sidelink positioning message is discarded.
  • the sending terminal device may also store the sequence numbers carried in the side link positioning messages that have been exchanged in the positioning session, and then when sending the side link positioning message, select one of the sequence numbers that has not been stored from the sequence number resource pool and add it to the side link positioning message.
  • the receiving terminal device may perform the judgment of step S1002 each time it receives a sidelink positioning message. That is, if there are at least two sidelink positioning messages with the same sequence number in the current positioning session, including the currently received sidelink positioning message, it means that the sequence number in the currently received sidelink positioning message is the same as the sequence number in a previously received sidelink positioning message, and the currently received sidelink positioning message needs to be discarded.
  • the side link positioning message receiving method provided in the embodiment of the present application is that a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device; in response to receiving at least two side link positioning messages with the same serial number in the current positioning session, the currently received side link positioning message is discarded, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 11 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device. As shown in Figure 11, the method may include but is not limited to the following steps:
  • Step S1101 Receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the receiving terminal device executing step S1101 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message for example, is a SLPP message or an RSPP message.
  • the receiving address is a unicast address, a multicast address or a broadcast address
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S1101 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • Step S1102 In response to receiving at least two sidelink positioning messages with the same sequence number for the same sending address of the same sending terminal device and the same receiving address in the current positioning session, discard the currently received sidelink positioning message.
  • each terminal device involved in the current positioning session, can count and store the sequence numbers in the sidelink positioning message received from the same sending terminal device when the terminal device is a receiving terminal device in the positioning session.
  • the receiving terminal device can count and store the sequence numbers in the sidelink positioning message carrying the sending address of the same sending terminal device, so that when the receiving terminal device receives a sidelink positioning message, it is determined whether the sequence number carried in the sidelink positioning message is repeated with the stored sequence number, and if it is repeated, the currently received sidelink positioning message is discarded.
  • the sending terminal device may also store the serial number carried in the side link positioning message sent to the receiving terminal device in the positioning session, and then when sending the side link positioning message, select one of the serial numbers that has not been stored from the sequence number resource pool and add it to the side link positioning message.
  • the receiving terminal device may perform the judgment of step S1102 each time it receives a sidelink positioning message. That is, together with the currently received sidelink positioning message, if at this time there are at least two sidelink positioning messages with the same sequence number for the same sending address and the same receiving address of the same sending terminal device in the current positioning session, it means that the sequence number in the currently received sidelink positioning message is the same as the sequence number in a sidelink positioning message with the same sending address and the same receiving address received previously, and at this time, the currently received sidelink positioning message needs to be discarded.
  • the method for receiving side link positioning messages is such that a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device; in response to receiving at least two side link positioning messages with the same serial number for the same sending address and the same receiving address of the same sending terminal device in the current positioning session, the currently received side link positioning message is discarded, thereby achieving duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 12 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device. As shown in Figure 12, the method may include but is not limited to the following steps:
  • Step S1201 Receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the receiving terminal device executing step S1201 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message for example, is a SLPP message or an RSPP message.
  • the receiving address is a unicast address, a multicast address or a broadcast address
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S1201 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the set sequence number resource pool may be one, which is used for unicast, multicast and broadcast of the terminal device. In another example, the set sequence number resource pool may be three, which are used for unicast, multicast and broadcast of the terminal device in sequence. In the case of multiple terminal devices sharing a sequence number resource pool, in one example, the sequence number resource pool may be one, which is used for unicast, multicast and broadcast at the same time; in another example, the sequence number resource pool may be multiple, which are used for unicast, multicast and broadcast in sequence.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • Step S1202 In response to receiving at least two sidelink positioning messages with the same sequence number for the same receiving address in the current positioning session, discard the currently received sidelink positioning message.
  • the receiving terminal device in the current positioning session, can count the sequence numbers carried in the side link positioning message carrying the sending address of each sending terminal device, and store and process the counted sequence numbers, and then discard the currently received side link positioning message when the sequence number carried in the currently received side link positioning message is repeated with the stored sequence number.
  • the sending terminal device may also store the sequence number carried in the side link positioning message carrying the sending address of each sending terminal device and the receiving address of the receiving terminal device in the positioning session, and then when sending the side link positioning message, select one of the sequence numbers that has not been stored from the sequence number resource pool and add it to the side link positioning message.
  • the receiving terminal device may perform the judgment of step S1202 each time it receives a sidelink positioning message. That is, if there are at least two sidelink positioning messages with the same sequence number for the same receiving address in the current positioning session, including the currently received sidelink positioning message, it means that the sequence number in the currently received sidelink positioning message is the same as the sequence number in a sidelink positioning message previously received for the same receiving address, and the currently received sidelink positioning message needs to be discarded.
  • the side link positioning message receiving method provided in the embodiment of the present application is that a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device; in response to receiving at least two side link positioning messages with the same serial number for the same receiving address in the current positioning session, the currently received side link positioning message is discarded, thereby realizing duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 13 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device. As shown in Figure 13, the method may include but is not limited to the following steps:
  • Step S1301 Receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the receiving terminal device executing step S1301 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message for example, is a SLPP message or an RSPP message.
  • the receiving address is a unicast address, a multicast address or a broadcast address
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S1301 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the serial number resource pool set can be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the serial number resource pools set can be three, which are used for unicast, multicast and broadcast of the terminal device in turn.
  • the serial number resource pool can be one, which is used for unicast, multicast and broadcast at the same time; in another example, the serial number resource pool can be multiple, which are used for unicast, multicast and broadcast in turn.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • Step S1302 In response to receiving at least two sidelink positioning messages with the same sequence number for the same sending address of the sending terminal device in the current positioning session, discard the currently received sidelink positioning message.
  • the receiving terminal device in the current positioning session, can count and store the sequence numbers carried in the side link positioning message carrying the sending address of the sending terminal device and the receiving addresses of each receiving terminal device, so that when a side link positioning message sent by the sending terminal device is received and the sequence number carried in the side link positioning message is repeated with the stored sequence number, the side link positioning message is discarded.
  • the sending terminal device may also store the serial number carried in the side link positioning message carrying the receiving address of each receiving terminal device in the positioning session, and then when sending the side link positioning message, select one of the serial numbers that has not been stored from the sequence number resource pool and add it to the side link positioning message.
  • the receiving terminal device may perform the judgment of step S1302 each time it receives a sidelink positioning message. That is, if, together with the currently received sidelink positioning message, at least two sidelink positioning messages with the same sequence number for the same sending address of the sending terminal device exist in the current positioning session, it means that the sequence number in the currently received sidelink positioning message is the same as the sequence number in a sidelink positioning message previously received for the same sending address, and the currently received sidelink positioning message needs to be discarded.
  • the method for receiving side link positioning messages is such that a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device; in response to receiving at least two side link positioning messages with the same serial number for the sending address of the same sending terminal device in the current positioning session, the currently received side link positioning message is discarded, thereby achieving duplicate detection and avoiding repeated reception of side link positioning messages.
  • Figure 14 is a flow chart of a method for receiving a sidelink positioning message provided in an embodiment of the present application.
  • the method for receiving a sidelink positioning message is executed by a receiving terminal device.
  • the method may include but is not limited to the following steps:
  • Step S1401 Receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • a sidelink positioning message refers to a message exchanged between at least two terminal devices involved in the terminal device positioning process.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be a device identifier of the receiving terminal device.
  • the receiving address of the receiving terminal device in the sidelink positioning message may be any of the following addresses: a unicast address, a multicast address, and a broadcast address. Among them, the unicast address, the multicast address, and the broadcast address are represented by the destination layer 2 identifier destination layer 2 ID.
  • a positioning session refers to an interaction process between multiple terminal devices involved in a positioning process of a terminal device.
  • a positioning session for example, a SLPP/RSPP session.
  • the process of the receiving terminal device executing step S1401 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address, and a broadcast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address, a multicast address, or a broadcast address.
  • the sidelink positioning message for example, is a SLPP message or an RSPP message.
  • the receiving address is a unicast address, a multicast address or a broadcast address
  • the sending terminal device carries a sequence number in the SLPP/RSPP message.
  • the process of the receiving terminal device executing step S1401 may be, for example, receiving a sidelink positioning message sent by a sending terminal device and carrying a sequence number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the sending terminal device may carry the sequence number in the sidelink positioning message to be sent when the receiving address is a unicast address; and not carry the sequence number in the sidelink positioning message to be sent when the receiving address is a multicast address or a broadcast address.
  • the side link positioning message for example, a SLPP message or an RSPP message.
  • the sending terminal device may carry a sequence number in the SLPP/RSPP message; when the receiving address is a multicast address or a broadcast address, the sending terminal device may not carry a sequence number in the SLPP/RSPP message.
  • a dedicated serial number resource pool can be set for each terminal device.
  • multiple terminal devices can share a serial number resource pool.
  • some terminal devices can set corresponding dedicated serial number resource pools, and some terminal devices can share a serial number resource pool.
  • the set sequence number resource pool may be one, which is used for unicast, multicast and broadcast of the terminal device.
  • the set sequence number resource pools may be three, which are used for unicast, multicast and broadcast of the terminal device in sequence.
  • the sequence number resource pool may be one, which is used for unicast, multicast and broadcast at the same time; in another example, the sequence number resource pool may be multiple, which are used for unicast, multicast and broadcast in sequence.
  • the unicast, multicast and broadcast of the terminal device can be respectively allocated with a sequence number resource pool, and the sequence numbers in different sequence number resource pools are different; or, the unicast, multicast and broadcast of the terminal device can use the same sequence number resource pool, that is, a shared sequence number resource pool. Both of the above situations are acceptable, and it is only necessary to ensure that the sequence numbers sent by the sending terminal device to the same unicast address/multicast address/broadcast address are different, and it is not necessary to ensure that the sequence numbers between multicast and broadcast, between broadcast and unicast, and between unicast and multicast are different.
  • Step S1402 In response to the receiving terminal device being the terminal device that initiates the current positioning session, when the current positioning session ends, deleting all sequence numbers in the current positioning session; or, in response to the receiving terminal device not being the terminal device that initiates the current positioning session and the sending terminal device has not sent or received a sidelink positioning message within a preset time period, deleting all sequence numbers in the current positioning session.
  • the receiving terminal device in response to the receiving terminal device being the terminal device that initiated the current positioning session, when the current positioning session ends, all sequence numbers in the current positioning session are deleted.
  • the current positioning session in the case where the receiving terminal device is the terminal device that initiated the current positioning session, the current positioning session can be ended by the receiving terminal device, and the receiving terminal device can know the time point of ending the current positioning session, and then delete all sequence numbers in the current positioning session.
  • the receiving terminal device can delete each serial number counted or stored in the current positioning session, which may include at least one of the following: the serial number carried in the sent side link positioning message, the serial number carried in the received side link positioning message, and the serial number carried in the side link positioning message sent by other sending terminal devices to the receiving terminal device.
  • all sequence numbers in the current positioning session are deleted.
  • the receiving terminal device is not the terminal device that initiated the current positioning session, it is difficult for the receiving terminal device to know the time point of ending the current positioning session, and therefore, all sequence numbers in the current positioning session can be deleted when the sidelink positioning message is not sent or received within the preset time period.
  • the preset time period may be set by a protocol agreement, or configured by a network device, or configured by pre-configuration information.
  • the preset time period may be 10 minutes.
  • a receiving terminal device can receive a side link positioning message carrying a serial number sent by a sending terminal device; in response to the receiving terminal device being a terminal device that initiates the current positioning session, all serial numbers in the current positioning session are deleted when the current positioning session ends; or, in response to the receiving terminal device not being a terminal device that initiates the current positioning session and the sending terminal device has not sent or received a side link positioning message within a preset time period, all serial numbers in the current positioning session are deleted, so that the serial number carried in the received side link positioning message can be detected for duplication, and the currently received side link positioning message can be discarded in the case of duplication, and the serial number can be reused in subsequent positioning sessions.
  • the UE when acting as the aforementioned sending terminal device, includes the sequence number in the SLPP/RSPP message sent.
  • Embodiment: SLPP/RSPP messages sent in unicast, multicast or broadcast mode may include a sequence number.
  • Sub-scheme 1 UE (when acting as the aforementioned sending terminal device) ensures that the sequence numbers of different messages in a SLPP/RSPP session are different.
  • Sub-solution 1.1 Within the same SLPP/RSPP session, UE ensures that the sequence numbers of different messages sent to the same address (unicast/multicast/broadcast)/UE are different.
  • Sub-solution 1.2 Within the same SLPP/RSPP session, the sequence numbers of messages sent by different UEs to the same unicast address/UE do not need to be guaranteed to be different.
  • Sub-solution 1.3 For the same SLPP/RSPP session, the sequence numbers of different messages sent by the UE to different addresses (unicast/multicast/broadcast)/UEs do not need to be guaranteed to be different.
  • Embodiment The sequence numbers of multicast, broadcast, and unicast can be allocated separately, and the same sequence number resource pool can be used. It is only necessary to ensure that the sequence numbers sent to the same multicast/broadcast/unicast address are different, and there is no need to ensure that the sequence numbers between multicast and broadcast, between multicast and unicast, and between broadcast and unicast are different.
  • Sub-scheme 2 If the SLPP/RSPP message is sent by multicast or broadcast, the sequence number may not be included.
  • Sub-scheme 3 If the UE (when serving as the aforementioned receiving terminal device) receives an SLPP/RSPP message with the same sequence number belonging to the same session, the message is discarded.
  • Sub-solution 3.1 If the UE receives an SLPP/RSPP message with the same sequence number for the same receiving address belonging to the same session, it discards the message.
  • Sub-solution 3.2 If the UE receives an SLPP/RSPP message with the same sequence number for the same ⁇ sending address, receiving address> pair belonging to the same session, it discards the message.
  • Sub-solution 3.3 If the UE receives an SLPP/RSPP message with the same sequence number for the same sending address belonging to the same session, it discards the message.
  • Sub-scheme 4 When the SLPP/RSPP session ends, the initiating UE of the session deletes all send and receive sequence numbers of the session.
  • Sub-scheme 5 If a UE is not the initiator of the SLPP/RSPP session, and the UE has no activity in the session for a period of time, delete all the send and receive sequence numbers of the session.
  • Embodiment The time period is agreed upon by a protocol, or configured by a network or pre-configuration information, such as 10 minutes.
  • the methods provided by the embodiments of the present application are introduced from the perspectives of the sending terminal device and the receiving terminal device.
  • the sending terminal device and the receiving terminal device may include a hardware structure and a software module, and the above functions may be implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module.
  • a certain function of the above functions may be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.
  • FIG 15 is a schematic diagram of the structure of a communication device 150 provided in an embodiment of the present application.
  • the communication device 150 shown in Figure 15 may include a transceiver unit 1501 and a processing unit 1502.
  • the transceiver unit 1501 may include a sending unit and/or a receiving unit, the sending unit is used to implement a sending function, the receiving unit is used to implement a receiving function, and the transceiver unit 1501 may implement a sending function and/or a receiving function.
  • the communication device 150 may be a terminal device (such as a sending terminal device or a receiving terminal device in the aforementioned method embodiment), or a device in a terminal device, or a device that can be used in conjunction with a terminal device.
  • a terminal device such as a sending terminal device or a receiving terminal device in the aforementioned method embodiment
  • a device in a terminal device or a device that can be used in conjunction with a terminal device.
  • the communication device 150 is a terminal device (such as the sending terminal device in the aforementioned method embodiment):
  • the transceiver unit 1501 is used to send a side link positioning message carrying a sequence number to a receiving terminal device.
  • the transceiver unit 1501 is specifically used to send the side link positioning message carrying a serial number to the receiving terminal device in response to the receiving address of the receiving terminal device being a unicast address, a multicast address or a broadcast address.
  • the transceiver unit 1501 is specifically used to send the side link positioning message carrying a sequence number to the receiving terminal device in response to the receiving address of the receiving terminal device being a unicast address.
  • different sidelink positioning messages carry different sequence numbers.
  • different sidelink positioning messages sent to the same receiving address carry different sequence numbers.
  • different sidelink positioning messages sent by sending terminal devices with different sending addresses to the same receiving address may carry the same or different serial numbers.
  • different sidelink positioning messages sent by a sending terminal device with the same sending address to different receiving addresses may carry the same or different serial numbers.
  • the processing unit 1502 is used to, in response to the sending terminal device being the terminal device that initiates the current positioning session, delete all serial numbers in the current positioning session when the current positioning session ends; or, in response to the sending terminal device not being the terminal device that initiates the current positioning session and the sending terminal device has not sent or received a sidelink positioning message within a preset time period, delete all serial numbers in the current positioning session.
  • the receiving address is a device identifier of the receiving terminal device; or, the receiving address is any one of the following addresses: a unicast address, a multicast address, and a broadcast address.
  • the unicast address, the multicast address and the broadcast address are represented by a destination layer 2 ID.
  • the communication device 150 is a terminal device (such as the receiving terminal device in the aforementioned method embodiment):
  • the transceiver unit 1501 is used to receive a side link positioning message carrying a sequence number sent by a sending terminal device.
  • the transceiver unit 1501 is specifically used to receive a side link positioning message sent by the sending terminal device and carrying the serial number and the receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address and a broadcast address.
  • the transceiver unit 1501 is specifically used to receive a side link positioning message sent by the sending terminal device and carrying the serial number and the receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the processing unit 1502 is configured to, in response to receiving at least two sidelink positioning messages having the same sequence number in a current positioning session, discard the sidelink positioning message currently being received.
  • the processing unit 1502 is used to discard the currently received side link positioning message in response to receiving at least two side link positioning messages with the same sequence number for the same sending address of the same sending terminal device and the same receiving address in the current positioning session.
  • the processing unit 1502 is configured to, in response to receiving at least two sidelink positioning messages having the same sequence number for the same receiving address in the current positioning session, discard the sidelink positioning message currently being received.
  • the processing unit 1502 is used to discard the currently received side link positioning message in response to receiving at least two side link positioning messages with the same sequence number for the same sending address of the sending terminal device in the current positioning session.
  • the processing unit 1502 is used to, in response to the receiving terminal device being the terminal device that initiates the current positioning session, delete all serial numbers in the current positioning session when the current positioning session ends; or, in response to the receiving terminal device not being the terminal device that initiates the current positioning session and the sending terminal device has not sent or received a sidelink positioning message within a preset time period, delete all serial numbers in the current positioning session.
  • the receiving address is a device identifier of the receiving terminal device; or, the receiving address is any one of the following addresses: a unicast address, a multicast address, and a broadcast address.
  • the unicast address, the multicast address and the broadcast address are represented by a destination layer 2 ID.
  • FIG 16 is a schematic diagram of the structure of another communication device 160 provided in an embodiment of the present application.
  • the communication device 160 can be a terminal device (such as a sending terminal device or a receiving terminal device in the aforementioned method embodiment), or a chip, a chip system, or a processor that supports the terminal device to implement the above method.
  • the device 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 160 may include one or more processors 1601.
  • the processor 1601 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 communication data
  • the central processing unit may be used to control the communication device (such as a base station, 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 160 may further include one or more memories 1602, on which a computer program 1604 may be stored, and the processor 1601 executes the computer program 1604 so that the communication device 160 performs the method described in the above method embodiment.
  • data may also be stored in the memory 1602.
  • the communication device 160 and the memory 1602 may be provided separately or integrated together.
  • the communication device 160 may further include a transceiver 1605 and an antenna 1606.
  • the transceiver 1605 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function.
  • the transceiver 1605 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 160 may further include one or more interface circuits 1607.
  • the interface circuit 1607 is used to receive code instructions and transmit them to the processor 1601.
  • the processor 1601 runs the code instructions to enable the communication device 160 to execute the method described in the above method embodiment.
  • the communication device 160 is a terminal device (such as the sending terminal device in the aforementioned method embodiment): the processor 1601 is used to execute step S802 in Figure 8.
  • the transceiver 1605 is used to execute step S301 in Figure 3; step S401 in Figure 4; step S501 in Figure 5; step S601 in Figure 6; step S701 in Figure 7; step S801 in Figure 8;.
  • the communication device 160 is a terminal device (such as the receiving terminal device in the aforementioned method embodiment): the transceiver 1605 is used to execute step S901 in FIG. 9; execute step S1001 in FIG. 10; execute step S1101 in FIG. 11; execute step S1201 in FIG. 12; execute step S1301 in FIG. 13; and execute step S1401 in FIG. 14.
  • the processor 1601 is used to execute step S1002 in FIG. 10; execute step S1102 in FIG. 11; execute step S1202 in FIG. 12; execute step S1302 in FIG. 13; and execute step S1402 in FIG. 14.
  • the processor 1601 may include a transceiver for implementing the 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 1601 may store a computer program 1603, which runs on the processor 1601 and enables the communication device 160 to perform the method described in the above method embodiment.
  • the computer program 1603 may be fixed in the processor 1601, in which case the processor 1601 may be implemented by hardware.
  • the communication device 160 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 application can 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 can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.
  • CMOS complementary metal oxide semiconductor
  • N-type metal oxide semiconductor nMetal-oxide-semiconductor
  • PMOS bipolar junction transistor
  • BJT bipolar junction transistor
  • BiCMOS bipolar CMOS
  • SiGe silicon germanium
  • GaAs gallium arsenide
  • the communication device described in the above embodiments may be a network device or a terminal device (such as the first terminal device in the aforementioned method embodiment), but the scope of the communication device described in the present application is not limited thereto, and the structure of the communication device may not be limited by FIG. 16.
  • 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
  • the communication device can be a chip or a chip system
  • the communication device can be a chip or a chip system
  • the schematic diagram of the chip structure shown in Figure 17 includes a processor 1701 and an interface 1702.
  • the number of processors 1701 can be one or more, and the number of interfaces 1702 can be multiple.
  • the chip is used to implement the functions of the terminal device in the embodiment of the present application (such as the sending terminal device in the aforementioned method embodiment):
  • Interface 1702 is used to send a sidelink positioning message carrying a sequence number to a receiving terminal device.
  • the interface 1702 is specifically used to send the side link positioning message carrying a sequence number to the receiving terminal device in response to the receiving address of the receiving terminal device being a unicast address, a multicast address or a broadcast address.
  • the interface 1702 is specifically used to send the sidelink positioning message carrying the sequence number to the receiving terminal device in response to the receiving address of the receiving terminal device being a unicast address.
  • different sidelink positioning messages carry different sequence numbers.
  • different sidelink positioning messages sent to the same receiving address carry different sequence numbers.
  • different sidelink positioning messages sent by sending terminal devices with different sending addresses to the same receiving address may carry the same or different serial numbers.
  • different sidelink positioning messages sent by a sending terminal device with the same sending address to different receiving addresses may carry the same or different serial numbers.
  • the receiving address is a device identifier of the receiving terminal device; or, the receiving address is any one of the following addresses: a unicast address, a multicast address, and a broadcast address.
  • the unicast address, the multicast address and the broadcast address are represented by a destination layer 2 ID.
  • the chip is used to implement the functions of the terminal device in the embodiment of the present application (such as the receiving terminal device in the aforementioned method embodiment):
  • Interface 1702 is used to receive a side link positioning message carrying a sequence number sent by a terminal device.
  • interface 1702 is specifically used to receive a side link positioning message sent by the sending terminal device and carrying the serial number and the receiving address of the receiving terminal device; the receiving address is any one of the following: a unicast address, a multicast address and a broadcast address.
  • interface 1702 is specifically used to receive a side link positioning message sent by the sending terminal device and carrying the serial number and a receiving address of the receiving terminal device; the receiving address is a unicast address.
  • the receiving address is a device identifier of the receiving terminal device; or, the receiving address is any one of the following addresses: a unicast address, a multicast address, and a broadcast address.
  • the unicast address, the multicast address and the broadcast address are represented by a destination layer 2 ID.
  • the chip further includes a memory 1703, and the memory 1703 is used to store necessary computer programs and data.
  • An embodiment of the present application also provides a communication system, which includes the communication device in the embodiment of Figure 15 as a terminal device (such as the sending terminal device in the aforementioned method embodiment) and the communication device as a terminal device (such as the receiving terminal device in the aforementioned method embodiment), or the system includes the communication device in the embodiment of Figure 16 as a terminal device (such as the sending terminal device in the aforementioned method embodiment) and the communication device as a terminal device (such as the receiving terminal device in the aforementioned method embodiment).
  • the present application 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 application 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 application can also be described as one or more, and a plurality can be two, three, four or more, which is not limited in the present application.
  • 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 each table in the present application 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 application.
  • 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 application may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

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Abstract

本申请实施例公开了一种确定侧行链路定位消息的发送方法、接收方法及其装置，可以应用于通信技术领域，该方法包括：发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，以便接收终端设备在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。

Description

侧行链路定位消息的发送方法、接收方法及其装置 技术领域
本申请涉及通信技术领域，尤其涉及一种侧行链路定位消息的发送方法、接收方法及其装置。
背景技术
目前，基于终端设备与终端设备之间的侧行链路(sidelink，SL)，可以实现对终端设备的定位。其中，基于侧行链路的定位可以包括绝对定位、相对定位以及测距。上述定位中，终端设备之间通过采用侧行链路定位协议(Sidelink Positioning Protocol/Ranging and sidelink positioning protocol，SLPP/RSPP)的侧行链路定位消息进行交互，实现定位。
发明内容
本申请实施例提供一种侧行链路定位消息的发送方法、接收方法及其装置，可以应用于通信技术领域，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，以便接收终端设备在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
第一方面，本申请实施例提供一种侧行链路定位消息的发送方法，由发送终端设备执行，该方法包括：向接收终端设备发送携带有序列号的侧行链路定位消息。
本申请实施例中，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，以便接收终端设备在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
第二方面，本申请实施例提供一种侧行链路定位消息的接收方法，由接收终端设备执行，该方法包括：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
本申请实施例中，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息，以便在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
第三方面，本申请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发送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申请中的部分或全部实施例中的功能，也可以具备单独实施本申请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单元和处理单元，所述处理单元被配置为支持通信装置执行上述方法中相应的功能。所述收发单元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单元，所述存储单元用于与收发单元和处理单元耦合，其保存通信装置必要的计算机程序和数据。
作为示例，处理单元可以为处理器，收发单元可以为收发器或通信接口，存储单元可以为存储器。
第四方面，本申请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接收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申请中的部分或全部实施例中的功能，也可以具备单独实施本申请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单元和处理单元，该处理单元被配置为支持通 信装置执行上述方法中相应的功能。收发单元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单元，所述存储单元用于与收发单元和处理单元耦合，其保存通信装置必要的计算机程序和数据。
作为示例，处理单元可以为处理器，收发单元可以为收发器或通信接口，存储单元可以为存储器。
第五方面，本申请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，本申请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，本申请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，本申请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，本申请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，本申请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，本申请实施例提供一种通信系统，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，用于储存为上述发送终端设备所用的指令，当所述指令被执行时，使所述发送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，用于储存为上述接收终端设备所用的指令，当所述指令被执行时，使所述接收终端设备执行上述第二方面所述的方法。
第十四方面，本申请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，本申请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，本申请提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持发送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，用于保存发送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，本申请提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持接收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，用于保存接收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，本申请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，本申请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申请实施例或背景技术中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1是本申请实施例提供的一种通信系统的架构示意图；
图2是本申请实施例提供的基于下行链路-到达时间差的定位方法的示意图；
图3是本申请实施例提供的一种侧行链路定位消息的发送方法的流程示意图；
图4是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图；
图5是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图；
图6是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图；
图7是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图；
图8是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图；
图9是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图；
图10是本申请实施例提供的另一种侧行链路定位消息的接收方法的流程示意图；
图11是本申请实施例提供的另一种侧行链路定位消息的接收方法的流程示意图；
图12是本申请实施例提供的另一种侧行链路定位消息的接收方法的流程示意图；
图13是本申请实施例提供的另一种侧行链路定位消息的接收方法的流程示意图；
图14是本申请实施例提供的另一种侧行链路定位消息的接收方法的流程示意图；
图15是本申请实施例提供的一种通信装置的结构示意图；
图16是本申请实施例提供的另一种通信装置的结构示意图；
图17是本申请实施例提供的一种芯片的结构示意图。
具体实施方式
为了更好的理解本申请实施例公开的一种侧行链路定位消息的发送方法、接收方法及其装置，下面首先对本申请实施例适用的通信系统进行描述。
请参见图1，图1为本申请实施例提供的一种通信系统的架构示意图。该通信系统可包括但不限于一个网络设备和一个终端设备，图1所示的设备数量和形态仅用于举例并不构成对本申请实施例的限定，实际应用中可以包括两个或两个以上的网络设备，两个或两个以上的终端设备。图1所示的通信系统以包括一个网络设备101和一个终端设备102为例。
需要说明的是，本申请实施例的技术方案可以应用于各种通信系统。例如：长期演进(long term evolution，LTE)系统、第五代(5th generation，5G)移动通信系统、5G新空口(new radio，NR)系统，或者其他未来的新型移动通信系统等。还需要说明的是，本申请实施例中的侧行链路还可以称为侧 链路或直通链路。
本申请实施例中的网络设备101是网络侧的一种用于发射或接收信号的实体。例如，网络设备101可以为演进型基站(evolved NodeB，eNB)、传输点(transmission reception point，TRP)、NR系统中的下一代基站(next generation NodeB，gNB)、其他未来移动通信系统中的基站或无线保真(wireless fidelity，WiFi)系统中的接入节点等。本申请的实施例对网络设备所采用的具体技术和具体设备形态不做限定。本申请实施例提供的网络设备可以是由集中单元(central unit，CU)与分布式单元(distributed unit，DU)组成的，其中，CU也可以称为控制单元(control unit)，采用CU-DU的结构可以将网络设备，例如基站的协议层拆分开，部分协议层的功能放在CU集中控制，剩下部分或全部协议层的功能分布在DU中，由CU集中控制DU。
本申请实施例中的终端设备102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。本申请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。
目前，基于终端设备与终端设备之间的侧行链路(sidelink，SL)，可以实现对终端设备的定位。其中，基于侧行链路的定位可以包括绝对定位、相对定位以及测距。上述定位中，终端设备之间通过采用侧行链路定位协议(Sidelink Positioning Protocol/Ranging and sidelink positioning protocol，SLPP/RSPP)的侧行链路定位消息进行交互，实现定位。其中，绝对定位用于确定终端设备的绝对坐标，相对定位用于确定终端设备相对于一个参考点的坐标，测距用于确定终端设备相对一个参考点的距离和/或角度。
其中，测距通常可能涉及两个终端设备来参与测距，绝对定位和相对定位通常可能涉及多个终端设备来参与定位。
如图2所示，为基于下行链路-到达时间差(downlink-Time Difference of Arrival，DL-TDOA)的定位方法。该方法中，终端设备，例如用户设备(user equipment，UE)通过测量多个路侧单元(Road Side Unit，RSU)通过侧行链路发送的定位消息，就可以确定UE相对于多个RSU的具体位置。其中，除了DL-TDOA，定位方案还有上行链路-到达时间差(uplink-Time Difference of Arrival，UL-TDOA)，多往返时间(multiple RTT)，到达角(Angle-of-Arrival，AOA)/偏离角(Angle-of-Departure，AOD)，载波相位定位等。
其中，如果定位结果没有基于RSU等的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。被定位的UE为目标target UE，其它支持定位target UE的UE为锚点anchor UE。如果定位仅涉及到两个UE，则二者互相是对方的anchor UE。
其中，anchor UE，存在不同的类型，比如RSU类型的anchor UE，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；比如普通的移动终端UE也可以作为anchor UE，其就难以与其 它UE一起协助提供定位服务；另外，有些anchor UE有GPS等位置信息，其可以辅助其它UE进行绝对定位；其它一些anchor UE可能不具备GPS等位置信息。
其中，对于测距或相对定位，有时不仅仅希望获得两个UE间的距离，角度或相对位置，而是希望获得一个UE与其它一组UE间的距离，角度或相对位置。这种需要测量一个UE与一组UE间的位置关系的，此处称为组定位。
上述几种定位中，可能存在重复接收侧行链路定位消息的情况，缺乏对侧行链路定位消息的重复检测机制。
可以理解的是，本申请实施例描述的通信系统是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请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，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
需要说明的是，本申请中任一个实施例中所述的发送终端设备，是用于发送侧行链路定位消息的终端设备，例如可以指图1所示的通信系统中的终端设备102，又例如可以指图2所示的用户设备UE或者路侧单元RSU。本申请中任一个实施例中所述的接收终端设备，是用于接收侧行链路定位消息的终端设备，例如可以指图1所示的通信系统中的终端设备102，又例如可以指图2所示的用户设备UE或者路侧单元RSU。
需要说明的是，本申请中任一个实施例提供的侧行链路定位消息的发送方法可以单独执行，或是结合其他实施例中的可能的实现方法一起被执行，还可以结合相关技术中的任一种技术方案一起被执行。
需要说明的是，本申请中任一个实施例提供的侧行链路定位消息的接收方法可以单独执行，或是结合其他实施例中的可能的实现方法一起被执行，还可以结合相关技术中的任一种技术方案一起被执行。
下面结合附图对本申请所提供的侧行链路定位消息的发送方法、接收方法及其装置进行详细地介绍。
请参见图3，图3是本申请实施例提供的一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图3所示，该方法可以包括但不限于如下步骤：
步骤S301：向接收终端设备发送携带有序列号的侧行链路定位消息。
在本申请实施例中，发送终端设备，可以指发送侧行链路定位消息的终端设备。接收终端设备，可以指接收侧行链路定位消息的终端设备。若一个终端设备，在侧行链路定位过程中只发送消息，则该终端设备可以为发送终端设备。若一个终端设备，在侧行链路定位过程中只接收消息，则该终端设备可以为接收终端设备。若一个终端设备，在侧行链路定位过程中既发送消息又接收消息，则该终端设备可以既为发送终端设备又为接收终端设备。在该终端设备既为发送终端设备又为接收终端设备时，作为发送终端设备时发送的消息，与作为接收终端设备时接收的消息不同。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一种示例中，发送终端设备执行步骤S301的过程例如可以为，响应于接收终端设备的接收地址为单播地址、组播地址或者广播地址，向接收终端设备发送携带有序列号的所述侧行 链路定位消息。也就是说，在要发送的侧行链路定位消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为采用侧行链路定位协议(Sidelink Positioning Protocol/Ranging and sidelink positioning protocol，SLPP/RSPP)的消息，例如，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号。
在该示例中，发送终端设备确定需要发送的一条侧行链路定位消息，从序列号资源池中选择未使用的一个序列号，添加到该侧行链路定位消息中；发送终端设备在需要发送另一条侧行链路定位消息时，从序列号资源池中选择未使用的另一个序列号，添加到该侧行链路定位消息中。
在另一种示例中，发送终端设备执行步骤S301的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在该示例中，发送终端设备确定需要发送的一条侧行链路定位消息，若接收终端设备的接收地址为单播地址，则从序列号资源池中选择未使用的一个序列号，添加到该侧行链路定位消息中；发送终端设备在需要发送另一条侧行链路定位消息时，若接收终端设备的接收地址为单播地址，从序列号资源池中选择未使用的另一个序列号，添加到该侧行链路定位消息中。
其中，序列号资源池中的序列号例如可以为具有多个位的编号等，可以根据实际需要进行设定，此处不做具体限定。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址 的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，以便接收终端设备在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图4，图4是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图4所示，该方法可以包括但不限于如下步骤：
步骤S401：向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，不同侧行链路定位消息所携带的序列号不同。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，当前定位会话中，不同侧行链路定位消息所携带的序列号不同，也就是说，当前发送的侧行链路定位消息中的序列号，与当前定位会话中除该侧行链路定位消息之外的其他侧行链路定位消息中携带的序列号不同。其中，在当前定位会话中，涉及的每个终端设备可以统计该定位会话中已交互消息中携带的序列号，并进行存储，从而在发送一个侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
其中，在当前定位会话中，涉及的每个终端设备，可以对发送的侧行链路定位消息中的序列号，以及接收的侧行链路定位消息中的序列号，进行统计并存储。至于当前定位会话中其它终端设备发送至其它终端设备的侧行链路定位消息，可以对该消息进行解析以获取其中的序列号并进行存储。
在本申请实施例中，一种示例中，发送终端设备执行步骤S401的过程例如可以为，响应于接收终端设备的接收地址为单播地址、组播地址或者广播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在要发送的侧行链路定位消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号。
在该示例中，发送终端设备确定需要发送的一条侧行链路定位消息，从序列号资源池中选择未使用的一个序列号，添加到该侧行链路定位消息中；发送终端设备在需要发送另一条侧行链路定位消息时，从序列号资源池中选择未使用的另一个序列号，添加到该侧行链路定位消息中。
在另一种示例中，发送终端设备执行步骤S401的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设 备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在该示例中，发送终端设备确定需要发送的一条侧行链路定位消息，若接收终端设备的接收地址为单播地址，则从序列号资源池中选择未使用的一个序列号，添加到该侧行链路定位消息中；发送终端设备在需要发送另一条侧行链路定位消息时，若接收终端设备的接收地址为单播地址，从序列号资源池中选择未使用的另一个序列号，添加到该侧行链路定位消息中。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，当前定位会话中，不同侧行链路定位消息所携带的序列号不同；以便接收终端设备在接收到来自同一个定位会话的具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收同一个定位会话中相同的侧行链路定位消息的情况。
请参见图5，图5是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图5所示，该方法可以包括但不限于如下步骤：
步骤S501：向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。
在本申请实施例中，在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任 意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。也就是说，当前发送的侧行链路定位消息中的序列号，与当前定位会话中其他发送终端设备发送至该接收终端设备的侧行链路定位消息中携带的序列号不同。其中，在当前定位会话中，涉及到的每个终端设备，可以统计该定位会话中携带有同一个接收终端设备的接收地址的侧行链路定位消息中的序列号，并进行存储，从而在向该接收终端设备发送另一个侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，另一种示例中，当前定位会话中，同一个发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。也就是说，当前发送的侧行链路定位消息中的序列号，与当前定位会话中除该侧行链路定位消息之外，该发送终端设备发送至该接收终端设备的其它侧行链路定位消息中携带的序列号不同。其中，在当前定位会话中，涉及的每个终端设备，可以统计该定位会话中携带有该终端设备作为发送终端设备时的发送地址，以及同一个接收终端设备的接收地址的侧行链路定位消息中的序列号，并进行存储，从而在向该接收终端设备发送另一个侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，一种示例中，发送终端设备执行步骤S501的过程例如可以为，响应于接收终端设备的接收地址为单播地址、组播地址或者广播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在要发送的侧行链路定位消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号。
在另一种示例中，发送终端设备执行步骤S501的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共 享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息，当前定位会话中，发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同；以便接收终端设备在接收到来自同一个定位会话中的同一个发送终端设备的具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收到同一个定位会话中来自同一个发送终端设备的相同的侧行链路定位消息的情况。
请参见图6，图6是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图6所示，该方法可以包括但不限于如下步骤：
步骤S601：向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
在本申请实施例中，在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，发送终端设备执行步骤S601的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同 侧行链路定位消息，所携带的序列号相同或者不同。也就是说，一种示例中，当前发送的侧行链路定位消息中的序列号，与当前定位会话中除该发送终端设备之外的其他发送终端设备发送至该接收终端设备的侧行链路定位消息中携带的序列号，可以相同。
其中，在当前定位会话中，发送终端设备在向接收终端设备发送一个侧行链路定位消息时，可以不考虑其它发送终端设备向该接收终端设备发送的侧行链路定位消息中携带的序列号，直接从序列号资源池中选择一个序列号添加到需要发送的侧行链路定位消息中。
在另一种示例中，当前发送的侧行链路定位消息中的序列号，与当前定位会话中除该发送终端设备之外的其他发送终端设备发送至该接收终端设备的侧行链路定位消息中携带的序列号，可以不同。
其中，在当前定位会话中，该发送终端设备可以与该接收终端设备交互，获取其通过单播方式接收到的所有侧行链路定位消息中携带的序列号并进行存储；或者，该发送终端设备可以对其它发送终端设备通过单播方式发送至该接收终端设备的侧行链路定位消息进行解析，获取其中的序列号并进行存储。从而在向该接收终端设备发送一个侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同；以便接收终端设备在接收到来自同一个定位会话中的不同发送终端设备的具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息可以不进行丢弃处理；而在接收到来自同一个定位会话中的同一个发送终端设备的具有相同序列号的侧行链路定位消息时进行丢弃处理，从而实现重复检测。
请参见图7，图7是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图7所示，该方法可以包括但不限于如下步骤：
步骤S701：向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
在本申请实施例中，在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同，也就是说，一种示例中，当前发送的侧行链路定位消息中的序列号，与当前定位会话中该发送终端设备发送至除该接收终端设备之外的其他接收终端设备的侧行链路定位消息携带的序列号可以相同。
其中，在当前定位会话中，发送终端设备在向接收终端设备发送一个侧行链路定位消息时，可以不考虑发送终端设备向其他接收终端设备发送的侧行链路定位消息中携带的序列号，可以直接从序列号资源池中选择一个序列号添加到需要发送的侧行链路定位消息中。
另一种示例中，当前发送的侧行链路定位消息中的序列号，与当前定位会话中该发送终端设备发送至除该接收终端设备之外的其他接收终端设备的侧行链路定位消息携带的序列号可以不同。
其中，在当前定位会话中，该发送终端设备可以统计携带该发送终端的发送地址以及除该接收终端的接收地址之外的其他接收地址的侧行链路定位消息中携带的序列号并进行存储。从而在向该接收终端设备发送一个侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，一种示例中，发送终端设备执行步骤S701的过程例如可以为，响应于接收终端设备的接收地址为单播地址、组播地址或者广播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在要发送的侧行链路定位消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号。
在另一种示例中，发送终端设备执行步骤S701的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息；当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同；以便接收终端设备在接收到来自同一个定位会话中的同一个发送终端设备的具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息可以进行丢弃处理，而不考虑其它接收终端设备从该发送终端设备接收的具有相同序列号的侧行链路定位消息，从而实现重复检测。
请参见图8，图8是本申请实施例提供的另一种侧行链路定位消息的发送方法的流程示意图。该侧行链路定位消息的发送方法由发送终端设备执行。如图8所示，该方法可以包括但不限于如下步骤：
步骤S801：向接收终端设备发送携带有序列号的侧行链路定位消息。
在本申请实施例中，发送终端设备，可以指发送侧行链路定位消息的终端设备。接收终端设备，可以指接收侧行链路定位消息的终端设备。若一个终端设备，在侧行链路定位过程中只发送消息，则该终端设备可以为发送终端设备。若一个终端设备，在侧行链路定位过程中只接收消息，则该终端设备可以为接收终端设备。若一个终端设备，在侧行链路定位过程中既发送消息又接收消息，则该终端设备可以既为发送终端设备又为接收终端设备。在该终端设备既为发送终端设备又为接收终端设备时，作为发送终端设备时发送的消息，与作为接收终端设备时接收的消息不同。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一种示例中，发送终端设备执行步骤801的过程例如可以为，响应于接收终端设备的接收地址为单播地址、组播地址或者广播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在要发送的侧行链路定位消息的接收地址为单播地址、组播地址或者广播地址 的情况下，发送终端设备可以在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址、组播地址或者广播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号。
在另一种示例中，发送终端设备执行步骤S801的过程例如可以为，响应于接收终端设备的接收地址为单播地址，向接收终端设备发送携带有序列号的所述侧行链路定位消息。也就是说，在接收终端设备的接收地址为单播地址的情况下，发送终端设备可以在侧行链路定位消息中携带序列号；在接收终端设备的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为，SLPP消息或者RSPP消息。例如，在要发送的SLPP/RSPP消息的接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在要发送的SLPP/RSPP消息的接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
步骤S802：响应于发送终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号；或者，响应于发送终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。
在本申请实施例中，一种示例中，响应于发送终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号。其中，在发送终端设备为发起当前定位会话的终端设备的情况下，可以由该发送终端设备结束当前定位会话，该发送终端设备可以了解到结束当前定位会话的时间点，进而删除当前定位会话中的所有序列号。
其中，需要说明的是，该发送终端设备可以删除在当前定位会话中统计或存储的各个序列号，其中可以包括以下至少一种：发送的侧行链路定位消息中携带的序列号、接收的侧行链路定位消息中携带的序列号、其他发送终端设备发送至接收终端设备的侧行链路定位消息中携带的序列号。
另一种示例中，响应于发送终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。其中，在发送终端设备不为发起当前定位会话的终端设备的情况下，该发送终端设备难以了解到结束当前定位会话的时间点，因此，可以在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。
其中，预设时间段可以由协议约定设置，或者由网络设备配置，或者由预配置信息配置。例如，预设时间段可以为10分钟等。
本申请实施例中提供的侧行链路定位消息的发送方法，发送终端设备可以向接收终端设备发送携带有序列号的侧行链路定位消息；响应于发送终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号；或者，响应于发送终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号，以便接收终端设备在接收到具有相同序列号的侧行链路定位消息时，对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况，且可以方便后续定位会话对序列号进行重复使用。
请参见图9，图9是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图9所示，该方法可以包括但不限于如下步骤：
步骤S901：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，发送终端设备，可以指发送侧行链路定位消息的终端设备。接收终端设备，可以指接收侧行链路定位消息的终端设备。若一个终端设备，在侧行链路定位过程中只发送消息，则该终端设备可以为发送终端设备。若一个终端设备，在侧行链路定位过程中只接收消息，则该终端设备可以为接收终端设备。若一个终端设备，在侧行链路定位过程中既发送消息又接收消息，则该终端设备可以既为发送终端设备又为接收终端设备。在该终端设备既为发送终端设备又为接收终端设备时，作为发送终端设备时发送的消息，与作为接收终端设备时接收的消息不同。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一种示例中，接收终端设备执行步骤S901的过程例如可以为接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，可以为采用侧行链路定位协议(Sidelink Positioning Protocol/Ranging and sidelink positioning protocol，SLPP/RSPP)的消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S901的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可 以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息，以便在接收到具有相同序列号的侧行链路定位消息时，进行对当前接收到的侧行链路定位消息进行丢弃处理，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图10，图10是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图10所示，该方法可以包括但不限于如下步骤：
步骤S1001：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，接收终端设备执行步骤S1001的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S1001的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置 的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
步骤S1002：响应于接收到当前定位会话中具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息。
在本申请实施例中，在当前定位会话中，涉及的每个终端设备可以统计该定位会话中已交互的侧行链路定位消息中携带的序列号，并进行存储。例如，接收终端设备可以存储该定位会话中已交互的侧行链路定位消息中携带的序列号，从而在接收到一个侧行链路定位消息时，确定该侧行链路定位消息中携带的序列号是否与存储的序列号重复，在重复时，丢弃当前接收到的侧行链路定位消息。
对应的，发送终端设备也可以存储该定位会话中已交互的侧行链路定位消息中携带的序列号，进而在发送侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号，并添加到侧行链路定位消息中。
在本申请实施例中，接收终端设备每接收到一个侧行链路定位消息，可以做步骤S1002的判断。也就是说，加上当前接收到的侧行链路定位消息，若此时当前定位会话中存在具有相同的序列号的至少两个侧行链路定位消息，则是指当前接收到的侧行链路定位消息中的序列号与之前接收到的某一个侧行链路定位消息中的序列号相同，此时需要丢弃当前接收的侧行链路定位消息。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息；响应于接收到当前定位会话中具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图11，图11是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图11所示，该方法可以包括但不限于如下步骤：
步骤S1101：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，接收终端设备执行步骤S1101的过程例如可以为，接收发送终端 设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S1101的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
步骤S1102：响应于接收到当前定位会话中针对同一个发送终端设备的发送地址和同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息。
在本申请实施例中，在当前定位会话中，涉及的每个终端设备，可以统计该定位会话中该终端设备作为接收终端设备时从同一个发送终端设备接收的侧行链路定位消息中的序列号，并进行存储。例如，接收终端设备可以统计并存储携带有同一个发送终端设备的发送地址的侧行链路定位消息中的序列号，从而在接收终端设备接收到一个侧行链路定位消息时，确定该侧行链路定位消息中携带的序列号是否与存储的序列号重复，在重复时，丢弃当前接收到的侧行链路定位消息。
对应的，发送终端设备也可以存储该定位会话中发送至该接收终端设备的侧行链路定位消息中携带的序列号，进而在发送侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，接收终端设备每接收到一个侧行链路定位消息，可以做步骤S1102的判断。也 就是说，加上当前接收到的侧行链路定位消息，若此时当前定位会话中存在针对同一个发送终端设备的发送地址和同一个接收地址的的具有相同的序列号的至少两个侧行链路定位消息，则是指当前接收到的侧行链路定位消息中的序列号，与之前接收到的相同发送地址和相同接收地址的某一个侧行链路定位消息中的序列号相同，此时需要丢弃当前接收到的侧行链路定位消息。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息；响应于接收到当前定位会话中针对同一个发送终端设备的发送地址和同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图12，图12是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图12所示，该方法可以包括但不限于如下步骤：
步骤S1201：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，接收终端设备执行步骤S1201的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S1201的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置 的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
步骤S1202：响应于接收到当前定位会话中针对同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息。
在本申请实施例中，在当前定位会话中，接收终端设备可以统计携带有各个发送终端设备的发送地址的侧行链路定位消息中携带的序列号，并对统计的序列号进行存储处理，进而在当前接收到的侧行链路定位消息中携带的序列号与存储的序列号重复时，丢弃当前接收到的侧行链路定位消息。
对应的，发送终端设备也可以存储该定位会话中携带有各个发送终端设备的发送地址以及该接收终端设备的接收地址的侧行链路定位消息中携带的序列号，进而在发送侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，接收终端设备每接收到一个侧行链路定位消息，可以做步骤S1202的判断。也就是说，加上当前接收到的侧行链路定位消息，若此时当前定位会话中存在针对同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，则是指当前接收到的侧行链路定位消息中的序列号，与之前接收到的相同接收地址的某一个侧行链路定位消息中的序列号相同，此时需要丢弃当前接收到的侧行链路定位消息。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息；响应于接收到当前定位会话中针对同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图13，图13是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图13所示，该方法可以包括但不限于如下步骤：
步骤S1301：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，接收终端设备执行步骤S1301的过程例如可以为，接收发送终端 设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S1301的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
步骤S1302：响应于接收到当前定位会话中针对同一个发送终端设备的发送地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息。
在本申请实施例中，在当前定位会话中，接收终端设备可以统计携带有该发送终端设备的发送地址以及各个接收终端设备的接收地址的侧行链路定位消息中携带的序列号并进行存储，从而在接收到该发送终端设备发送的一个侧行链路定位消息，且该侧行链路定位消息中携带的序列号与存储的序列号重复时，丢弃该侧行链路定位消息。
对应的，发送终端设备也可以存储该定位会话中携带有各个接收终端设备的接收地址的侧行链路定位消息中携带的序列号，进而在发送侧行链路定位消息时，从序列号资源池中选择未进行存储的其中一个序列号添加到侧行链路定位消息中。
在本申请实施例中，接收终端设备每接收到一个侧行链路定位消息，可以做步骤S1302的判断。也就是说，加上当前接收到的侧行链路定位消息，若此时当前定位会话中存在针对同一个发送终端设备的 发送地址的具有相同的序列号的至少两个侧行链路定位消息，则是指当前接收到的侧行链路定位消息中的序列号，与之前接收到的相同发送地址的某一个侧行链路定位消息中的序列号相同，此时需要丢弃当前接收到的侧行链路定位消息。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息；响应于接收到当前定位会话中针对同一个发送终端设备的发送地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的侧行链路定位消息，从而实现重复检测，避免重复接收侧行链路定位消息的情况。
请参见图14，图14是本申请实施例提供的一种侧行链路定位消息的接收方法的流程示意图。该侧行链路定位消息的接收方法由接收终端设备执行。如图14所示，该方法可以包括但不限于如下步骤：
步骤S1401：接收发送终端设备发送的携带有序列号的侧行链路定位消息。
在本申请实施例中，侧行链路定位消息，是指终端设备定位过程中涉及的至少两个终端设备之间交互的消息。一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为接收终端设备的设备标识。另一种示例中，侧行链路定位消息中接收终端设备的接收地址，可以为以下任意一种地址：单播地址、组播地址和广播地址。其中，单播地址、组播地址和广播地址采用目标层2标识destination layer 2 ID表示。
在本申请实施例中，一个定位会话，是指终端设备的一次定位过程中涉及的多个终端设备之间的交互过程。其中，一个定位会话，例如，一个SLPP/RSPP session。
在本申请实施例中，一种示例中，接收终端设备执行步骤S1401的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为以下任意一种：单播地址、组播地址和广播地址。对应的，发送终端设备可以在接收地址为单播地址、组播地址或者广播地址时，在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，发送终端设备在接收地址为单播地址、组播地址或者广播地址的情况下，在SLPP/RSPP消息中携带序列号。
另一种示例中，接收终端设备执行步骤S1401的过程例如可以为，接收发送终端设备发送的携带有序列号以及接收终端设备的接收地址的侧行链路定位消息；接收地址为单播地址。对应的，发送终端设备可以在接收地址为单播地址时，在待发送的侧行链路定位消息中携带序列号；而在接收地址为为组播地址或者广播地址时，不在待发送的侧行链路定位消息中携带序列号。
其中，侧行链路定位消息，例如，SLPP消息或者RSPP消息。例如，在接收地址为单播地址的情况下，发送终端设备可以在SLPP/RSPP消息中携带序列号；在接收地址为组播地址或者广播地址的情况下，发送终端设备可以不在SLPP/RSPP消息中携带序列号。
在本申请实施例中，针对终端设备定位过程中涉及到的多个终端设备，一种示例中，可以每个终端设备，设置一个专用的序列号资源池。另一种示例中，多个终端设备可以共用一个序列号资源池。另一种示例中，多个终端设备中，部分终端设备可以设置对应的专用的序列号资源池，部分终端设备可以共享一个序列号资源池。
其中，针对一个终端设备，在为该终端设备设置专用的序列号资源池的情况下，一种示例中，设置的序列号资源池可以为一个，用于该终端设备的单播、组播和广播。另一种示例中，设置的序列号资源 池可以为3个，依次用于该终端设备的单播、组播和广播。在多个终端设备共用序列号资源池的情况下，一种示例中，序列号资源池可以为一个，同时用于单播、组播和广播；另一种示例中，序列号资源池可以为多个，依次用于单播、组播和广播。
其中，需要说明的是，终端设备的单播、组播和广播，可以分别分配有序列号资源池，不同的序列号资源池中的序列号不同；或者，终端设备的单播、组播和广播，可以采用相同的序列号资源池，即，共用序列号资源池。上述两种情况均可，只需保证发送终端设备发给同一单播地址/组播地址/广播地址的序列号不同即可，不用保证组播与广播之间、广播与单播之间、单播与组播之间的序列号不同。
步骤S1402：响应于接收终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号；或者，响应于接收终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。
在本申请实施例中，一种示例中，响应于接收终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号。其中，在接收终端设备为发起当前定位会话的终端设备的情况下，可以由该接收终端设备结束当前定位会话，该接收终端设备可以了解到结束当前定位会话的时间点，进而删除当前定位会话中的所有序列号。
其中，需要说明的是，该接收终端设备可以删除在当前定位会话中统计或存储的各个序列号，其中可以包括以下至少一种：发送的侧行链路定位消息中携带的序列号、接收的侧行链路定位消息中携带的序列号、其他发送终端设备发送至接收终端设备的侧行链路定位消息中携带的序列号。
另一种示例中，响应于接收终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。其中，在接收终端设备不为发起当前定位会话的终端设备的情况下，该接收终端设备难以了解到结束当前定位会话的时间点，因此，可以在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号。
其中，预设时间段可以由协议约定设置，或者由网络设备配置，或者由预配置信息配置。例如，预设时间段可以为10分钟等。
本申请实施例中提供的侧行链路定位消息的接收方法，接收终端设备可以接收发送终端设备发送的携带有序列号的侧行链路定位消息；响应于接收终端设备为发起当前定位会话的终端设备，在当前定位会话结束时，删除当前定位会话中的所有序列号；或者，响应于接收终端设备不为发起当前定位会话的终端设备，且发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除当前定位会话中的所有序列号，从而可以对接收到的侧行链路定位消息中携带的序列号进行重复检测，在重复时丢弃当前接收到的侧行链路定位消息，且可以方便后续定位会话时对序列号进行重复使用。
以下为对上述本公开的侧行链路定位消息的发送方法以及接收方法的具体示例介绍。
方案：UE(作为前述的发送终端设备时)在发送的SLPP/RSPP消息里包含序列号。
实施例：对采用单播，组播或广播方式发送的SLPP/RSPP消息，均可以包含序列号。
子方案1：UE(作为前述的发送终端设备时)保证在一个SLPP/RSPP session内不同消息的序列号不同。
子方案1.1：同一个SLPP/RSPP session内，UE保证发给同一个地址(单播/组播/广播)/UE的不同 消息的序列号不同。
子方案1.2：同一个SLPP/RSPP session内，不同UE发送给同一个单播地址/UE的消息的序列号不用保证不同。
子方案1.3：对同一个SLPP/RSPP session，UE发送到不同地址(单播/组播/广播)/UE的不同消息间的序列号不用保证不同。
实施例：上述地址可以为destination layer 2 ID.
实施例：组播、广播、单播的序列号可以各自单独分配，可以采用相同的序列号资源池，只需保证发给同一组播/广播/单播地址的序列号不同即可，不用保证组播与广播间，组播与单播间，广播与单播间的序列号的不同。
子方案2：如果SLPP/RSPP消息采用组播或广播发送，则可以不包含序列号。
子方案3：如果UE(作为前述的接收终端设备时)收到属于同一个session的具有相同序列号的SLPP/RSPP消息，则丢弃该消息。
子方案3.1：如果UE收到属于同一个session的针对同一个接收地址的具有相同序列号的SLPP/RSPP消息时，则丢弃该消息。
子方案3.2：如果UE收到属于同一个session的针对相同<发送地址，接收地址>pair的具有相同序列号的SLPP/RSPP消息时，则丢弃该消息。
子方案3.3：如果UE收到属于同一个session的针对相同发送地址的具有相同序列号的SLPP/RSPP消息时，则丢弃该消息。
子方案4：当SLPP/RSPP的session结束时，该session的发起UE删除该session的所有发送和接收序列号。
子方案5：如果一个UE不是SLPP/RSPP的session的发起方，该UE在该session一段时间内没有activity时，删除该session的所有发送和接收序列号。
实施例：该时间段由协议约定，或由网络或预配置信息配置，比如10分钟。
上述本申请提供的实施例中，分别从发送终端设备、接收终端设备的角度对本申请实施例提供的方法进行了介绍。为了实现上述本申请实施例提供的方法中的各功能，发送终端设备和接收终端设备可以包括硬件结构、软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能可以以硬件结构、软件模块、或者硬件结构加软件模块的方式来执行。
请参见图15，为本申请实施例提供的一种通信装置150的结构示意图。图15所示的通信装置150可包括收发单元1501和处理单元1502。收发单元1501可包括发送单元和/或接收单元，发送单元用于实现发送功能，接收单元用于实现接收功能，收发单元1501可以实现发送功能和/或接收功能。
通信装置150可以是终端设备(如前述方法实施例中的发送终端设备或者接收终端设备)，也可以是终端设备中的装置，还可以是能够与终端设备匹配使用的装置。
通信装置150为终端设备(如前述方法实施例中的发送终端设备)：
收发单元1501用于，向接收终端设备发送携带有序列号的侧行链路定位消息。
可选地，收发单元1501具体用于，响应于所述接收终端设备的接收地址为单播地址、组播地址或 者广播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
可选地，收发单元1501具体用于，响应于所述接收终端设备的接收地址为单播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
可选地，当前定位会话中，不同侧行链路定位消息所携带的序列号不同。
可选地，当前定位会话中，发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。
可选地，当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
可选地，当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
可选地，处理单元1502用于，响应于所述发送终端设备为发起当前定位会话的终端设备，在所述当前定位会话结束时，删除所述当前定位会话中的所有序列号；或者，响应于所述发送终端设备不为发起所述当前定位会话的终端设备，且所述发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除所述当前定位会话中的所有序列号。
可选地，所述接收地址为所述接收终端设备的设备标识；或者，所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
可选地，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
通信装置150为终端设备(如前述方法实施例中的接收终端设备)：
收发单元1501用于，接收发送终端设备发送的携带有序列号的侧行链路定位消息。
可选地，收发单元1501具体用于，接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；所述接收地址为以下任意一种：单播地址、组播地址和广播地址。
可选地，收发单元1501具体用于，接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；所述接收地址为单播地址。
可选地，处理单元1502用于，响应于接收到当前定位会话中具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
可选地，处理单元1502用于，响应于接收到当前定位会话中针对同一个发送终端设备的发送地址和同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
可选地，处理单元1502用于，响应于接收到当前定位会话中针对同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
可选地，处理单元1502用于，响应于接收到当前定位会话中针对同一个发送终端设备的发送地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
可选地，处理单元1502用于，响应于所述接收终端设备为发起当前定位会话的终端设备，在所述当前定位会话结束时，删除所述当前定位会话中的所有序列号；或者，响应于所述接收终端设备不为发起所述当前定位会话的终端设备，且所述发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除所述当前定位会话中的所有序列号。
可选地，所述接收地址为所述接收终端设备的设备标识；或者，所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
可选地，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
请参见图16，图16是本申请实施例提供的另一种通信装置160的结构示意图。通信装置160可以是终端设备(如前述方法实施例中的发送终端设备或者接收终端设备)，也可以是支持终端设备实现上述方法的芯片、芯片系统、或处理器等。该装置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160可以包括一个或多个处理器1601。处理器1601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，基站、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160中还可以包括一个或多个存储器1602，其上可以存有计算机程序1604，处理器1601执行所述计算机程序1604，以使得通信装置160执行上述方法实施例中描述的方法。可选的，所述存储器1602中还可以存储有数据。通信装置160和存储器1602可以单独设置，也可以集成在一起。
可选的，通信装置160还可以包括收发器1605、天线1606。收发器1605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1605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160中还可以包括一个或多个接口电路1607。接口电路1607用于接收代码指令并传输至处理器1601。处理器1601运行所述代码指令以使通信装置160执行上述方法实施例中描述的方法。
通信装置160为终端设备(如前述方法实施例中的发送终端设备)：处理器1601用于执行图8中的步骤S802。收发器1605用于执行图3中的步骤S301；图4中的步骤S401；图5中的步骤S501；图6中的步骤S601；图7中的步骤S701；图8中的步骤S801；。
通信装置160为终端设备(如前述方法实施例中的接收终端设备)：收发器1605用于执行图9中的步骤S901；执行图10中的步骤S1001；执行图11中的步骤S1101；执行图12中的步骤S1201；执行图13中的步骤S1301；执行图14中的步骤S1401。处理器1601用于执行图10中的步骤S1002；执行图11中的步骤S1102；执行图12中的步骤S1202；执行图13中的步骤S1302；执行图14中的步骤S1402。
在一种实现方式中，处理器1601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1601可以存有计算机程序1603，计算机程序1603在处理器1601上运行，可使得通信装置160执行上述方法实施例中描述的方法。计算机程序1603可能固化在处理器1601中，该种情况下，处理器1601可能由硬件实现。
在一种实现方式中，通信装置160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。本申请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网络设备或者终端设备(如前述方法实施例中的第一终端设备)，但本申请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16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，可参见图17所示的芯片的结构示意图。图17所示的芯片包括处理器1701和接口1702。其中，处理器1701的数量可以是一个或多个，接口1702的数量可以是多个。
对于芯片用于实现本申请实施例中终端设备(如前述方法实施例中的发送终端设备)的功能的情况：
接口1702用于，向接收终端设备发送携带有序列号的侧行链路定位消息。
可选地，接口1702具体用于，响应于所述接收终端设备的接收地址为单播地址、组播地址或者广播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
可选地，接口1702具体用于，响应于所述接收终端设备的接收地址为单播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
可选地，当前定位会话中，不同侧行链路定位消息所携带的序列号不同。
可选地，当前定位会话中，发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。
可选地，当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
可选地，当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
可选地，所述接收地址为所述接收终端设备的设备标识；或者，所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
可选地，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
对于芯片用于实现本申请实施例中终端设备(如前述方法实施例中的接收终端设备)的功能的情况：
接口1702用于，接收发送终端设备发送的携带有序列号的侧行链路定位消息。
可选地，接口1702具体用于，接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；所述接收地址为以下任意一种：单播地址、组播地址和广播地址。
可选地，接口1702具体用于，接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；所述接收地址为单播地址。
可选地，所述接收地址为所述接收终端设备的设备标识；或者，所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
可选地，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
可选的，芯片还包括存储器1703，存储器1703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申请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申请实施例保护的范围。
本申请实施例还提供一种通信系统，该系统包括前述图15实施例中作为终端设备(如前述方法实施例中的发送终端设备)的通信装置和作为终端设备(如前述方法实施例中的接收终端设备)的通信装置，或者，该系统包括前述图16实施例中作为终端设备(如前述方法实施例中的发送终端设备)的通信装置和作为终端设备(如前述方法实施例中的接收终端设备)的通信装置。
本申请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。
本申请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申请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：本申请中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围，也表示先后顺序。
本申请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，本申请 不做限制。在本申请实施例中，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。
本申请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，本申请并不限定。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，本申请中的表格中，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。
本申请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申请的范围。
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，仅为本申请的具体实施方式，但本申请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申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (28)

  1. 一种侧行链路定位消息的发送方法，其特征在于，应用于发送终端设备，所述方法包括：
    向接收终端设备发送携带有序列号的侧行链路定位消息。
  2. 根据权利要求1所述的方法，其特征在于，所述向接收终端设备发送携带有序列号的侧行链路定位消息，包括：
    响应于所述接收终端设备的接收地址为单播地址、组播地址或者广播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
  3. 根据权利要求1所述的方法，其特征在于，所述向接收终端设备发送携带有序列号的侧行链路定位消息，包括：
    响应于所述接收终端设备的接收地址为单播地址，向所述接收终端设备发送携带有序列号的所述侧行链路定位消息。
  4. 根据权利要求2或3所述的方法，其特征在于，当前定位会话中，不同侧行链路定位消息所携带的序列号不同。
  5. 根据权利要求2或3所述的方法，其特征在于，当前定位会话中，发送至同一个接收地址的不同侧行链路定位消息所携带的序列号不同。
  6. 根据权利要求3所述的方法，其特征在于，当前定位会话中，不同发送地址的发送终端设备发送至同一个接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
  7. 根据权利要求2或3所述的方法，其特征在于，当前定位会话中，同一个发送地址的发送终端设备发送至不同接收地址的不同侧行链路定位消息，所携带的序列号相同或者不同。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    响应于所述发送终端设备为发起当前定位会话的终端设备，在所述当前定位会话结束时，删除所述当前定位会话中的所有序列号；
    或者，
    响应于所述发送终端设备不为发起所述当前定位会话的终端设备，且所述发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除所述当前定位会话中的所有序列号。
  9. 根据权利要求1所述的方法，其特征在于，所述接收地址为所述接收终端设备的设备标识；
    或者，
    所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
  10. 根据权利要求9所述的方法，其特征在于，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
  11. 一种侧行链路定位消息的接收方法，其特征在于，应用于接收终端设备，所述方法包括：
    接收发送终端设备发送的携带有序列号的侧行链路定位消息。
  12. 根据权利要求11所述的方法，其特征在于，所述接收发送终端设备发送的携带有序列号的侧行链路定位消息，包括：
    接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；
    所述接收地址为以下任意一种：单播地址、组播地址和广播地址。
  13. 根据权利要求11所述的方法，其特征在于，所述接收发送终端设备发送的携带有序列号的侧行链路定位消息，包括：
    接收所述发送终端设备发送的携带有所述序列号以及所述接收终端设备的接收地址的侧行链路定位消息；
    所述接收地址为单播地址。
  14. 根据权利要求12或13所述的方法，其特征在于，所述方法还包括：
    响应于接收到当前定位会话中具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
  15. 根据权利要求12或13所述的方法，其特征在于，所述方法还包括：
    响应于接收到当前定位会话中针对同一个发送终端设备的发送地址和同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
  16. 根据权利要求12或13所述的方法，其特征在于，所述方法还包括：
    响应于接收到当前定位会话中针对同一个接收地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
  17. 根据权利要求12或13所述的方法，其特征在于，所述方法还包括：
    响应于接收到当前定位会话中针对同一个发送终端设备的发送地址的具有相同的序列号的至少两个侧行链路定位消息，丢弃当前接收的所述侧行链路定位消息。
  18. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    响应于所述接收终端设备为发起当前定位会话的终端设备，在所述当前定位会话结束时，删除所述当前定位会话中的所有序列号；
    或者，
    响应于所述接收终端设备不为发起所述当前定位会话的终端设备，且所述发送终端设备在预设时间段内未发送或者接收侧行链路定位消息时，删除所述当前定位会话中的所有序列号。
  19. 根据权利要求11所述的方法，其特征在于，所述接收地址为所述接收终端设备的设备标识；
    或者，
    所述接收地址为以下任意一种地址：单播地址、组播地址和广播地址。
  20. 根据权利要求19所述的方法，其特征在于，所述单播地址、所述组播地址和所述广播地址采用目标层2标识destination layer 2 ID表示。
  21. 一种通信装置，其特征在于，设置于发送终端设备，所述装置包括：
    收发单元，用于向接收终端设备发送携带有序列号的侧行链路定位消息。
  22. 一种通信装置，其特征在于，设置于接收终端设备，所述装置包括：
    收发单元，用于接收发送终端设备发送的携带有序列号的侧行链路定位消息。
  23. 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10中任一项所述的方法。
  24. 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11至20中任一项所述的方法。
  25. 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10中任一项所述的方法。
  26. 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11至20中任一项所述的方法。
  27. 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10中任一项所述的方法被实现。
  28. 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11至20中任一项所述的方法被实现。
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