WO2022152251A1 - 锚点终端确定方法、信息发送方法、通信节点及存储介质 - Google Patents

锚点终端确定方法、信息发送方法、通信节点及存储介质 Download PDF

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Publication number
WO2022152251A1
WO2022152251A1 PCT/CN2022/072054 CN2022072054W WO2022152251A1 WO 2022152251 A1 WO2022152251 A1 WO 2022152251A1 CN 2022072054 W CN2022072054 W CN 2022072054W WO 2022152251 A1 WO2022152251 A1 WO 2022152251A1
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Prior art keywords
terminal
target
anchor
reference signal
positioning reference
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PCT/CN2022/072054
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English (en)
French (fr)
Inventor
贺海港
卢有雄
邢卫民
陈杰
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ZTE Corp
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ZTE Corp
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Priority to US18/261,138 priority Critical patent/US12581454B2/en
Priority to EP22739126.5A priority patent/EP4280718B1/en
Priority to KR1020237027629A priority patent/KR20230132820A/ko
Publication of WO2022152251A1 publication Critical patent/WO2022152251A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/0051—Allocation of pilot signals, i.e. of signals known to the receiver of dedicated pilots, i.e. pilots destined for a single user or terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • 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
    • H04W72/00—Local resource management
    • H04W72/40—Resource management for direct mode communication, e.g. D2D or sidelink
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to the field of wireless communication networks, for example, to a method for determining an anchor point terminal, a method for sending information, a communication node and a storage medium.
  • the service between user equipment may not pass through the network side, that is, without forwarding through the cellular link between the UE and the base station, but directly by the data source
  • the UE transmits to the target UE through the side link.
  • Side link communication not only saves wireless spectrum resources, but also reduces the data transmission pressure on the core network, which can reduce system resource occupation, increase spectrum efficiency, and reduce communication delay.
  • there is no solution for how to determine the anchor UE that can be used to transmit positioning-related information The UE cannot independently determine whether it can be used as the anchor UE, which affects the transmission of positioning-related information.
  • the UE cannot accurately determine Its own position affects the reliability of side link communication.
  • the present application provides a method for determining an anchor point terminal, a method for sending information, a communication node and a storage medium, so as to improve the reliability of side link communication.
  • An embodiment of the present application provides a method for determining an anchor point terminal, including:
  • the target parameter is determined according to the information sent by the target terminal; in the case that the target parameter satisfies the set restriction condition, the first terminal is determined as the anchor terminal.
  • the embodiment of the present application also provides a method for sending information, including:
  • An embodiment of the present application further provides a communication node, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the above-mentioned anchor point terminal determination when executing the program method or method of sending information.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the above-mentioned method for determining an anchor point terminal or method for sending information is implemented.
  • FIG. 1 is a flowchart of a method for determining an anchor point terminal provided by an embodiment
  • FIG. 2 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to an embodiment
  • 3A is a schematic diagram of determining the number of anchor UEs within a distance range according to an embodiment
  • 3B is a schematic diagram of determining the number of anchor UEs within a reference signal received power range according to an embodiment
  • FIG. 4 is a schematic diagram of a second terminal requesting a first terminal as an anchor terminal according to an embodiment
  • FIG. 5 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to another embodiment
  • FIG. 6 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to another embodiment
  • FIG. 7A is a schematic diagram of a first terminal selecting time-frequency resources of a positioning reference signal according to an embodiment
  • FIG. 7B is a schematic diagram of a first terminal selecting a time-frequency resource of a positioning reference signal according to another embodiment
  • FIG. 8 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to still another embodiment
  • 9A is a schematic diagram of a first terminal selecting time-frequency resources of a target channel and a positioning reference signal according to an embodiment
  • 9B is a schematic diagram of a first terminal selecting time-frequency resources of a target channel and a positioning reference signal according to another embodiment
  • FIG. 10 is a flowchart of a method for sending information provided by an embodiment
  • FIG. 11 is a schematic structural diagram of an apparatus for determining an anchor point terminal according to an embodiment
  • FIG. 12 is a schematic structural diagram of an information sending apparatus according to an embodiment
  • FIG. 13 is a schematic diagram of a hardware structure of a communication node according to an embodiment.
  • Anchor UE refers to a UE that can send positioning-related information (such as positioning reference signals and location information) to other UEs, and there are usually multiple anchor UEs in a sidelink communication system. How to determine the anchor UE that can be used to transmit the positioning-related information, or whether the UE can independently judge whether it can transmit the positioning-related information as the anchor UE, affects the reliability of the side link communication.
  • positioning-related information such as positioning reference signals and location information
  • a method for determining an anchor terminal is provided, which can be applied to a first terminal.
  • the first terminal independently determines whether it can serve as an anchor UE to send positioning-related information to other terminals, and can serve as an anchor UE when the set restriction conditions are met, thereby reducing interference with other terminals transmitting positioning-related information.
  • FIG. 1 is a flowchart of a method for determining an anchor point terminal provided by an embodiment. As shown in FIG. 1 , the method provided by this embodiment includes steps 110-130.
  • step 110 the information sent by the target terminal is received.
  • step 120 target parameters are determined according to the information sent by the target terminal.
  • step 130 when the target parameter satisfies the set restriction condition, it is determined that the first terminal is the anchor terminal.
  • the target terminal refers to a UE that can send positioning-related information to the first terminal, and the sent information provides a basis for the first terminal to determine whether it is an anchor UE.
  • the target terminal sends side link control information (Side Link Control Information, SCI) to the first terminal, and the first terminal can determine the distance between it and the target terminal accordingly.
  • SCI Side Link Control Information
  • the terminal determines itself as the anchor UE.
  • the first terminal determines that it is the anchor UE, it can send positioning related information, such as positioning reference signals and position information, to other surrounding terminals (including the target terminal), so as to realize side link communication.
  • the target terminal may be an anchor UE or a non-anchor UE.
  • the first terminal comprehensively determines whether it is an anchor UE according to the received information sent by each target terminal.
  • the first terminal determines whether it is an anchor UE according to the information sent by the target terminal.
  • the first terminal determines the target parameters according to the information sent by the target terminal, such as the first terminal and the target terminal. distance, the reference signal received power (Reference Signal Received Power, RSRP) of the reference signal of the target terminal received by the first terminal, the angle between the moving directions of the first terminal and the target terminal, etc., and then the first terminal converts the target parameter Compared with the set restriction conditions, if the target parameter satisfies the set restriction conditions, it determines that it is the anchor UE; 2) The target terminal determines which UEs can be used as anchor UEs, and informs the first terminal by sending information to the first terminal, the first The terminal determines whether it is one of them according to the information sent by the target terminal, and if so, determines that it is the anchor UE.
  • RSRP Reference Signal Received Power
  • the information sent by the target terminal includes at least one of the following: a first positioning reference signal (that is, a positioning reference signal sent by the target terminal to the first terminal); a first SCI (that is, a positioning reference signal sent by the target terminal to the first terminal); SCI); the first positioning reference signal and the first position information (that is, the position information sent by the target terminal to the first terminal); the demodulation reference signal; the target channel.
  • a first positioning reference signal that is, a positioning reference signal sent by the target terminal to the first terminal
  • a first SCI that is, a positioning reference signal sent by the target terminal to the first terminal
  • SCI positioning reference signal sent by the target terminal to the first terminal
  • the first positioning reference signal and the first position information that is, the position information sent by the target terminal to the first terminal
  • the demodulation reference signal the target channel.
  • the target parameter includes at least one of the following: the target terminal is a road direction indicated by the first terminal; the target terminal is a road sign indicated by the first terminal; the target terminal is a moving direction indicated by the first terminal; The distance from the target terminal; the RSRP of the reference signal of the target terminal received by the first terminal; the first angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located; the direction of the road where the first terminal is located The first angle between the direction of the road where the target terminal is located is 90 or the remainder is ⁇ /2; the second angle between the movement direction of the first terminal and the movement direction of the target terminal; the movement direction of the first terminal The second included angle with the moving direction of the target terminal is 90 or the remainder is ⁇ /2; the user identification number of the anchor terminal.
  • the first terminal can determine that the target terminal is the road sign, road direction and/or movement direction indicated by the first terminal.
  • the direction and/or the movement direction are consistent with the road sign, the road direction and/or the movement direction where the target terminal is located, and the first terminal may determine itself as the anchor UE.
  • the first terminal may determine the distance between the first terminal and the target terminal by receiving the first positioning reference signal (or the first positioning reference signal and the first position information) sent by the target terminal.
  • the first positioning reference signal or the first positioning reference signal and the first position information
  • the first terminal may determine the RSRP of the received reference signal of the target terminal by measuring the reference signal (eg, the first positioning reference signal or the demodulation reference signal) sent by the target terminal.
  • the reference signal eg, the first positioning reference signal or the demodulation reference signal
  • the first terminal may determine the first angle and/or the second angle between the first terminal and the target terminal by receiving the first SCI sent by the target terminal.
  • the target terminal has determined which UEs can be used as anchor UEs, and sends the user identification numbers of these UEs to the first terminal through the first SCI.
  • the first terminal receives the first SCI and determines whether its own user identification number belongs to the first terminal. The one indicated in the SCI, so as to determine whether it is the anchor UE.
  • the first SCI sent by the target terminal can be used to request the receiver UE to send the positioning related information to it as the anchor UE.
  • This type of target terminal is denoted as the second terminal. After the first terminal determines that it is the anchor UE, it can send the second positioning reference signal and the second location information to the second terminal.
  • the setting of the restriction condition includes: the value of the target parameter does not exceed the set value range; wherein the set value range includes at least one of the following: the direction of the road where the first terminal is located; the The road sign where the first terminal is located; the movement direction of the first terminal; the value range of the distance between the first terminal and the target terminal; the threshold value of the distance between the first terminal and the target terminal; the first terminal The value range of the RSRP of the reference signal of the target terminal received; the threshold value of the RSRP of the reference signal of the target terminal received by the first terminal; the value range of the first included angle; the threshold value of the first included angle; The value range of the two included angles; the threshold value of the second included angle; the value range of the first included angle to 90 or the remainder of ⁇ /2; the gate of the first included angle to 90 or the remainder of ⁇ /2 Limit value; the value range of the second included angle pair 90 or the remainder of ⁇ /2; the threshold value of the second included angle pair of 90 or the remainder of ⁇ /2.
  • the first terminal determines the target parameter according to the information sent by the target terminal, and the target parameter includes the direction of the road where the first terminal is located, the road sign where the first terminal is located, the movement direction of the first terminal, The distance between the first terminal and the target terminal, the RSRP of the reference signal of the target terminal received by the first terminal, the first included angle, the remainder of the first included angle, the second included angle and/or the remainder of the second included angle;
  • the set limit condition includes the value range and/or threshold value of these target parameters, wherein the threshold value may be an upper limit value, a lower limit value and/or a grade division value.
  • the first terminal compares the target parameter with the set restriction condition, and if the target parameter satisfies the set restriction condition, determines itself as the anchor UE.
  • the target parameter includes the user identification number of the anchor terminal;
  • the setting restriction condition includes: the source identification (Identity, ID) of the first terminal belongs to the user identification number of the anchor terminal.
  • the first terminal determines the user identification number of the anchor UE according to the information sent by the target terminal, and determines whether it belongs to one of them.
  • the information sent by the target terminal includes the first SCI; step 120 includes: determining the user identification number of the anchor terminal according to the first SCI.
  • the first terminal determines the user identification number of the anchor UE according to the first SCI sent by the target terminal.
  • the target parameter includes the user identification number of the anchor terminal, and the user identification number of the anchor terminal is the source ID of the anchor terminal.
  • the user identification number of the anchor UE refers to the source ID of the anchor UE.
  • the number of target terminals is at least one; setting the restriction conditions includes: the number of target terminals whose corresponding target parameters satisfy the setting restriction conditions does not exceed the number threshold; or, the corresponding target parameters satisfy the setting The number of target terminals of the restriction condition is less than the number threshold value.
  • the number of target terminals may be one or more.
  • the target terminal if its target parameters satisfy the set restriction conditions, the target terminal is also an anchor UE.
  • the setting restriction conditions include: the number of anchor UEs in the target terminal does not exceed the number threshold or is less than the number threshold.
  • the target terminal includes at least one anchor terminal; the information sent by each target terminal includes a first positioning reference signal and first location information.
  • the target terminal includes one or more anchor UEs.
  • each target terminal may send a first positioning reference signal and first location information to the first terminal for the first terminal to determine target parameters.
  • the target terminal includes at least one second terminal; the information sent by each target terminal includes a first SCI, and the first SCI includes positioning request information;
  • the positioning request information is used to request the first terminal to send one of the following information: the second positioning reference signal; the second positioning reference signal and the second position information.
  • the first terminal determines whether it belongs to one of the anchor UEs according to the positioning request information in the first SCI sent by the second terminal.
  • the anchor UE sends the second positioning reference signal to the second terminal according to the request of the second terminal, and may also send the second location information.
  • step 120 includes:
  • the movement direction of the target terminal is obtained; the first included angle between the movement direction of the first terminal and the movement direction of the target terminal is calculated.
  • step 120 includes:
  • the distance between the first terminal and the target terminal is measured.
  • step 120 includes:
  • the RSRP of the reference signal of the target terminal received by the first terminal is measured.
  • it also includes:
  • Step 100 Receive indication information of the set value range of the target parameter through radio resource control (Radio Resource Control, RRC) signaling.
  • RRC Radio Resource Control
  • the set value range (for example, the value range and/or the threshold value) of the target parameter is configured by the network side, the first terminal receives the indication information through RRC signaling, and determines, according to the indication information, the parameter used for matching with the target parameter. The set value range for comparison.
  • setting the restriction conditions includes a first restriction condition and a second restriction condition; step 130 includes:
  • Step 1310 In the case that the target parameter satisfies the first restriction condition, determine that the first terminal is a candidate anchor point terminal.
  • Step 1320 In the case that the second restriction condition is satisfied, determine that the first terminal is an anchor terminal.
  • the first terminal determines itself as a candidate anchor point UE, and the candidate anchor point UE has the ability to select time-frequency resources for sending positioning-related information (including the second positioning reference signal). , but ultimately whether to send the positioning-related information needs to be determined according to the second restriction condition.
  • the number of target terminals is at least one; the first restriction condition includes: the number of target terminals whose corresponding target parameters satisfy the set restriction conditions does not exceed the number threshold; or, the corresponding target parameters satisfy the set restriction conditions.
  • the number of target terminals of the restriction condition is less than the number threshold value.
  • the first restriction condition includes: the number of anchor UEs in the target terminal does not exceed the number threshold or is less than the number threshold.
  • it also includes:
  • Step 1312 In the case that the first terminal is determined to be a candidate anchor point terminal, determine a time-frequency resource for sending the second positioning reference signal.
  • the first terminal is used as a candidate anchor terminal to select time-frequency resources for sending the second positioning reference signal.
  • step 1320 includes:
  • Detecting a third positioning reference signal not sent by the first terminal in the case that the detection result of the third positioning reference signal satisfies the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal a positioning reference signal, in the case that the detection result of the third positioning reference signal does not meet the second restriction condition, determine that the first terminal is not an anchor terminal according to the detection result of the third positioning reference signal, and cancel the transmission the second positioning reference signal; or, in the case that the detection result of the third positioning reference signal does not meet the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, in the case that the detection result of the third positioning reference signal satisfies the second restriction condition, determine that the first terminal is not an anchor terminal according to the detection result of the third positioning reference signal, and cancel the transmission of the third positioning reference signal.
  • Two positioning reference signals Two positioning reference signals.
  • the first terminal detects a third positioning reference signal not sent by the first terminal (including the target terminal and/or the second terminal), and when the detection result satisfies the second restriction condition, the first terminal acts as the anchor point
  • the UE sends the second positioning reference signal; otherwise, the first terminal is not the anchor UE, and cancels sending the second positioning reference signal.
  • it also includes:
  • Step 1314 In the case where the first terminal is determined to be the candidate anchor terminal, determine the time-frequency resource of the target channel and the time-frequency resource of the second positioning reference signal, where the target channel is used to indicate the second positioning reference The time-frequency resource of the signal.
  • the first terminal acts as a candidate anchor terminal to select time-frequency resources for the target channel and the second positioning reference signal.
  • step 1320 includes:
  • Detecting a target channel not sent by the first terminal in the case where the detection result of the target channel satisfies the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, In the case that the target channel does not meet the second restriction condition, determine that the first terminal is not the anchor terminal, and cancel the transmission of the target channel; or, in the case where the detection result of the target channel does not meet the second restriction condition next, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, and if the target channel satisfies the second restriction condition, determine that the first terminal is not an anchor terminal, and cancel the Send the target channel.
  • the first terminal detects a target channel not sent by the first terminal (including the target terminal and/or the second terminal), and when the detection result satisfies the second restriction condition, the first terminal serves as the anchor UE to send the target channel channel; otherwise, the first terminal is not the anchor UE, and cancels sending the target channel.
  • the first terminal indicates the time-frequency resource of the second positioning reference signal by sending the target channel, so that the UE at the receiving end can accurately receive the second positioning reference signal.
  • it also includes:
  • Step 102 Send a second SCI, where the second SCI is used to indicate that the first terminal supports serving as an anchor terminal.
  • the first terminal sends the second SCI to notify other UEs that the first terminal can become an anchor terminal.
  • the anchor UE declaration is included in the second SCI, indicating that the first terminal has the ability to send positioning-related information, or allows other UEs to send positioning request information to it.
  • the second SCI is further used to indicate the time limit for the first terminal to serve as an anchor terminal.
  • FIG. 2 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to an embodiment.
  • the first terminal autonomously determines whether it can become an anchor UE, including the following steps:
  • Step 1 The first terminal receives the information sent by the target terminal, and determines the target parameter between the first terminal and the target terminal according to the information sent by the target terminal.
  • the distance between the first terminal and the target terminal is obtained by receiving the first positioning reference signal of the target terminal; the RSRP of the reference signal of the target terminal received by the first terminal is obtained by measuring the first positioning reference signal of the target terminal.
  • the first terminal may also determine the target parameter between the first terminal and the target terminal by receiving the first SCI sent by the target terminal, for example, the first angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located. and/or the second included angle between the movement direction of the first terminal and the movement direction of the target terminal.
  • the target terminal includes the second terminal, the first terminal receives the SCI of the second terminal, which contains the positioning request information, and the first terminal obtains the user identification number of the non-second terminal notified by the second terminal accordingly ( UE ID), such as Source ID.
  • UE ID user identification number of the non-second terminal notified by the second terminal
  • the user identification number of the non-second terminal notified by the second terminal is used to request the corresponding terminal to send positioning-related information.
  • the manner in which the first terminal obtains the distance between the first terminal and the target terminal is as follows: the first terminal receives the first positioning reference signal of the target terminal, and starts from the target terminal and arrives at the first terminal according to the time parameter of the first positioning reference signal. , and measure the distance between the first terminal and the target terminal. Alternatively, the first terminal sends a positioning reference signal to the target terminal and receives the first positioning reference signal from the target terminal, and measures the distance between the first terminal and the target terminal according to the time parameter during the transmission of the two positioning reference signals.
  • the manner in which the first terminal obtains the first angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located is as follows: the first terminal receives the first SCI of the target terminal, and obtains the location of the target terminal indicated by the first SCI. The first terminal calculates the first included angle based on the road direction where the target terminal is located and the road direction where the first terminal itself is located.
  • the first terminal obtains the second included angle between the movement direction of the first terminal and the movement direction of the target terminal as follows: the first terminal receives the first SCI of the target terminal, and obtains the movement direction of the target terminal indicated by the first SCI information, the first terminal calculates the second included angle based on the movement direction of the target terminal and the movement direction of the first terminal itself.
  • Step 2 Determine whether the target parameters meet the set limit conditions.
  • the target terminal is the anchor UE.
  • the first terminal calculates the number of anchor UEs whose target parameters satisfy the set restriction condition.
  • the first terminal determines whether it is an anchor UE based on the number of anchor UEs satisfying the set restriction condition. If the number of anchor UEs that meet the set restriction conditions does not exceed the number threshold, the first terminal can become the anchor UE; if the anchor UEs that meet the set restriction conditions have reached the number threshold, the first terminal is not Anchor UE.
  • the anchor UE whose target parameter satisfies the set restriction condition may refer to the value of the target parameter between the first terminal and the anchor UE, and satisfies at least one of the following set restriction conditions:
  • the target terminal is that the road direction indicated by the first terminal is consistent with the road direction where the first terminal is located; the target terminal is that the road sign indicated by the first terminal is consistent with the road sign where the first terminal is located; the target terminal is the moving direction indicated by the first terminal It is consistent with the movement direction of the first terminal; the distance between the first terminal and the target terminal does not exceed the threshold value of the distance; the distance between the first terminal and the target terminal belongs to the limited distance interval (that is, the value range of the distance); the first terminal The RSRP of the reference signal of the received target terminal does not exceed the threshold value of RSRP; the RSRP of the reference signal of the target terminal received by the first terminal belongs to the restricted RSRP interval (that is, the value range of RSRP); The first included angle (denoted as ⁇ ) of the movement direction of the target terminal does not exceed the threshold value of the first included angle; ⁇ belongs to the value range of the first included angle; ⁇ is the result mod of taking the remainder of 90 or ⁇ /2 ( ⁇ ,90) or
  • the threshold value of the distance may be notified by the base station to the first terminal through RRC signaling, or notified by the second terminal to the first terminal through the first SCI.
  • the above distance interval may be notified to the first terminal by the base station through RRC signaling, or notified to the first terminal by the second terminal through the first SCI.
  • the form of the notification distance interval is: the start value and end value of the notification distance interval, and the distance interval is expressed as: [distance start value, distance end value]; or, the start value and distance interval of the notification distance interval, and the distance interval represents is [distance start value, distance start value + distance interval].
  • the above-mentioned RSRP threshold value is notified to the first terminal by the base station through RRC signaling, or is notified to the first terminal by the second terminal through the first SCI.
  • the above RSRP interval is notified to the first terminal by the base station through RRC signaling, or is notified to the first terminal by the second terminal through the first SCI.
  • the form of the notification RSRP interval is: notify the start value and end value of the RSRP interval, and the RSRP interval is expressed as: [RSRP start value, RSRP end value]; or, notify the start value and RSRP interval of the RSRP interval, and the RSRP interval indicates It is [RSRP start value, RSRP start value + RSRP interval].
  • the above-mentioned threshold value related to the angle can be notified by the base station to the first terminal through RRC signaling, or notified to the first terminal by the second terminal through the first SCI, which can be the upper limit value of the first angle and/or the second The upper limit of the angle.
  • the above-mentioned value range related to the angle can be passed by the base station.
  • the RRC signaling is notified to the first terminal, or the second terminal is notified to the first terminal through the first SCI.
  • the form of notification angle-related value range is: notification start value and end value, the value range is expressed as: [angle start value, angle end value]; or, notification start value and interval, the value range is expressed as : [start value, start value + interval].
  • Case B The target terminal is not restricted to the anchor UE.
  • the first terminal determines whether the first terminal is the anchor UE based on whether the target parameter between it and the target terminal meets the requirements.
  • the target terminal is the second terminal, that is, the target terminal may request the first terminal as the anchor UE to send the positioning related information to the target terminal.
  • the target parameter includes one or more user identification numbers (UE IDs) of the anchor UE notified by the second terminal, such as a source ID, if the source ID of the first terminal belongs to one of the source IDs notified by the second terminal, Then the first terminal determines itself as the anchor UE.
  • UE IDs user identification numbers
  • Step 3 The first terminal determines itself as the anchor UE.
  • Step 4 The first terminal sends the second positioning reference signal and the second location information for the receiving end UE to calculate its own geographic location.
  • Example 1 The first terminal determines whether it becomes the anchor UE based on the distance between the first terminal and the target terminal, the first angle of the movement direction, and the number of anchor UEs that satisfy the set restriction conditions).
  • Step 1 The first terminal receives the first positioning reference signal, the first SCI and the first location information sent by the target terminal.
  • the first SCI contains bits used to indicate the movement direction of the target terminal.
  • the first SCI is borne by a Physical Sidelink Control Channel (PSCCH) or a Physical Sidelink Shared Channel (PSCCH), and the geographic location information is borne by the PSCCH.
  • PSCCH Physical Sidelink Control Channel
  • PSCCH Physical Sidelink Shared Channel
  • the first terminal determines the following target parameters according to the information sent by the target terminal:
  • Determining the distance between the first terminal and the target terminal includes: the first terminal first sends a positioning reference signal to the target terminal, and then receives the first positioning reference signal sent by the target terminal, and the first terminal calculates the time difference between sending and receiving the positioning reference signal is ⁇ t 2 .
  • the target terminal first receives the positioning reference signal sent by the first terminal, and then sends the first positioning reference signal to the first terminal.
  • the target terminal calculates the time difference between sending and receiving the positioning reference signal as ⁇ t 1 .
  • the target terminal notifies the first terminal of ⁇ t 1 .
  • the first terminal calculates the air propagation delay of the positioning reference signal as Therefore, the first terminal calculates the distance between the first terminal and the target terminal as C is the speed of light.
  • Obtaining the first included angle by the first terminal includes: the first terminal obtains, by receiving the first SCI of the target terminal, the movement direction of the target terminal indicated by the target terminal through the first SCI, and the first terminal is based on the movement direction of the target terminal and its own movement direction. Movement direction, calculate the first angle.
  • Step 2 The first terminal determines whether the target parameter satisfies the set restriction condition.
  • the set restriction conditions include: the number of target terminals (the target terminal is the anchor UE) satisfying the following conditions does not exceed the threshold:
  • the distance between the first terminal and the target terminal does not exceed the threshold value of the distance; the result of taking the remainder of the first included angle to ⁇ /2 does not exceed the threshold value of taking the remainder of the first included angle to ⁇ /2.
  • the threshold value of the distance, the threshold value of the first included angle taking the remainder of ⁇ /2, and the threshold value of the number of anchor UEs are configured through the RRC signaling of the base station.
  • the distance threshold configured by RRC signaling is 300 meters
  • the threshold value of the first included angle is not more than 15 degrees
  • the threshold value of the number of anchor UEs is 5. The first terminal determines whether the target parameter satisfies the following three constraints:
  • the distance between the first terminal and the target terminal is not more than 300 meters; the first angle ⁇ between the movement direction of the first terminal and the movement direction of the target terminal satisfies mod( ⁇ , ⁇ /2) ⁇ 15; satisfies the above two
  • the number of anchor UEs for the condition is less than 5.
  • Step 3 If the above restriction conditions are met, the first terminal determines that it is the anchor UE.
  • Step 4 The first terminal sends the second positioning reference signal and the second location information for the receiving end UE to calculate its own geographic location.
  • FIG. 3A is a schematic diagram of determining the number of anchor UEs within a distance range according to an embodiment.
  • the first terminal detects a target terminal that satisfies the following conditions: the distance between the target terminal and the first terminal does not exceed 300 meters; the first included angle ⁇ of the movement direction between the target terminal and the first terminal satisfies mod( ⁇ , ⁇ /2) ⁇ 15.
  • the first terminal detects that the target terminals that meet the above two conditions are UE1, UE2, UE3, and UE4, which are less than the threshold value of the number of anchor UEs, which is 5. Therefore, the first terminal determines that the target parameter meets the set restriction conditions, thereby becoming the anchor
  • the point UE sends the positioning related information.
  • Example 2 The first terminal determines whether it becomes an anchor UE based on the distance between the first terminal and the target terminal, the second included angle of the road direction, and the number of anchor UEs that meet the set restriction conditions)
  • Step 1 The first terminal receives the first positioning reference signal and the first SCI sent by the target terminal.
  • the first SCI contains bits used to indicate the direction of the road where the target terminal is located.
  • the first SCI is borne by PSCCH or PSCCH, and the geographic location information is borne by PSCCH.
  • the first terminal determines the following target parameters according to the information sent by the target terminal:
  • determining the RSRP of the reference signal of the target terminal received by the first terminal includes: the first terminal measuring the first positioning reference signal sent by the target terminal, and determining the RSRP of the first terminal and the target terminal.
  • Determining the second included angle includes: the first terminal obtains the direction of the road where the target terminal is located by receiving the first SCI of the target terminal, thereby calculating the second included angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located.
  • Step 2 The first terminal determines whether the target parameter satisfies the set restriction condition.
  • the set restriction conditions include: the number of target terminals (the target terminal is the anchor UE) that meets the following conditions does not exceed the threshold:
  • the RSRP of the reference signal of the target terminal received by the first terminal does not exceed the threshold value of RSRP; the result of taking the remainder of the second included angle to ⁇ /2 does not exceed the threshold value of taking the remainder of the second included angle to ⁇ /2.
  • the RSRP threshold value, the threshold value of the number of anchor UEs, and the threshold value of the second included angle taking the remainder of ⁇ /2 are configured through RRC signaling of the base station.
  • the RSRP threshold value configured by RRC signaling is -100dBm
  • the threshold value of the number of anchor UEs is 5, and the remainder of the second included angle to ⁇ /2 does not exceed 15 degrees.
  • the first terminal determines whether the target parameter satisfies the following three constraints:
  • the RSRP of the reference signal of the target terminal received by the first terminal does not exceed -100dBm; the second angle ⁇ between the movement direction of the first terminal and the movement direction of the target terminal satisfies mod( ⁇ , ⁇ /2) ⁇ 15; satisfies the above two
  • the number of anchor UEs for each condition is less than 5.
  • Step 3 If the above restriction conditions are met, the first terminal determines that it is the anchor UE.
  • Step 4 The first terminal sends the second positioning reference signal and the second location information for the receiving end UE to calculate its own geographic location.
  • FIG. 3B is a schematic diagram of determining the number of anchor UEs within a reference signal received power range according to an embodiment.
  • the first terminal detects a target terminal that satisfies the following conditions: the RSRP of the reference signal of the target terminal received by the target terminal does not exceed -100dBm; the first included angle ⁇ of the moving direction between the target terminal and the first terminal Satisfy mod( ⁇ , ⁇ /2) ⁇ 15.
  • the first terminal detects that the target terminals that meet the above two conditions are UE1, UE2, UE3, and UE4, which are less than the threshold value of the number of anchor UEs, which is 5. Therefore, the first terminal determines that the target parameter meets the set restriction conditions, thereby becoming the anchor
  • the point UE sends the positioning related information.
  • Example 3 (the target terminal is the second terminal, the second terminal sends positioning request information, and requests the first terminal to become the anchor UE)
  • FIG. 4 is a schematic diagram of a second terminal requesting a first terminal as an anchor terminal according to an embodiment.
  • the first terminal sends a second SCI
  • the second SCI includes anchor point declaration information, which is used to indicate that the first terminal can or is willing to become an anchor point UE.
  • the second terminal receives the anchor point declaration information of one or more terminals, and selects one or more terminals as the first terminal from among the multiple found terminals that declare that they are willing to act as anchor point UEs. After the second terminal selects the first terminal, the second terminal selects one or more terminals as the first terminal.
  • the first SCI includes positioning request information, which is used to request the first terminal to serve as an anchor UE to send positioning-related information, for example, the positioning-related information includes a second positioning reference signal and second location information, etc. .
  • the first terminal receives the positioning request information of the second terminal, and determines whether it becomes an anchor UE based on the received positioning request information. As shown in Figure 4, the process is as follows:
  • Step a The first terminal sends anchor declaration information, the anchor declaration information is indicated by bits in the first SCI, and the first SCI is transmitted through PSCCH or PSSCH.
  • the first terminal may also send the time limit that it can or is willing to become the anchor UE. For example, at time t1, the first terminal notifies that it is willing to serve as the anchor UE for a length of time L. Then, the start time of the valid time when the first terminal is willing to act as the anchor UE is t1, and the end time is t1+L-1. During the time period from t1 to t1+L-1, the first terminal is willing to act as the anchor UE and transmit positioning-related information for the non-first terminal.
  • Step b The second terminal selects the anchor UE according to the anchor declaration information of the non-second terminal and the target parameter of the non-second terminal. If the first terminal is selected, the second terminal sends positioning request information to the first terminal.
  • the second terminal can discover UEs that meet the following conditions:
  • the distance between the second terminal and the UE does not exceed the threshold value of the distance; the included angle between the moving direction of the second terminal and the UE is more than 90 mod( ⁇ , 90) and does not exceed the gate where the included angle between the moving direction and the UE is more than 90 Limit; the UE is the anchor UE.
  • the second terminal selects N (N is a positive integer) UEs that meet the above conditions, and the purpose is to calculate the location information of the second terminal by receiving the positioning-related information sent by these UEs. If the number M of UEs satisfying the above conditions is less than N, the second terminal still needs to select N-M additional terminals and send positioning request information to these N-M terminals, so that these N-M terminals are also upgraded to anchor UEs.
  • the second terminal may select N-M target terminals that satisfy the following conditions as anchor UEs:
  • the distance between the second terminal and the UE does not exceed the distance threshold; mod( ⁇ ,90) does not exceed the threshold value of the angle between the moving direction and 90; the second terminal receives the SCI of the UE and finds that the UE declares that it can or Willing to act as an anchor UE.
  • the second terminal selects N-M UEs as anchor UEs, determines the UE IDs of the N-M UEs by receiving the SCIs of the N-M UEs, and then sends positioning request information to the N-M UEs.
  • the N-M UEs include the first terminal.
  • the first SCI contains positioning request information.
  • the second terminal indicates the UE IDs of one or more anchor UEs through the first SCI, and indicates positioning request information such as a time window.
  • Step c The first terminal receives the positioning request information sent by the second terminal, and determines whether the positioning request information is sent to itself. If the UE ID of the first terminal is the same as at least one of the UE IDs contained in the positioning request information sent by the second terminal, the first terminal determines that the positioning request information is sent to itself, thereby becoming an anchor UE.
  • Step d The first terminal acts as the anchor UE to send the positioning related information (including the second positioning reference signal and the second location information), and the time for sending the positioning related information belongs to the time window notified in the positioning request information of the second terminal.
  • Example 4 (The second terminal indicates the set value range of the target parameter, and the target parameter belongs to the set value range, then the first terminal determines itself as the anchor UE)
  • FIG. 5 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to another embodiment. As shown in FIG. 5 , the second terminal notifies the first terminal of the value range of the target parameter, and the first terminal determines whether it becomes an anchor UE according to whether the target parameter meets the value range. include:
  • the second terminal first determines whether it is necessary to notify the value range of the target parameter. If the second terminal finds that the number M of anchor UEs satisfying the restriction condition is greater than or equal to the number threshold N, it does not notify; otherwise, the second terminal notifies the first terminal of the value range of the target parameter.
  • the anchor UEs that meet the restriction conditions include UEs that meet the following conditions:
  • the distance between the second terminal and the UE does not exceed the threshold value of the distance, and the distance threshold value is a parameter configured by the upper layer, such as 300 meters; the angle ⁇ between the movement direction of the second terminal and the movement direction of the UE, Satisfaction: mod( ⁇ , 90) is less than the threshold value of the included angle of the movement direction, and the threshold value of the included angle of the movement direction is a parameter configured by the high-level, such as 15.
  • Step e The second terminal determines that the value range of the target parameter needs to be notified, and then sends the value range of the target parameter to the first terminal.
  • the value range is represented by a threshold value.
  • the value range of the parameter includes: the threshold value of the distance is 300 meters; the threshold value of the included angle of the movement direction (ie, the first included angle) is 15 degrees.
  • Step f The first terminal compares the target parameter and the value range of the target parameter notified by the second terminal.
  • the manner in which the first terminal determines the target parameter is as follows:
  • the first terminal first sends a positioning reference signal to the target terminal, and then receives the first positioning reference signal sent by the target terminal.
  • the first terminal calculates the time difference between sending and receiving the positioning reference signal as ⁇ t 2 .
  • the target terminal first receives the positioning reference signal sent by the first terminal, and then sends the first positioning reference signal to the first terminal.
  • the target terminal calculates the time difference between sending and receiving the positioning reference signal as ⁇ t 1 .
  • the target terminal notifies the first terminal of ⁇ t 1 .
  • the first terminal calculates the air propagation delay of the positioning reference signal as Therefore, the first terminal calculates the distance between the first terminal and the target terminal as C is the speed of light.
  • the first terminal obtains the movement direction of the target terminal indicated by the target terminal through the first SCI by receiving the first SCI of the target terminal, and the first terminal calculates the first included angle ⁇ based on the movement direction of the target terminal and its own movement direction.
  • the first terminal compares the target parameter with the value range of the target parameter, and if the target parameter satisfies the following conditions, the first terminal determines itself as the anchor UE:
  • Step g As the anchor UE, the first terminal sends the positioning-related information, and the time for sending the positioning-related information is limited within the time window notified in the positioning request information of the second terminal.
  • Example 5 The first terminal judges whether it is a candidate anchor UE according to the first restriction condition, and then judges whether it is an anchor UE according to the second restriction condition)
  • FIG. 6 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to another embodiment.
  • the first terminal judges whether the first terminal is a candidate anchor point UE by comparing whether the target parameter satisfies the first restriction condition; if it is a candidate anchor point UE, it selects time-frequency resources for the second positioning reference signal, And by detecting whether the third positioning reference signal sent by the non-first terminal satisfies the second restriction condition, it is determined whether the first terminal is an anchor UE.
  • judging whether the first terminal is a candidate anchor UE includes: if the number of anchor UEs whose target parameters satisfy the set restriction condition is less than the number threshold, determining that the first terminal is a candidate anchor UE. E.g:
  • the second terminal first determines whether it is necessary to notify the value range of the target parameter. If the second terminal finds that the number M of anchor UEs satisfying the restriction condition is greater than or equal to the number threshold N, it does not notify; otherwise, the second terminal notifies the first terminal of the value range of the target parameter.
  • the anchor UEs that meet the restriction conditions include UEs that meet the following conditions:
  • the distance between the second terminal and the UE does not exceed the threshold value of the distance, and the distance threshold value is a parameter configured by the upper layer, such as 300 meters; the angle ⁇ between the movement direction of the second terminal and the movement direction of the UE, Satisfaction: mod( ⁇ , 90) is less than the threshold value of the included angle of the movement direction, and the threshold value of the included angle of the movement direction is a parameter configured by the high-level, such as 15.
  • the second terminal determines that the value range of the target parameter needs to be notified, and then sends the value range of the target parameter to the first terminal.
  • the value range is represented by a threshold value.
  • the value range of the target parameter notified by the second terminal is The value range includes: the threshold value of the distance is 300 meters; the threshold value of the included angle of the movement direction (ie, the first included angle) is 15 degrees.
  • Step 1 The first terminal compares the target parameter with the value range of the target parameter, and if the target parameter satisfies the following conditions, the first terminal determines itself as a candidate anchor UE: Less than or equal to 300 meters; mod( ⁇ ,90) less than or equal to 15 degrees.
  • Step 2 If the first terminal determines that it is a candidate anchor UE, the first terminal selects a time-frequency resource, and the selected time-frequency resource location is used to send positioning-related information (for example, the second positioning reference signal and the second position information). ).
  • positioning-related information for example, the second positioning reference signal and the second position information.
  • Step 3 After selecting the time-frequency resource, the first terminal determines whether to finally use the time-frequency resource to send the positioning related information. If the first terminal determines that the time-frequency resource is not used to send the positioning-related information, it means that the first terminal cancels the sending of the positioning-related information. The first terminal determines whether the first terminal finally sends the positioning related information by detecting the third positioning reference signal sent by the non-first terminal.
  • Step 4 If the first terminal detects that the number of anchor UEs satisfying the following conditions is less than the threshold N by detecting the third positioning reference signal, the first terminal finally sends the positioning related information:
  • the distance between the first terminal and the anchor UE is less than or equal to 300 meters; the angle between the movement direction of the first terminal and the movement direction of the anchor UE is less than or equal to the threshold value of the first angle (parameters configured by high layers, such as 15 degrees).
  • the first terminal cancels sending the positioning related information.
  • Step 5 The first terminal acts as the anchor UE, and uses the selected time-frequency resource to send the positioning related information.
  • FIG. 7A is a schematic diagram of a first terminal selecting time-frequency resources of a positioning reference signal according to an embodiment.
  • the first terminal is UE1 (not shown in the figure).
  • UE1 obtains UE3, UE4, UE5, and UE6 by receiving positioning reference signals and SCI of other terminals (SCI corresponds to time-frequency resource, which is not shown in the figure).
  • SCI corresponds to time-frequency resource, which is not shown in the figure.
  • the time-frequency resources that can be selected by UE1 include resource 1, resource 2 and resource 3.
  • UE1 randomly selects one resource from the three candidate resource positions, for example, selects resource 3.
  • the selected resource 3, in addition to transmitting the second positioning reference signal, can also be used to transmit the second location information.
  • FIG. 7B is a schematic diagram of a first terminal selecting time-frequency resources of a positioning reference signal according to another embodiment.
  • the first terminal is UE2 (not shown in the figure)
  • the resource 1 selected by the UE2 can also be used to transmit the second location information.
  • the first terminals (UE1 and UE2) serving as candidate anchor point UEs determine whether to cancel the transmission of the second positioning reference signal. If the first terminal detects that the number of anchor UEs that meet the set restriction conditions is greater than or equal to N within a period of time before sending the second positioning reference signal, the candidate anchor UE cannot be used as an anchor UE, and the second positioning reference signal is cancelled. Transmission of positioning reference signals.
  • the first terminal After determining whether to send the second positioning reference signal, the first terminal sends the second positioning reference signal if it is determined that the second positioning reference signal is to be sent.
  • the second positioning reference signal if it is determined that the second positioning reference signal is to be sent.
  • UE2 sends the second positioning reference signal based on the judgment result.
  • FIG. 7B UE1 does not send the second positioning reference signal based on the judgment result.
  • the second terminal receives the second positioning reference signal and the second location information sent from UE3, UE4, UE5, and UE2, and based on the information, the second terminal calculates its own location information.
  • Example 6 The first terminal judges whether it is a candidate anchor UE according to the first restriction condition, and then judges whether it is an anchor UE according to the second restriction condition)
  • FIG. 8 is a schematic diagram of a first terminal autonomously determining an anchor point terminal according to still another embodiment.
  • the first terminal judges whether the first terminal is a candidate anchor UE by comparing whether the target parameter satisfies the first restriction condition; if it is a candidate anchor UE, it is when the target channel and the second positioning reference signal are selected. frequency resources, and determine whether the first terminal is an anchor UE by detecting whether the third positioning reference signal sent by the non-first terminal satisfies the second restriction condition.
  • judging whether the first terminal is a candidate anchor UE includes: if the number of anchor UEs whose target parameters satisfy the set restriction condition is less than the number threshold, determining that the first terminal is a candidate anchor UE. E.g:
  • the second terminal first determines whether it is necessary to notify the value range of the target parameter. If the second terminal finds that the number M of anchor UEs satisfying the restriction condition is greater than or equal to the number threshold N, it does not notify; otherwise, the second terminal notifies the first terminal of the value range of the target parameter.
  • the anchor UEs that meet the restriction conditions include UEs that meet the following conditions:
  • the distance between the second terminal and the UE does not exceed the threshold value of the distance, and the distance threshold value is a parameter configured by the upper layer, such as 300 meters; the angle ⁇ between the movement direction of the second terminal and the movement direction of the UE, Satisfaction: mod( ⁇ , 90) is less than the threshold value of the included angle of the movement direction, and the threshold value of the included angle of the movement direction is a parameter configured by the high-level, such as 15.
  • the second terminal determines that the value range of the target parameter needs to be notified, and then sends the value range of the target parameter to the first terminal.
  • the value range is represented by a threshold value.
  • the value range includes: the threshold value of the distance is 300 meters; the threshold value of the included angle of the movement direction (ie, the first included angle) is 15 degrees.
  • the first terminal compares the target parameter with the value range of the target parameter, and if the target parameter satisfies the following conditions, the first terminal determines itself as a candidate anchor UE: Less than or equal to 300 meters; mod( ⁇ ,90) less than or equal to 15 degrees.
  • the first terminal determines that it is a candidate anchor UE, the first terminal selects time-frequency resources for the target channel, and selects time-frequency resources for transmitting positioning-related information (including the second positioning reference signal and the second position information), wherein, The target channel is used to indicate the time-frequency resource of the second positioning reference signal.
  • the first terminal which is the candidate anchor UE, detects the target channel not sent by the first terminal before the transmission of the target channel, and determines whether to cancel the transmission of the target channel of the first terminal based on the detection result.
  • the first terminal determines whether to finally use the time-frequency resource to send the target channel and positioning related information. If the first terminal determines that the time-frequency resource is not used to send the target channel, it means that the first terminal cancels the sending of the target channel. Before sending the target channel through the selected time-frequency resource, the first terminal attempts to receive the target channel that is not sent by the first terminal and is used to indicate the time-frequency resource location of the third positioning reference signal. If the number of anchor UEs that satisfy the condition is found If it is greater than or equal to the threshold value, the first terminal cancels the transmission of the target channel.
  • the first terminal detects that the number of anchor UEs that meet the following conditions is less than the threshold value N by detecting the target channel, the first terminal finally sends the target channel and sends the second positioning on the time-frequency resource indicated by the target channel Reference signal:
  • the distance between the first terminal and the anchor UE is less than or equal to 300 meters; the angle between the movement direction of the first terminal and the movement direction of the anchor UE is less than or equal to the threshold value of the first angle (parameters configured by high layers, such as 15 degrees).
  • the first terminal cancels sending the target channel.
  • the first terminal acts as an anchor UE and transmits the target channel by using the selected time-frequency resource.
  • FIG. 9A is a schematic diagram of a first terminal selecting time-frequency resources of a target channel and a positioning reference signal according to an embodiment.
  • the first terminal is UE1 (not shown in the figure), and UE1 obtains UE3, UE4, UE5, UE6 by receiving positioning reference signals and SCI of other terminals (SCI corresponds to time-frequency resource, which is not shown in the figure).
  • SCI corresponds to time-frequency resource, which is not shown in the figure.
  • UE1 Since M1 ⁇ N, UE1 determines that it is a candidate anchor UE, and UE1 selects time-frequency resources for the target channel and the second positioning reference signal respectively, and the target channel is used to indicate the time-frequency resource location of the second positioning reference signal.
  • the time-frequency resource selected by UE1 for the target channel is resource 3
  • the time-frequency resource selected for the second positioning reference signal is resource 1.
  • FIG. 9B is a schematic diagram of a first terminal selecting time-frequency resources of a target channel and a positioning reference signal according to another embodiment.
  • the first terminal is UE2 (not shown in the figure)
  • the time-frequency resource selected by UE2 for the target channel is resource 4
  • the time-frequency resource selected for the second positioning reference signal is resource 1.
  • the first terminals (UE1 and UE2) serving as candidate anchor UEs determine whether to cancel the transmission of the target channel. If the first terminal detects that the number of anchor UEs that meet the set restriction conditions is greater than or equal to N within a period of time before sending the second positioning reference signal, the candidate anchor UE cannot be used as the anchor UE, and the target channel is cancelled. of sending.
  • the first terminal After the first terminal determines whether to send the target channel, if it is determined that the target channel is to be sent, the first terminal sends the target channel.
  • UE1 transmits the target channel based on the judgment result.
  • UE2 does not transmit the target channel based on the judgment result.
  • the second terminal receives the positioning-related information sent from UE3, UE4, UE5, and UE1, and based on the information, the second terminal calculates its own location information.
  • a method for sending information is also provided, which can be applied to the second terminal.
  • the second terminal sends information to the first terminal for the first terminal to independently determine whether it can act as the anchor UE, and receives the positioning-related information sent by the first terminal as the anchor UE, thereby reducing the distance between the first terminal and other terminals transmitting the positioning-related information interference.
  • the second terminal in this embodiment is equivalent to a target terminal of the first terminal in the foregoing embodiment.
  • FIG. 10 is a flowchart of a method for sending information provided by an embodiment. As shown in FIG. 10 , the method provided by this embodiment includes step 210 and step 220 .
  • step 210 information is sent to the first terminal, and the information sent to the first terminal is used for at least one of determining target parameters and setting restriction conditions.
  • step 220 the information sent by the first terminal as the anchor terminal in the case that the target parameter meets the set restriction condition is received.
  • the information sent by the second terminal to the first terminal can be used by the first terminal to determine target parameters and/or set restrictions, and the second terminal can request the first terminal to serve as an anchor UE to send positioning-related information (including the second positioning reference signal and the second position information).
  • the information sent to the first terminal includes at least one of the following: first positioning reference signal; first sidelink control information SCI; first positioning reference signal and first location information; demodulation reference signal; target channel.
  • the target parameter includes at least one of the following:
  • the second terminal is the road direction indicated by the first terminal; the second terminal is the road sign indicated by the first terminal; the second terminal is the movement direction indicated by the first terminal; the first terminal and the distance between target terminals; reference signal received power RSRP of the reference signal of the target terminal received by the first terminal; an included angle; the first included angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located is equal to 90 or the remainder of ⁇ /2; the movement direction of the first terminal is the same as the The second included angle between the movement directions of the target terminal; the second included angle between the movement direction of the first terminal and the movement direction of the target terminal is 90 or the remainder of ⁇ /2; User ID.
  • the information sent to the first terminal includes a first SCI
  • the first SCI includes a user identification number of the anchor terminal.
  • the user identification number of the anchor terminal is the source ID of the anchor terminal.
  • the information sent to the first terminal includes a first SCI
  • the first SCI includes the set restriction condition
  • the set restriction condition includes: the value of the target parameter does not exceed the set restriction condition.
  • a set value range includes at least one of the following:
  • the vehicle where the first terminal is located; the road sign where the first terminal is located; the movement direction of the first terminal; the value range of the distance between the first terminal and the target terminal; the The threshold value of the distance between the first terminal and the target terminal; the value range of the RSRP of the reference signal of the target terminal received by the first terminal; the range of the target terminal received by the first terminal.
  • the threshold value of RSRP of the reference signal the value range of the first included angle; the threshold value of the first included angle; the value range of the second included angle; the threshold value of the second included angle; the first included angle pair 90 or the value range of the remainder of ⁇ /2; the threshold value of the first included angle to 90 or the remainder of ⁇ /2; the value range of the second included angle to 90 or the remainder of ⁇ /2;
  • the included angle is the threshold value of 90 or the remainder of ⁇ /2.
  • the information sent to the first terminal includes a first SCI; the first SCI includes positioning request information, and the positioning request information is used to request the first terminal to send one of the following information: a second positioning a reference signal; a second positioning reference signal and second position information.
  • it also includes:
  • Step 230 Receive a second SCI, where the second SCI is used to indicate that the first terminal supports serving as an anchor terminal.
  • the second SCI is further used to indicate the time limit for the first terminal to serve as an anchor terminal.
  • FIG. 11 is a schematic structural diagram of an apparatus for determining an anchor point terminal according to an embodiment.
  • the anchor point terminal determination apparatus includes: a receiving module 310 , a parameter determination module 320 and an anchor point determination module 330 .
  • the receiving module 310 is configured to receive the information sent by the target terminal; the parameter determining module 320 is configured to determine the target parameter according to the information sent by the target terminal; the anchor point determining module 330 is configured to be set when the target parameter satisfies the set restriction conditions Next, determine that the first terminal is the anchor terminal.
  • the apparatus for determining an anchor point terminal in this embodiment independently determines whether it can serve as an anchor point UE to transmit positioning-related information for other terminals, and can be used as an anchor point UE when the set restriction conditions are met, thereby reducing the transmission of positioning-related information from other terminals. interference between the terminals.
  • the information sent by the target terminal includes at least one of the following:
  • the first positioning reference signal The first SCI; the first positioning reference signal and the first position information; the demodulation reference signal; the target channel.
  • the target parameter includes at least one of the following:
  • the target terminal is the road direction indicated by the first terminal; the target terminal is the road sign indicated by the first terminal; the target terminal is the movement direction indicated by the first terminal; the relationship between the first terminal and the target terminal is the distance between the target terminals; the RSRP of the reference signal of the target terminal received by the first terminal; the first angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located; the first The first included angle between the direction of the road where a terminal is located and the direction of the road where the target terminal is located is a pair of 90 or a remainder of ⁇ /2; the distance between the movement direction of the first terminal and the movement direction of the target terminal The second included angle between the moving direction of the first terminal and the moving direction of the target terminal is 90 or the remainder of ⁇ /2; the user identification number of the anchor terminal.
  • setting the restriction condition includes: the value of the target parameter does not exceed a set value range; wherein the set value range includes at least one of the following:
  • the direction of the road where the first terminal is located; the road sign where the first terminal is located; the movement direction of the first terminal; the value range of the distance between the first terminal and the target terminal; the first terminal and the target terminal The threshold value of the distance between them; the value range of the RSRP of the reference signal of the target terminal received by the first terminal; the threshold value of the RSRP of the reference signal of the target terminal received by the first terminal; the value of the first included angle range; the threshold value of the first included angle; the value range of the second included angle; the threshold value of the second included angle; the value range of the first included angle to 90 or the remainder of ⁇ /2; the first included angle
  • the target parameter includes the user identification number of the anchor terminal;
  • the set restriction conditions include:
  • the source ID of the first terminal belongs to the user identification number of the anchor terminal.
  • the information sent by the target terminal includes the first SCI; the parameter determination module 320 is set to:
  • the user identification number of the anchor point terminal is determined according to the first SCI.
  • the target parameter includes a user identification number of the anchor terminal, and the user identification number of the anchor terminal is the source ID of the anchor terminal.
  • the target terminal is at least one; and the set restriction conditions include:
  • the number of target terminals whose corresponding target parameters satisfy the set restriction conditions does not exceed the number threshold; or,
  • the number of target terminals whose corresponding target parameters satisfy the set restriction condition is less than the number threshold.
  • the target terminal includes at least one anchor terminal; the information sent by each target terminal includes a first positioning reference signal and first location information.
  • the target terminal includes at least one second terminal; the information sent by each target terminal includes a first SCI, and the first SCI includes positioning request information; the positioning request information is used to request the first terminal One of the following information is sent: a second positioning reference signal; a second positioning reference signal and second location information.
  • the parameter determination module 320 is configured to:
  • the movement direction of the target terminal is obtained; the first included angle between the movement direction of the first terminal and the movement direction of the target terminal is calculated.
  • the parameter determination module 320 is configured to:
  • the distance between the first terminal and the target terminal is measured.
  • the parameter determination module 320 is configured to:
  • the RSRP of the reference signal of the target terminal received by the first terminal is measured according to the first positioning reference signal or the demodulation reference signal sent by the target terminal.
  • it also includes:
  • the information receiving module is configured to receive the indication information of the set value range of the target parameter through RRC signaling.
  • the set restriction conditions include a first restriction condition and a second restriction condition;
  • the anchor point determination module 320 includes:
  • a candidate terminal determination unit configured to determine the first terminal as a candidate anchor point terminal when the target parameter satisfies the first restriction condition; the anchor point terminal determination unit, configured to meet the second restriction condition in the case of , and determine that the first terminal is an anchor terminal.
  • the first restriction condition includes:
  • the number of target terminals whose corresponding target parameters satisfy the set restriction conditions does not exceed the number threshold; or, the number of target terminals whose corresponding target parameters satisfy the set restriction conditions is less than the number threshold.
  • it also includes:
  • the first resource determination module is configured to determine a time-frequency resource for sending the second positioning reference signal when the terminal is determined to be a candidate anchor point.
  • the anchor terminal determination unit is set to:
  • Detecting a third positioning reference signal not sent by the first terminal in the case that the detection result of the third positioning reference signal satisfies the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal a positioning reference signal, in the case that the detection result of the third positioning reference signal does not meet the second restriction condition, determine that the first terminal is not an anchor terminal according to the detection result of the third positioning reference signal, and cancel the transmission the second positioning reference signal; or, in the case that the detection result of the third positioning reference signal does not meet the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, in the case that the detection result of the third positioning reference signal satisfies the second restriction condition, determine that the first terminal is not an anchor terminal according to the detection result of the third positioning reference signal, and cancel sending the first terminal.
  • Two positioning reference signals in the case that the detection result of the third positioning reference signal satisfies the second restriction condition, determine that the first terminal is not an anchor terminal according to the detection result of the third
  • it also includes:
  • the second resource determination module is configured to determine the time-frequency resource of the target channel and the time-frequency resource of the second positioning reference signal when the terminal is determined to be a candidate anchor point, wherein the target channel is used to indicate the second Time-frequency resources for positioning reference signals.
  • the anchor terminal determination unit is set to:
  • Detecting a target channel not sent by the first terminal in the case where the detection result of the target channel satisfies the second restriction condition, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, In the case that the target channel does not meet the second restriction condition, determine that the first terminal is not the anchor terminal, and cancel the transmission of the target channel; or, in the case where the detection result of the target channel does not meet the second restriction condition next, determine that the first terminal is an anchor terminal, and send the second positioning reference signal, and if the target channel satisfies the second restriction condition, determine that the first terminal is not an anchor terminal, and cancel the Send the target channel.
  • it also includes:
  • the SCI sending module is configured to send a second SCI, where the second SCI is used to indicate that the first terminal supports serving as an anchor terminal.
  • the second SCI is further used to indicate the time limit for the first terminal to serve as an anchor terminal.
  • the apparatus for determining an anchor point terminal proposed in this embodiment belongs to the same concept as the method for determining an anchor point terminal proposed in the above-mentioned embodiment.
  • FIG. 12 is a schematic structural diagram of an information sending apparatus according to an embodiment. As shown in FIG. 12 , the information sending apparatus includes: an information sending module 410 and an information receiving module 420 .
  • the information sending module 410 is configured to send information to the first terminal, and the information sent to the first terminal is used to determine at least one of target parameters and setting restrictions; the information receiving module 420 is configured to receive the first terminal When the target parameter satisfies the set restriction conditions, it is used as the information sent by the anchor terminal.
  • the information sending apparatus of this embodiment sends information to the first terminal for the first terminal to independently determine whether it can serve as the anchor UE, and receives the positioning-related information sent by the first terminal as the anchor UE, thereby reducing the need for positioning with other transmissions. Interference between terminals for related information.
  • the information sent to the first terminal includes at least one of the following: first positioning reference signal; first sidelink control information SCI; first positioning reference signal and first location information; demodulation reference signal; target channel.
  • the target parameter includes at least one of the following:
  • the second terminal is the road direction indicated by the first terminal; the second terminal is the road sign indicated by the first terminal; the second terminal is the movement direction indicated by the first terminal; the first terminal and the distance between target terminals; reference signal received power RSRP of the reference signal of the target terminal received by the first terminal; an included angle; the first included angle between the direction of the road where the first terminal is located and the direction of the road where the target terminal is located is 90 or the remainder of ⁇ /2; the movement direction of the first terminal and the The second included angle between the movement directions of the target terminal; the second included angle between the movement direction of the first terminal and the movement direction of the target terminal is 90 or the remainder of ⁇ /2; User ID.
  • the user identification number of the anchor terminal is the source ID of the anchor terminal.
  • the information sent to the first terminal includes a first SCI
  • the first SCI includes the set restriction condition
  • the set restriction condition includes: the value of the target parameter does not exceed the set restriction condition.
  • a set value range includes at least one of the following:
  • the vehicle where the first terminal is located; the road sign where the first terminal is located; the movement direction of the first terminal; the value range of the distance between the first terminal and the target terminal; the The threshold value of the distance between the first terminal and the target terminal; the value range of the RSRP of the reference signal of the target terminal received by the first terminal; the range of the target terminal received by the first terminal.
  • the threshold value of RSRP of the reference signal the value range of the first included angle; the threshold value of the first included angle; the value range of the second included angle; the threshold value of the second included angle; the first included angle pair 90 or the value range of the remainder of ⁇ /2; the threshold value of the first included angle to 90 or the remainder of ⁇ /2; the value range of the second included angle to 90 or the remainder of ⁇ /2;
  • the included angle is the threshold value of 90 or the remainder of ⁇ /2.
  • the information sent to the first terminal includes a first SCI; the first SCI includes positioning request information, and the positioning request information is used to request the first terminal to send one of the following information: a second positioning a reference signal; a second positioning reference signal and second position information.
  • it also includes:
  • the SCI receiving module is configured to receive a second SCI, where the second SCI is used to indicate that the first terminal supports serving as an anchor terminal.
  • the second SCI is further used to indicate the time limit for the first terminal to serve as an anchor terminal.
  • the information sending apparatus proposed in this embodiment belongs to the same concept as the information sending method proposed in the above-mentioned embodiment.
  • FIG. 13 is a schematic diagram of a hardware structure of a communication node provided by an embodiment.
  • the communication node provided by the present application includes a memory 52 , a processor 51 and A computer program stored in the memory and executable on the processor, when the processor 51 executes the program, the above-mentioned anchor terminal determination method is implemented.
  • the communication node may also include a memory 52; the processor 51 in the communication node may be one or more, one processor 51 is taken as an example in FIG. 13; the memory 52 is used to store one or more programs; the one or more Each program is executed by the one or more processors 51, so that the one or more processors 51 implement the anchor terminal determination method or the information sending method as described in the embodiments of the present application.
  • the communication node further includes: a communication device 53 , an input device 54 and an output device 55 .
  • the processor 51 , the memory 52 , the communication device 53 , the input device 54 and the output device 55 in the communication node may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 13 .
  • the input device 54 may be used to receive input numerical or character information, and to generate key signal input related to user settings and function control of the communication node.
  • the output device 55 may include a display device such as a display screen.
  • the communication device 53 may include a receiver and a transmitter.
  • the communication device 53 is configured to transmit and receive information according to the control of the processor 51 .
  • the memory 52 can be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the anchor terminal determination method described in the embodiments of the present application (for example, anchor terminal determination The receiving module 310, the parameter determination module 320 and the anchor point determination module 330 in the device).
  • the memory 52 may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to use of the communication node, and the like.
  • memory 52 may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device.
  • memory 52 may include memory located remotely from processor 51, which may be connected to the communication node through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • An embodiment of the present application further provides a storage medium, where the storage medium stores a computer program, and when the computer program is executed by a processor, implements the anchor point terminal determination method or the information sending method described in any one of the embodiments of the present application.
  • the method for determining an anchor point includes: determining a target parameter according to information sent by a target terminal; and when the target parameter satisfies a set restriction condition, determining a first terminal as an anchor terminal.
  • the information sending method includes: sending information to a first terminal, where the information sent to the first terminal is used to determine at least one of a target parameter and a setting restriction condition; receiving the first terminal when the target parameter meets the setting restriction In the case of conditions, it is the information sent by the anchor terminal.
  • the computer storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above.
  • Examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (Read Only Memory) Memory, ROM), erasable programmable read only memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • Computer program code for carrying out the operations of the present application may be written in one or more programming languages, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional A procedural programming language, such as the "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or Wide Area Network (WAN), or may be connected to an external computer (eg use an internet service provider to connect via the internet).
  • LAN Local Area Network
  • WAN Wide Area Network
  • user terminal encompasses any suitable type of wireless user equipment, such as a mobile telephone, portable data processing device, portable web browser or vehicle mounted mobile station.
  • the various embodiments of the present application may be implemented in hardware or special purpose circuits, software, logic, or any combination thereof.
  • some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor or other computing device, although the application is not limited thereto.
  • Embodiments of the present application may be implemented by the execution of computer program instructions by a data processor of a mobile device, eg in a processor entity, or by hardware, or by a combination of software and hardware.
  • Computer program instructions may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or written in any combination of one or more programming languages source or object code.
  • ISA Instruction Set Architecture
  • the block diagrams of any logic flow in the figures of this application may represent program steps, or may represent interconnected logic circuits, modules and functions, or may represent a combination of program steps and logic circuits, modules and functions.
  • Computer programs can be stored on memory.
  • the memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, Read-Only Memory (ROM), Random Access Memory (RAM), optical Memory devices and systems (Digital Video Disc (DVD) or Compact Disk (CD), etc.
  • Computer readable media may include non-transitory storage media.
  • Data processors may be any suitable for the local technical environment Type, such as but not limited to general-purpose computer, special-purpose computer, microprocessor, digital signal processor (Digital Signal Processing, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), programmable logic device (Field-Programmable Gate Array , FPGA) and processors based on multi-core processor architectures.
  • DSP Digital Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • processors based on multi-core processor architectures.

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Abstract

本文公开一种锚点终端确定方法、信息发送方法、通信节点及存储介质。该锚点终端确定方法包括：接收目标终端发送的信息，根据目标终端发送的信息确定目标参数；在所述目标参数满足设定限制条件的情况下，确定第一终端为锚点终端。

Description

锚点终端确定方法、信息发送方法、通信节点及存储介质 技术领域
本申请涉及无线通信网络领域，例如涉及一种锚点终端确定方法、信息发送方法、通信节点及存储介质。
背景技术
在边链路(Sidelink)通信系统中，用户设备(User Equipment，UE)之间的业务可以不经过网络侧，即不经过UE与基站之间的蜂窝链路的转发，而是直接由数据源UE通过边链路传输给目标UE。边链路通信不但节省了无线频谱资源，而且降低了核心网的数据传输压力，能够减少系统资源占用，增加频谱效率，降低通信时延。在边链路通信过程中，如何确定可用于传输定位相关信息的锚点UE，尚无解决方案，UE不能自主判断自身是否可以作为锚点UE，影响到定位相关信息的传输，UE不能准确确定自身的位置，影响边链路通信的可靠性。
发明内容
本申请提供一种锚点终端确定方法、信息发送方法、通信节点及存储介质，以提高边链路通信的可靠性。
本申请实施例提供一种锚点终端确定方法，包括：
根据目标终端发送的信息确定目标参数；在所述目标参数满足设定限制条件的情况下，确定第一终端为锚点终端。
本申请实施例还提供一种信息发送方法，包括：
向第一终端发送信息，向第一终端发送的信息用于确定目标参数和设定限制条件中的至少之一；接收在目标参数满足设定限制条件的情况下，所述第一终端作为锚点终端发送的信息。
本申请实施例还提供了一种通信节点，包括：存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的锚点终端确定方法或信息发送方法。
本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该程序被处理器执行时实现上述的锚点终端确定方法或信息发送方法。
附图说明
图1为一实施例提供的一种锚点终端确定方法的流程图；
图2为一实施例提供的一种第一终端自主确定锚点终端的示意图；
图3A为一实施例提供的一种确定距离范围内锚点UE数量的示意图；
图3B为一实施例提供的一种确定参考信号接收功率范围内锚点UE数量的示意图；
图4为一实施例提供的一种第二终端请求第一终端作为锚点终端的示意图；
图5为另一实施例提供的一种第一终端自主确定锚点终端的示意图；
图6为又一实施例提供的一种第一终端自主确定锚点终端的示意图；
图7A为一实施例提供的一种第一终端选择定位参考信号的时频资源的示意图；
图7B为另一实施例提供的一种第一终端选择定位参考信号的时频资源的示意图；
图8为再一实施例提供的一种第一终端自主确定锚点终端的示意图；
图9A为一实施例提供的一种第一终端选择目标信道和定位参考信号的时频资源的示意图；
图9B为另一实施例提供的一种第一终端选择目标信道和定位参考信号的时频资源的示意图；
图10为一实施例提供的一种信息发送方法的流程图；
图11为一实施例提供的一种锚点终端确定装置的结构示意图；
图12为一实施例提供的一种信息发送装置的结构示意图；
图13为一实施例提供的一种通信节点的硬件结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。此处所描述的具体实施例仅仅用于解释本申请。为了便于描述，附图中仅示出了与本申请相关的部分。
边链路通信中有两种资源分配模式：由基站调度以及终端自主选择。对于终端自主选择的模式，终端可以监听资源池范围内资源的使用情况，根据监听结果在资源池内优先选择未被其他终端占用的资源，或者与其他终端的传输干扰较小的资源，用于信令和数据的传输。锚点UE是指可以向其他UE发送定位 相关信息(例如定位参考信号和位置信息)的UE，边链路通信系统中通常有多个锚点UE。如何确定可用于传输定位相关信息的锚点UE，或者UE自主判断是否能够作为锚点UE传输定位相关信息，影响了边链路通信的可靠性。
在本申请实施例中，提供一种锚点终端确定方法，可应用于第一终端。第一终端自主判断是否能够作为锚点UE为其它终端发送定位相关信息，在满足设定限制条件的情况下可作为锚点UE，从而降低与其他传输定位相关信息的终端之间的干扰。
图1为一实施例提供的一种锚点终端确定方法的流程图，如图1所示，本实施例提供的方法包括步骤110-130。
在步骤110中，接收目标终端发送的信息。
在步骤120中，根据目标终端发送的信息确定目标参数。
在步骤130中，在所述目标参数满足设定限制条件的情况下，确定第一终端为锚点终端。
本实施例中，目标终端是指可以向第一终端发送定位相关信息的UE，发送的信息为第一终端判断自身是否为锚点UE提供依据。例如，目标终端向第一终端发送边链路控制信息(Side Link Control Information，SCI)，第一终端据此可以确定其与目标终端之间的距离，如果距离满足设定限制条件，则第一终端确定自身为锚点UE。第一终端在确定自身为锚点UE后，可以向周围的其他终端(包括目标终端)发送定位相关信息，例如定位参考信号和位置信息，从而实现边链路通信。
本实施例中目标终端可以是锚点UE，可也以非锚点UE。目标终端可以为多个，第一终端根据接收到的每个目标终端发送的信息，综合确定自身是否为锚点UE。
本实施例中，第一终端根据目标终端发送的信息确定自身是否为锚点UE，主要有两种方式：1)第一终端根据目标终端发送的信息确定目标参数，例如第一终端和目标终端的距离、第一终端接收的所述目标终端的参考信号的参考信号接收功率(Reference Signal Received Power，RSRP)、第一终端和目标终端的运动方向的夹角等，然后第一终端将目标参数与设定限制条件对比，目标参数满足设定限制条件则确定自身为锚点UE；2)由目标终端确定哪些UE可以作为锚点UE，通过向第一终端发送信息告知第一终端，第一终端根据目标终端发送的信息判断自身是否为其中的一个，如果是则确定自身为锚点UE。
在一实施例中，目标终端发送的信息包括以下至少之一：第一定位参考信号(即目标终端向第一终端发送的定位参考信号)；第一SCI(即目标终端向第 一终端发送的SCI)；第一定位参考信号和第一位置信息(即目标终端向第一终端发送的位置信息)；解调参考信号；目标信道。
在一实施例中，目标参数包括以下至少之一：目标终端为第一终端指示的道路方向；目标终端为第一终端指示的道路标识；目标终端为第一终端指示的运动方向；第一终端与目标终端之间的距离；第一终端接收的目标终端的参考信号的RSRP；第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角；第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角对90或者对π/2取余；第一终端的运动方向与目标终端的运动方向之间的第二夹角；第一终端的运动方向与目标终端的运动方向之间的第二夹角对90或者对π/2取余；锚点终端的用户识别号。
例如，第一终端通过接收目标终端的发送的第一SCI，可以确定目标终端为第一终端指示的道路标识、道路方向和/或运动方向，如果目标终端为第一终端指示的道路标识、道路方向和/或运动方向，与目标终端所在的道路标识、道路方向和/或运动方向一致，则第一终端可以确定自身为锚点UE。
例如，第一终端通过接收目标终端的发送的第一定位参考信号(或者第一定位参考信号和第一位置信息)，可以确定第一终端和目标终端之间的距离。
例如，第一终端通过对目标终端发送的参考信号(如第一定位参考信号或解调参考信号)进行测量，可以确定接收的目标终端的参考信号的RSRP。
例如，第一终端通过接收目标终端发送的第一SCI，可以确定第一终端与目标终端之间的第一夹角和/或第二夹角。
例如，目标终端已经确定哪些UE可作为锚点UE，并将这些UE的用户识别号通过第一SCI发送给第一终端，第一终端接收第一SCI，确定自身的用户识别号是否属于第一SCI中指示的一个，从而判断自身是否为锚点UE。这种情况下，目标终端发送的第一SCI可用于请求接收端UE作为锚点UE向其发送定位相关信息。将这类目标终端记为第二终端，第一终端确定自身为锚点UE后，可向第二终端发送第二定位参考信号和第二位置信息等。
在一实施例中，设定限制条件包括：目标参数的取值不超过设定取值范围；其中，设定取值范围包括以下至少之一：所述第一终端所在的道路方向；所述第一终端所在的道路标识；所述第一终端的运动方向；第一终端与目标终端之间的距离的取值范围；第一终端与目标终端之间的距离的门限值；第一终端接收的目标终端的参考信号的RSRP的取值范围；第一终端接收的目标终端的参考信号的RSRP的门限值；第一夹角的取值范围；第一夹角的门限值；第二夹角的取值范围；第二夹角的门限值；第一夹角对90或者对π/2取余的取值范围； 第一夹角对90或者对π/2取余的门限值；第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
本实施例主要针对上述的方式1)，第一终端根据目标终端发送的信息确定目标参数，目标参数包括第一终端所在的道路方向、第一终端所在的道路标识、第一终端的运动方向、第一终端与目标终端之间的距离、第一终端接收的目标终端的参考信号的RSRP、第一夹角、第一夹角取余、第二夹角和/或第二夹角取余；相应的，设定限制条件包括这些目标参数的取值范围和/或门限值，其中，门限值可以为上限值、下限值和/或等级划分值。在此基础上，第一终端将目标参数与设定限制条件对比，目标参数满足设定限制条件则确定自身为锚点UE。
在一实施例中，目标参数包括锚点终端的用户识别号；设定限制条件包括：第一终端的源标识(Identity，ID)属于所述锚点终端的用户识别号。
本实施例主要针对上述的方式2)，第一终端根据目标终端发送的信息确定锚点UE的用户识别号，并判断自身是否属于其中的一个。
在一实施例中，目标终端发送的信息包括第一SCI；步骤120包括：根据所述第一SCI确定锚点终端的用户识别号。
本实施例中，第一终端根据目标终端发送的第一SCI确定锚点UE的用户识别号。
在一实施例中，目标参数包括锚点终端的用户识别号，所述锚点终端的用户识别号为所述锚点终端的源ID。
本实施例中，锚点UE的用户识别号是指锚点UE的源ID。
在一实施例中，目标终端的数量至少为一个；设定限制条件包括：对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
本实施例中，目标终端的数量可以为一个或多个。对于一个目标终端，如果其目标参数满足设定限制条件，则该目标终端也是一个锚点UE。对于第一终端，设定限制条件包括：目标终端中锚点UE的数目不超过数目门限值或者小于数目门限值。
在一实施例中，目标终端包括至少一个锚点终端；每个目标终端发送的信息包括第一定位参考信号和第一位置信息。
本实施例中，目标终端包括一个或多个锚点UE，这种情况下，每个目标终端可以向第一终端发送第一定位参考信号和第一位置信息，供第一终端确定目标参数。
在一实施例中，目标终端包括至少一个第二终端；每个目标终端发送的信息包括第一SCI，第一SCI包括定位请求信息；
定位请求信息用于请求第一终端发送以下信息之一：第二定位参考信号；第二定位参考信号和第二位置信息。
本实施例中，主要针对上述的方式2)，第一终端根据第二终端发送的第一SCI中的定位请求信息，确定自身是否属于锚点UE中的一个，如果属于，则第一终端作为锚点UE，根据第二终端的请求向第二终端发送第二定位参考信号，还可以发送第二位置信息。
在一实施例中，步骤120，包括：
根据目标终端发送的第一SCI，获得目标终端的运动方向；计算第一终端的运动方向与目标终端的运动方向之间的第一夹角。
在一实施例中，步骤120，包括：
根据目标终端发送的第一定位参考信号，测量第一终端与目标终端之间的距离。
在一实施例中，步骤120，包括：
根据目标终端发送的第一定位参考信号或解调参考信号，测量第一终端接收的目标终端的参考信号的RSRP。
在一实施例中，还包括：
步骤100：通过无线资源控制(Radio Resource Control，RRC)信令接收目标参数的设定取值范围的指示信息。
本实施例中，目标参数的设定取值范围(例如取值范围和/或门限值)由网络侧配置，第一终端通过RRC信令接收指示信息，根据指示信息确定用于与目标参数比对的设定取值范围。
在一实施例中，设定限制条件包括第一限制条件和第二限制条件；步骤130，包括：
步骤1310：在目标参数满足第一限制条件的情况下，确定第一终端为候选锚点终端。
步骤1320：在满足第二限制条件的情况下，确定第一终端为锚点终端。
本实施例中，如果目标参数满足第一限制条件，则第一终端确定自身为候选锚点UE，候选锚点UE具有为发送定位相关信息(包括第二定位参考信号)选择时频资源的能力，但最终是否发送定位相关信息需要根据第二限制条件判 决。
在一实施例中，目标终端的数量至少为一个；第一限制条件包括：对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
本实施例中，第一限制条件包括：目标终端中锚点UE的数目不超过数目门限值或者小于数目门限值。
在一实施例中，还包括：
步骤1312：在第一终端确定为候选锚点终端的情况下，确定用于发送第二定位参考信号的时频资源。
本实施例中，第一终端作为候选锚点终端，为发送第二定位参考信号选择时频资源。
在一实施例中，步骤1320，包括：
检测非第一终端发送的第三定位参考信号；在所述第三定位参考信号的检测结果满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述第三定位参考信号的检测结果不满足第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号；或者，在所述第三定位参考信号的检测结果不满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述第三定位参考信号的检测结果满足第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号。
本实施例中，第一终端检测非第一终端(包括目标终端和/或第二终端)发送的第三定位参考信号，在检测结果满足第二限制条件的情况下，第一终端作为锚点UE发送第二定位参考信号；否则第一终端不是锚点UE，取消发送第二定位参考信号。
在一实施例中，还包括：
步骤1314：在第一终端确定为候选锚点终端的情况下，确定目标信道的时频资源以及第二定位参考信号的时频资源，其中，所述目标信道用于指示所述第二定位参考信号的时频资源。
本实施例中，第一终端作为候选锚点终端，为目标信道和第二定位参考信号选择时频资源。
在一实施例中，步骤1320包括：
检测非第一终端发送的目标信道；在所述目标信道的检测结果满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道不满足第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道；或者，在所述目标信道的检测结果不满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道满足第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道。
本实施例中，第一终端检测非第一终端(包括目标终端和/或第二终端)发送的目标信道，在检测结果满足第二限制条件的情况下，第一终端作为锚点UE发送目标信道；否则第一终端不是锚点UE，取消发送目标信道。第一终端通过发送目标信道指示第二定位参考信号的时频资源，使接收端UE能够准确接收第二定位参考信号。
在一实施例中，还包括：
步骤102：发送第二SCI，第二SCI用于指示所述第一终端支持作为锚点终端。
本实施例中，第一终端发送第二SCI以通知其他UE第一终端可以成为锚点终端。例如，在第二SCI中包含锚点UE声明，表示第一终端具备发送定位相关信息的能力，或者允许其他UE向其发送定位请求信息等。
在一实施例中，第二SCI还用于指示所述第一终端作为锚点终端的时效。
以下通过具体实施例对锚点终端确定方法进行说明。
图2为一实施例提供的一种第一终端自主确定锚点终端的示意图。本实施例中，第一终端自主确定是否可以成为锚点UE，包括如下步骤：
步骤1：第一终端接收目标终端发送的信息，并根据目标终端发送的信息确定第一终端与目标终端之间的目标参数。可以包括以下至少之一：
通过接收目标终端的第一定位参考信号，获得第一终端和目标终端之间的距离；通过对目标终端的第一定位参考信号进行测量，获得第一终端接收的目标终端的参考信号的RSRP。
第一终端也可以通过接收目标终端发送的第一SCI，确定第一终端与目标终端之间的目标参数，例如第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角和/或第一终端的运动方向与目标终端的运动方向之间的第二夹角。
还有一种情况是，目标终端包括第二终端，第一终端接收第二终端的SCI，其中包含了定位请求信息，第一终端据此获得第二终端通知的非第二终端的用户识别号(UE ID)，例如Source ID。第二终端通知的非第二终端的用户识别号用于请求相应的终端发送定位相关信息。
第一终端获得第一终端和目标终端之间的距离的方式为：第一终端通过接收目标终端的第一定位参考信号，根据第一定位参考信号从目标终端出发以及到达第一终端的时间参量，测量第一终端与目标终端之间的距离。或者，第一终端向目标终端发送一个定位参考信号并接收来自目标终端的第一定位参考信号，根据两个定位参考信号传输过程中的时间参量测量第一终端与目标终端之间的距离。
第一终端获得第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角的方式为：第一终端接收目标终端的第一SCI，获得第一SCI所指示的目标终端所在的道路方向信息，第一终端基于目标终端所在的道路方向以及第一终端自身所在的道路方向，计算第一夹角。
第一终端获得第一终端的运动方向与目标终端的运动方向之间的第二夹角的方式为：第一终端接收目标终端的第一SCI，获得第一SCI所指示的目标终端的运动方向信息，第一终端基于目标终端的运动方向以及第一终端自身的运动方向，计算第二夹角。
步骤2：判断目标参数是否满足设定限制条件。
情况A：目标终端为锚点UE。第一终端计算目标参数满足设定限制条件的锚点UE的数目。第一终端基于满足设定限制条件的锚点UE数目，判断自身是否是锚点UE。如果满足设定限制条件的锚点UE数目不超过数目门限值，则第一终端可以成为锚点UE，如果满足设定限制条件的锚点UE已经达到数目门限值，则第一终端不是锚点UE。
目标参数满足设定限制条件的锚点UE，可以指第一终端与锚点UE之间的目标参数的取值，满足以下设定限制条件的至少之一：
目标终端为第一终端指示的道路方向与第一终端所在的道路方向一致；目标终端为第一终端指示的道路标识与第一终端所在的道路标识一致；目标终端为第一终端指示的运动方向与第一终端的运动方向一致；第一终端与目标终端的距离不超过距离的门限值；第一终端与目标终端的距离属于限制的距离区间(即距离的取值范围)；第一终端接收的目标终端的参考信号的RSRP不超过RSRP的门限值；第一终端接收的目标终端的参考信号的RSRP属于限制的RSRP区间(即RSRP的取值范围)；第一终端的运动方向与目标终端的运动方向的 第一夹角(记为α)不超过第一夹角的门限值；α属于第一夹角的取值范围；α对90或者对π/2取余的结果mod(α,90)或者mod(α,π/2)不超过第一夹角对90或者对π/2取余的门限值；α对90或者对π/2取余的结果mod(α,90)或者mod(α,π/2)属于第一夹角对90或者对π/2取余的取值范围；第二终端所在的道路方向与目标终端所在的道路方向的第二夹角(记为β)不超过第二夹角的门限值；β属于第二夹角的取值范围；β对90或者对π/2取余的结果mod(β,90)或者mod(β,π/2)不超过第二夹角对90或者对π/2取余的门限值；β对90或者对π/2取余的结果mod(β,90)或者mod(β,π/2)属于第二夹角对90或者对π/2取余的取值范围。
上述距离的门限值，可由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端。
上述距离区间，可由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端。通知距离区间的形式为：通知距离区间的起始值和结束值，距离区间表示为：[距离起始值，距离结束值]；或者，通知距离区间的起始值和距离间隔，距离区间表示为[距离起始值，距离起始值+距离间隔]。
上述RSRP门限值，由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端。
上述RSRP区间，由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端。通知RSRP区间的形式为：通知RSRP区间的起始值和结束值，RSRP区间表示为：[RSRP起始值，RSRP结束值]；或者，通知RSRP区间的起始值和RSRP间隔，RSRP区间表示为[RSRP起始值，RSRP起始值+RSRP间隔]。
上述与角度相关的门限值，可由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端，可以为第一角度的上限值和/或第二角度的上限值。
上述与角度相关(包括第一夹角、第二夹角、第一夹角对90或π/2取余、第二夹角对90或π/2取余)的取值范围，可由基站通过RRC信令通知给第一终端，或者由第二终端通过第一SCI通知给第一终端。通知角度相关的取值范围的形式为：通知起始值和结束值，取值范围表示为：[角度起始值，角度结束值]；或者，通知起始值和间隔，取值范围表示为：[起始值，起始值+间隔]。
情况B：目标终端不被限制为锚点UE。第一终端基于其与目标终端之间的目标参数是否满足要求，判断第一终端是否为锚点UE。目标终端为第二终端，即目标终端可以请求第一终端作为锚点UE向目标终端发送定位相关信息。
目标参数包括第二终端通知的一个或多个可作为锚点UE的用户识别号(UE  ID)，例如为源ID，如果第一终端的源ID属于第二终端通知的源ID中的一个，则第一终端确定自身为锚点UE。
步骤3：第一终端确定自身为锚点UE。
步骤4：第一终端发送第二定位参考信号和第二位置信息，供接收端UE计算自身的地理位置。
示例一(第一终端基于第一终端与目标终端之间的距离、运动方向的第一夹角以及满足设定限制条件的锚点UE的数目，判断自身是否成为锚点UE)。
步骤1：第一终端接收目标终端发送的第一定位参考信号、第一SCI和第一位置信息。第一SCI中包含用于指示目标终端的运动方向的比特。第一SCI通过物理边链路控制信道(Physical Sidelink Control Channel，PSCCH)或物理边链路共享信道(Physical Sidelink Shared Channel，PSCCH)承载，地理位置信息通过PSCCH承载。
第一终端根据目标终端发送的信息确定以下目标参数：
第一终端与目标终端的距离；第一终端运动方向与目标终端的运动方向之间的第一夹角。
确定第一终端与目标终端的距离，包括：第一终端先向目标终端发送一个定位参考信号，然后再接收目标终端发送的第一定位参考信号，第一终端计算收发定位参考信号之间的时间差为Δt 2。对于目标终端，目标终端先接收第一终端发送的定位参考信号，再向第一终端发送第一定位参考信号，目标终端计算其收发定位参考信号之间的时间差为Δt 1。目标终端向第一终端通知Δt 1。第一终端计算定位参考信号的空中传播延时为
Figure PCTCN2022072054-appb-000001
从而，第一终端计算第一终端和目标终端之间的距离为
Figure PCTCN2022072054-appb-000002
C为光速。
第一终端获取第一夹角，包括：第一终端通过接收目标终端的第一SCI，获得目标终端通过第一SCI指示的目标终端的运动方向，第一终端基于目标终端的运动方向以及自身的运动方向，计算第一夹角。
步骤2：第一终端判断目标参数是否满足设定限制条件。设定限制条件包括：满足以下条件的目标终端(目标终端为锚点UE)的数目不超过门限值：
第一终端与目标终端的距离不超过距离的门限值；第一夹角对π/2取余的结果不超过第一夹角对π/2取余的门限值。
本示例中，距离的门限值、第一夹角对π/2取余的门限值以及锚点UE的数 目门限值通过基站的RRC信令配置。例如，RRC信令配置的距离门限为300米，第一夹角的门限值为不超过15度，锚点UE的数目门限值为5。第一终端判断目标参数是否满足以下三个限制条件：
第一终端与目标终端的距离第一终端不超过300米；第一终端的运动方向与目标终端的运动方向的第一夹角α满足mod(α，π/2)≤15；满足上面两个条件的锚点UE数目小于5。
步骤3：如果满足上述限制条件，则第一终端判决自身为锚点UE。
步骤4：第一终端发送第二定位参考信号和第二位置信息，供接收端UE计算自身的地理位置。
图3A为一实施例提供的一种确定距离范围内锚点UE数量的示意图。如图3A所示，第一终端检测满足以下条件的目标终端：目标终端与第一终端的距离不超过300米；目标终端与第一终端之间的运动方向的第一夹角α满足mod(α，π/2)≤15。第一终端检测到满足上述两个条件的目标终端为UE1、UE2、UE3、UE4，小于锚点UE的数目门限值5，因此，第一终端判断目标参数满足设定限制条件，从而成为锚点UE发送定位相关信息。
示例二(第一终端基于第一终端与目标终端之间的距离、道路方向的第二夹角以及满足设定限制条件的锚点UE的数目，判断自身是否成为锚点UE)
步骤1：第一终端接收目标终端发送的第一定位参考信号和第一SCI。第一SCI中包含用于指示目标终端所在的道路方向的比特。第一SCI通过PSCCH或PSCCH承载，地理位置信息通过PSCCH承载。
第一终端根据目标终端发送的信息确定以下目标参数：
第一终端接收的目标终端的参考信号的RSRP；第一终端运动方向与目标终端所在的道路方向之间的第二夹角。
本示例中，确定第一终端接收的目标终端的参考信号的RSRP包括：第一终端对目标终端发送的第一定位参考信号进行测量，确定第一终端与目标终端的RSRP。
确定第二夹角包括：第一终端通过接收目标终端的第一SCI获得目标终端所在的道路方向，从而计算第一终端所在道路方向与目标终端所在道路方向之间的第二夹角。
步骤2：第一终端判断目标参数是否满足设定限制条件。设定限制条件包括：满足以下条件的目标终端(目标终端为锚点UE)的数目不超过门限值：
第一终端接收的目标终端的参考信号的RSRP不超过RSRP的门限值；第二夹角对π/2取余的结果不超过第二夹角对π/2取余的门限值。
本实施例中，RSRP门限值、锚点UE的数目门限值、第二夹角对π/2取余的门限值通过基站的RRC信令配置。例如，RRC信令配置的RSRP门限值为-100dBm，锚点UE的数目门限值为5，第二夹角对π/2取余不超过15度。
第一终端判断目标参数是否满足以下三个限制条件：
第一终端接收的目标终端的参考信号的RSRP不超过-100dBm；第一终端的运动方向与目标终端的运动方向的第二夹角β满足mod(β，π/2)≤15；满足上面两个条件的锚点UE数目小于5。
步骤3：如果满足上述限制条件，则第一终端判决自身为锚点UE。
步骤4：第一终端发送第二定位参考信号和第二位置信息，供接收端UE计算自身的地理位置。
图3B为一实施例提供的一种确定参考信号接收功率范围内锚点UE数量的示意图。如图3B所示，第一终端检测满足以下条件的目标终端：目标终端接收的目标终端的参考信号的RSRP不超过-100dBm；目标终端与第一终端之间的运动方向的第一夹角β满足mod(β，π/2)≤15。第一终端检测到满足上述两个条件的目标终端为UE1、UE2、UE3、UE4，小于锚点UE的数目门限值5，因此，第一终端判断目标参数满足设定限制条件，从而成为锚点UE发送定位相关信息。
示例三(目标终端为第二终端，第二终端发送定位请求信息，请求第一终端成为锚点UE)
图4为一实施例提供的一种第二终端请求第一终端作为锚点终端的示意图。如图4所示，第一终端发送第二SCI，第二SCI中包括锚点声明信息，用于指示第一终端可以或愿意成为锚点UE。第二终端接收一个或多个终端的锚点声明信息，并在发现的多个声明愿意充当锚点UE的终端中选择一个或多个终端作为第一终端，第二终端选择第一终端后，向第一终端发送第一SCI，第一SCI中包括定位请求信息，用于请求第一终端作为锚点UE以发送定位相关信息，例如定位相关信息包括第二定位参考信号和第二位置信息等。第一终端接收第二终端的定位请求信息，基于接收的定位请求信息，判断自身是否成为锚点UE。如图4所示，过程如下：
步骤a：第一终端发送锚点声明信息，锚点声明信息通过第一SCI中的比特指示，第一SCI通过PSCCH或PSSCH传输。本示例中，第一终端还可以发送其可以或愿意成为锚点UE的时效。例如，在t1时刻，第一终端通知愿意充当 锚点UE的时间长度为L。则第一终端愿意充当锚点UE的有效时间的开始时间为t1，结束时间为t1+L-1。在时间段t1～t1+L-1之间，第一终端都愿意作为锚点UE，为非第一终端传输定位相关信息。
步骤b：第二终端根据非第二终端的锚点声明信息，以及非第二终端的目标参数选择锚点UE，如果第一终端被选中，则第二终端向第一终端发送定位请求信息。
本示例中，第二终端可以发现满足如下条件的UE：
第二终端与该UE的距离不超过距离的门限值；第二终端与该UE的运动方向的夹角对90取余mod(α,90)不超过运动方向夹角对90取余的门限值；该UE为锚点UE。
第二终端选择N(N为正整数)个满足上述条件的UE，目的是通过接收这些UE发送的定位相关信息计算第二终端的位置信息。如果满足上面条件的UE的数目M小于N，则第二终端仍需要额外选择N-M个终端，向这N-M个终端发送定位请求信息，从而使这N-M个终端也升级为锚点UE。
如果M小于N，第二终端可选择满足如下条件的N-M个目标终端作为锚点UE：
第二终端距离该UE的距离不超过距离门限；mod(α,90)不超过运动方向夹角对90取余的门限值；第二终端通过接收该UE的SCI，发现该UE声明可以或愿意充当锚点UE。
第二终端选择N-M个UE作为锚点UE，通过接收这N-M个UE的SCI确定这N-M个UE的UE ID，然后向这N-M个UE发送定位请求信息。N-M个UE中包括第一终端。通过使用特定的SCI格式(Format)发送第一SCI，第一SCI中包含定位请求信息。第二终端通过第一SCI指示一个或多个锚点UE的UE ID，以及指示时间窗等定位请求信息。
步骤c：第一终端接收第二终端发送的定位请求信息，判断定位请求信息是否发给自身的。如果第一终端的UE ID与第二终端发送的定位请求信息中包含的UE ID中的至少一个相同，则第一终端判断该定位请求信息是发给自身的，从而成为锚点UE。
步骤d：第一终端作为锚点UE发送定位相关信息(包括第二定位参考信号和第二位置信息)，发送定位相关信息的时间，属于第二终端的定位请求信息中所通知的时间窗。
示例四(第二终端指示目标参数的设定取值范围，目标参数属于设定取值范围，则第一终端确定自身为锚点UE)
图5为另一实施例提供的一种第一终端自主确定锚点终端的示意图。如图5所示，第二终端向第一终端通知目标参数的取值范围，第一终端根据目标参数是否满足取值范围，判断自身是否成为锚点UE。包括：
第二终端首先判断是否需要通知目标参数的取值范围。如果第二终端发现满足限制条件的锚点UE数目M大于或等于数目门限值N，则不通知；否则，第二终端向第一终端通知目标参数的取值范围。其中，满足限制条件的锚点UE包括满足以下条件的UE：
第二终端与该UE之间的距离不超过距离的门限值，距离门限值为高层配置的参数，例如为300米；第二终端的运动方向与该UE的运动方向的夹角α，满足：mod(α,90)小于运动方向夹角的门限值，运动方向夹角的门限值为高层配置的参数，例如为15。
步骤e：第二终端判断需要通知目标参数的取值范围，则向第一终端发送目标参数的取值范围，本示例中，取值范围通过门限值的方式体现，第二终端通知的目标参数的取值范围包括：距离的门限值为300米；运动方向夹角(即第一夹角)的门限值为15度。
步骤f：第一终端比较目标参数和第二终端通知的目标参数的取值范围。
第一终端确定目标参数的方式如下：
第一终端先向目标终端发送一个定位参考信号，然后再接收目标终端发送的第一定位参考信号，第一终端计算收发定位参考信号之间的时间差为Δt 2。对于目标终端，目标终端先接收第一终端发送的定位参考信号，再向第一终端发送第一定位参考信号，目标终端计算其收发定位参考信号之间的时间差为Δt 1。目标终端向第一终端通知Δt 1。第一终端计算定位参考信号的空中传播延时为
Figure PCTCN2022072054-appb-000003
从而，第一终端计算第一终端和目标终端之间的距离为
Figure PCTCN2022072054-appb-000004
C为光速。
第一终端通过接收目标终端的第一SCI，获得目标终端通过第一SCI指示的目标终端的运动方向，第一终端基于目标终端的运动方向以及自身的运动方向，计算第一夹角α。
第一终端对目标参数与目标参数的取值范围进行比较，如果目标参数满足以下条件，则第一终端确定自身为锚点UE：
Figure PCTCN2022072054-appb-000005
小于或等于300米；mod(α,90)小于或等于15度。
步骤g：第一终端作为锚点UE，发送定位相关信息，且发送定位相关信息的时间被限制在第二终端的定位请求信息中所通知的时间窗内。
示例五(第一终端根据第一限制条件判断是否为候选锚点UE，然后根据第二限制条件判断是否为锚点UE)
图6为又一实施例提供的一种第一终端自主确定锚点终端的示意图。如图6所示，第一终端通过比较目标参数是否满足第一限制条件，判断第一终端是否为候选锚点UE；如果是候选锚点UE，则为第二定位参考信号选择时频资源，并通过检测非第一终端发送的第三定位参考信号是否满足第二限制条件，判断第一终端是否为锚点UE。其中，判断第一终端是否为候选锚点UE，包括：如果目标参数满足设定限制条件的锚点UE的数目小于数目门限值，则确定第一终端为候选锚点UE。例如：
第二终端首先判断是否需要通知目标参数的取值范围。如果第二终端发现满足限制条件的锚点UE数目M大于或等于数目门限值N，则不通知；否则，第二终端向第一终端通知目标参数的取值范围。其中，满足限制条件的锚点UE包括满足以下条件的UE：
第二终端与该UE之间的距离不超过距离的门限值，距离门限值为高层配置的参数，例如为300米；第二终端的运动方向与该UE的运动方向的夹角α，满足：mod(α,90)小于运动方向夹角的门限值，运动方向夹角的门限值为高层配置的参数，例如为15。
第二终端判断需要通知目标参数的取值范围，则向第一终端发送目标参数的取值范围，本示例中，取值范围通过门限值的方式体现，第二终端通知的目标参数的取值范围包括：距离的门限值为300米；运动方向夹角(即第一夹角)的门限值为15度。
步骤1：第一终端对目标参数与目标参数的取值范围进行比较，如果目标参数满足以下条件，则第一终端确定自身为候选锚点UE：
Figure PCTCN2022072054-appb-000006
小于或等于300米；mod(α,90)小于或等于15度。
步骤2：如果第一终端确定自身为候选锚点UE，则第一终端选择时频资源，所选择的时频资源位置用于发送定位相关信息(例如，第二定位参考信号和第二位置信息)。
步骤3：第一终端选择时频资源后，判断是否最终使用该时频资源发送定位相关信息。如果第一终端判断为不使用该时频资源发送定位相关信息，则意味着第一终端取消定位相关信息的发送。第一终端通过对非第一终端发送的第三 定位参考信号检测，判断第一终端是否最终发送定位相关信息。
步骤4：如果第一终端通过检测第三定位参考信号，检测到满足下面条件的锚点UE数目小于门限值N，则第一终端最终发送定位相关信息：
第一终端与锚点UE之间距离小于或等于300米；第一终端运动方向与锚点UE运动方向之间的夹角小于或等于第一夹角的门限值(高层配置的参数，例如为15度)。
否则，第一终端取消发送定位相关信息。
步骤5：第一终端作为锚点UE，利用选择的时频资源发送定位相关信息。
图7A为一实施例提供的一种第一终端选择定位参考信号的时频资源的示意图。如图7A所示，第一终端为UE1(图未示)，UE1通过接收其他终端的定位参考信号和SCI(SCI对应时频资源，图中没有画出来)，获得UE3，UE4，UE5，UE6的运动方向、以及UE1距离UE3，UE4，UE5，UE6的距离。UE1计算与UE i(i＝3,4,5,6)之间的运动方向的夹角。以及，UE1寻找满足以下条件的锚点UE i：UE1与UE i之间距离小于或等于300米；UE1与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度。假设UE1找到符合上述条件的锚点UE为UE3，UE4，UE5，即UE1找到了M1＝3个符合上述条件的锚点UE，假设N＝4。由于M1<N，则UE1判断自身为候选锚点UE，UE1需要为第二定位参考信号的发送选择时频资源。UE1可选择的时频资源包括资源1、资源2和资源3，UE1从3个候选资源位置中，随机选择一个资源，例如选择资源3。选择的资源3，除了可以传输第二定位参考信号外，也可以用于传输第二位置信息。
图7B为另一实施例提供的一种第一终端选择定位参考信号的时频资源的示意图。图7B中，类似的，第一终端为UE2(图未示)，UE2找到满足设定限制条件的锚点UE为UE3，UE4，UE5，满足条件的锚点UE数目M1’＝3，假设N＝4。由于M1’<N，UE2触发资源选择过程，选择资源1用于第二定位参考信号的发送。UE2选择的资源1，除了可以传输第二定位参考信号外，也可以用于传输第二位置信息。
在图7A和7B的基础上，作为候选锚点UE的第一终端(UE1和UE2)为第二定位参考信号选择时频资源后，判断是否取消第二定位参考信号的传输。如果第一终端在发送第二定位参考信号之前的一段时间内，再次检测到的满足设定限制条件的锚点UE数目大于或等于N，则候选锚点UE不能作为锚点UE，取消第二定位参考信号的发送。
例如，UE2在发送第二定位参考信号之前，发现满足以下要求的锚点UE 为UE3，UE4，UE5：UE2与UE i之间距离小于或等于300米；UE2与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度，即M2’＝3，M2’小于N，则UE2不取消第二定位参考信号的传输，UE2作为锚点UE，在资源1上传输第二定位参考信号。
而UE1在发送第二定位参考信号之前，发现满足以下要求的锚点UE为UE2，UE3，UE4，UE5：UE1与UE i之间距离小于或等于300米；UE1与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度，即M2＝4，M2等于N，则UE1取消第二定位参考信号的传输，UE1不是锚点UE，在资源3上不传输第二定位参考信号。
第一终端判断是否发送第二定位参考信号后，如果判断为发送第二定位参考信号，则进行第二定位参考信号的发送。在图7A中，UE2基于判断结果，发送第二定位参考信号。在图7B中，UE1基于判断结果，不发送第二定位参考信号。
第二终端接收来自UE3，UE4，UE5，UE2发送的第二定位参考信号以及第二位置信息，基于这些信息，第二终端计算自身的位置信息。
示例六(第一终端根据第一限制条件判断是否为候选锚点UE，然后根据第二限制条件判断是否为锚点UE)
图8为再一实施例提供的一种第一终端自主确定锚点终端的示意图。如图8所示，第一终端通过比较目标参数是否满足第一限制条件，判断第一终端是否为候选锚点UE；如果是候选锚点UE，则为目标信道和第二定位参考信号选择时频资源，并通过检测非第一终端发送的第三定位参考信号是否满足第二限制条件，判断第一终端是否为锚点UE。其中，判断第一终端是否为候选锚点UE，包括：如果目标参数满足设定限制条件的锚点UE的数目小于数目门限值，则确定第一终端为候选锚点UE。例如：
第二终端首先判断是否需要通知目标参数的取值范围。如果第二终端发现满足限制条件的锚点UE数目M大于或等于数目门限值N，则不通知；否则，第二终端向第一终端通知目标参数的取值范围。其中，满足限制条件的锚点UE包括满足以下条件的UE：
第二终端与该UE之间的距离不超过距离的门限值，距离门限值为高层配置的参数，例如为300米；第二终端的运动方向与该UE的运动方向的夹角α，满足：mod(α,90)小于运动方向夹角的门限值，运动方向夹角的门限值为高层配置的参数，例如为15。
第二终端判断需要通知目标参数的取值范围，则向第一终端发送目标参数的取值范围，本示例中，取值范围通过门限值的方式体现，第二终端通知的目标参数的取值范围包括：距离的门限值为300米；运动方向夹角(即第一夹角)的门限值为15度。
第一终端对目标参数与目标参数的取值范围进行比较，如果目标参数满足以下条件，则第一终端确定自身为候选锚点UE：
Figure PCTCN2022072054-appb-000007
小于或等于300米；mod(α,90)小于或等于15度。
如果第一终端确定自身为候选锚点UE，则第一终端为目标信道选择时频资源，并为发送定位相关信息(包括第二定位参考信号和第二位置信息)选择时频资源，其中，目标信道用于指示第二定位参考信号的时频资源。作为候选锚点UE的第一终端在目标信道的传输之前，检测非第一终端发送的目标信道，基于检测结果，判断是否取消第一终端的目标信道的传输。
第一终端选择时频资源后，判断是否最终使用该时频资源发送目标信道和定位相关信息。如果第一终端判断为不使用该时频资源发送目标信道，则意味着第一终端取消目标信道的发送。第一终端在通过选择的时频资源发送目标信道之前，尝试接收非第一终端发送的用于指示第三定位参考信号的时频资源位置的目标信道，如果发现满足条件的锚点UE的数目大于或等于门限值，则第一终端取消目标信道的传输。
如果第一终端通过检测目标信道，检测到满足下面条件的锚点UE数目小于门限值N，则第一终端最终发送目标信道，并在目标信道所指示的时频资源上，发送第二定位参考信号：
第一终端与锚点UE之间距离小于或等于300米；第一终端运动方向与锚点UE运动方向之间的夹角小于或等于第一夹角的门限值(高层配置的参数，例如为15度)。
否则，第一终端取消发送目标信道。
第一终端作为锚点UE，利用选择的时频资源发送目标信道。
图9A为一实施例提供的一种第一终端选择目标信道和定位参考信号的时频资源的示意图。如图9A所示，第一终端为UE1(图未示)，UE1通过接收其他终端的定位参考信号和SCI(SCI对应时频资源，图中没有画出来)，获得UE3，UE4，UE5，UE6的运动方向、以及UE1距离UE3，UE4，UE5，UE6的距离。UE1计算与UE i(i＝3,4,5,6)之间的运动方向的夹角。以及，UE1寻找满足以下条件的锚点UE i：UE1与UE i之间距离小于或等于300米；UE1与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度。假设UE1找 到符合上述条件的锚点UE为UE3，UE4，UE5，即UE1找到了M1＝3个符合上述条件的锚点UE，假设N＝4。由于M1<N，则UE1判断自身为候选锚点UE，UE1分别为目标信道和第二定位参考信号选择时频资源，且目标信道用于指示第二定位参考信号的时频资源位置。在图9A中，UE1为目标信道选择的时频资源为资源3，为第二定位参考信号选择的时频资源为资源1。
图9B为另一实施例提供的一种第一终端选择目标信道和定位参考信号的时频资源的示意图。图9B中，类似的，第一终端为UE2(图未示)，UE2找到满足设定限制条件的锚点UE为UE3，UE4，UE5，满足条件的锚点UE数目M1’＝3，假设N＝4。由于M1’<N，UE2触发资源选择过程，UE2分别为目标信道和第二定位参考信号选择时频资源，且目标信道用于指示第二定位参考信号的时频资源位置。在图9B中，UE2为目标信道选择的时频资源为资源4，为第二定位参考信号选择的时频资源为资源1。
在图9A和9B的基础上，作为候选锚点UE的第一终端(UE1和UE2)为目标信道和第二定位参考信号选择时频资源后，判断是否取消目标信道的传输。如果第一终端在发送第二定位参考信号之前的一段时间内，再次检测到的满足设定限制条件的锚点UE数目大于或等于N，则候选锚点UE不能作为锚点UE，取消目标信道的发送。
例如，UE1在发送第二定位参考信号之前，发现满足以下要求的锚点UE为UE3、UE4、UE5：UE1与UE i之间距离小于或等于300米；UE1与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度，即M2’＝3，M2’小于N，则UE1不取消目标信道的传输，UE1作为锚点UE，在资源3上发送目标信道，并通过目标信道指示第二参考信号资源在资源1上发送。
而UE2在发送第二定位参考信号之前，发现满足以下要求的锚点UE为UE1、UE3、UE4、UE5：UE2与UE i之间距离小于或等于300米；UE2与UE i之间的运动方向之间的第一夹角α满足：mod(α,90)小于或等于15度，即M2＝4，M2等于N，则UE2取消目标信道的传输，UE2不是锚点UE，在资源4上不传输目标信道，在资源1上不传输定位参考信号。
第一终端判断是否发送目标信道后，如果判断为发送目标信道，则进行目标信道的发送。在图9A中，UE1基于判断结果，发送目标信道。在图9B中，UE2基于判断结果，不发送目标信道。
第二终端接收来自UE3，UE4，UE5，UE1发送的定位相关信息，基于这些信息，第二终端计算自身的位置信息。
在本申请实施例中，还提供一种信息发送方法，可应用于第二终端。第二终端向第一终端发送信息，供第一终端自主确定是否可以作为锚点UE，并接收第一终端作为锚点UE发送的定位相关信息，从而降低与其他传输定位相关信息的终端之间的干扰。本实施例中的第二终端相当于上述实施例中第一终端的一个目标终端。未在本实施例中详尽描述的技术细节可参见上述任意实施例。
图10为一实施例提供的一种信息发送方法的流程图，如图10所示，本实施例提供的方法包括步骤210和步骤220。
在步骤210中，向第一终端发送信息，向第一终端发送的信息用于确定目标参数和设定限制条件中的至少之一。
在步骤220中，接收所述第一终端在目标参数满足设定限制条件的情况下，作为锚点终端发送的信息。
本实施例中，第二终端向第一终端发送的信息可供第一终端确定目标参数和/或设定限制条件，并且，第二终端可以请求第一终端作为锚点UE发送定位相关信息(包括第二定位参考信号和第二位置信息)。
在一实施例中，向第一终端发送信息包括以下至少之一：第一定位参考信号；第一边链路控制信息SCI；第一定位参考信号和第一位置信息；解调参考信号；目标信道。
在一实施例中，目标参数包括以下至少之一：
所述第二终端为第一终端指示的道路方向；所述第二终端为第一终端指示的道路标识；所述第二终端为第一终端指示的运动方向；所述第一终端与所述目标终端之间的距离；所述第一终端接收的所述目标终端的参考信号的参考信号接收功率RSRP；所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角；所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角对90或者对π/2取余；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角对90或者对π/2取余；锚点终端的用户识别号。
在一实施例中，所述向第一终端发送的信息包括第一SCI，所述第一SCI中包含锚点终端的用户识别号。
在一实施例中，锚点终端的用户识别号为所述锚点终端的源ID。
在一实施例中，向第一终端发送的信息包括第一SCI，所述第一SCI中包含所述设定限制条件；所述设定限制条件包括：所述目标参数的取值不超过设定取值范围；其中，所述设定取值范围包括以下至少之一：
所述第一终端所在的道路方向；所述第一终端所在的道路标识；所述第一终端的运动方向；所述第一终端与所述目标终端之间的距离的取值范围；所述第一终端与所述目标终端之间的距离的门限值；所述第一终端接收的所述目标终端的参考信号的RSRP的取值范围；所述第一终端接收的所述目标终端的参考信号的RSRP的门限值；第一夹角的取值范围；第一夹角的门限值；第二夹角的取值范围；第二夹角的门限值；第一夹角对90或者对π/2取余的取值范围；第一夹角对90或者对π/2取余的门限值；第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
在一实施例中，向第一终端发送的信息包括第一SCI；所述第一SCI包括定位请求信息，所述定位请求信息用于请求所述第一终端发送以下信息之一：第二定位参考信号；第二定位参考信号和第二位置信息。
在一实施例中，还包括：
步骤230：接收第二SCI，所述第二SCI用于指示所述第一终端支持作为锚点终端。
在一实施例中，第二SCI还用于指示所述第一终端作为锚点终端的时效。
本申请实施例还提供一种锚点终端确定装置。图11为一实施例提供的一种锚点终端确定装置的结构示意图。如图11所示，所述锚点终端确定装置包括：接收模块310、参数确定模块320和锚点确定模块330。
接收模块310，设置为接收目标终端发送的信息；参数确定模块320，设置为根据目标终端发送的信息确定目标参数；锚点确定模块330，设置为在所述目标参数满足设定限制条件的情况下，确定第一终端为锚点终端。
本实施例的锚点终端确定装置，通过自主判断是否能够作为锚点UE为其它终端发送定位相关信息，在满足设定限制条件的情况下可作为锚点UE，从而降低与其他传输定位相关信息的终端之间的干扰。
在一实施例中，所述目标终端发送的信息包括以下至少之一：
第一定位参考信号；第一SCI；第一定位参考信号和第一位置信息；解调参考信号；目标信道。
在一实施例中，目标参数包括以下至少之一：
所述目标终端为第一终端指示的道路方向；所述目标终端为第一终端指示的道路标识；所述目标终端为第一终端指示的运动方向；所述第一终端与所述目标终端之间的距离；所述第一终端接收的所述目标终端的参考信号的RSRP； 所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角；所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角对90或者对π/2取余；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角对90或者对π/2取余；锚点终端的用户识别号。
在一实施例中，设定限制条件包括：所述目标参数的取值不超过设定取值范围；其中，所述设定取值范围包括以下至少之一：
所述第一终端所在的道路方向；所述第一终端所在的道路标识；所述第一终端的运动方向；第一终端与目标终端之间的距离的取值范围；第一终端与目标终端之间的距离的门限值；第一终端接收的目标终端的参考信号的RSRP的取值范围；第一终端接收的目标终端的参考信号的RSRP的门限值；第一夹角的取值范围；第一夹角的门限值；第二夹角的取值范围；第二夹角的门限值；第一夹角对90或者对π/2取余的取值范围；第一夹角对90或者对π/2取余的门限值；第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
在一实施例中，目标参数包括锚点终端的用户识别号；所述设定限制条件包括：
所述第一终端的源ID属于所述锚点终端的用户识别号。
在一实施例中，目标终端发送的信息包括第一SCI；参数确定模块320，设置为：
根据所述第一SCI确定锚点终端的用户识别号。
在一实施例中，所述目标参数包括锚点终端的用户识别号，所述锚点终端的用户识别号为所述锚点终端的源ID。
在一实施例中，所述目标终端至少为一个；所述设定限制条件包括：
对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，
对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
在一实施例中，目标终端包括至少一个锚点终端；每个目标终端发送的信息包括第一定位参考信号和第一位置信息。
在一实施例中，目标终端包括至少一个第二终端；每个目标终端发送的信息包括第一SCI，所述第一SCI包括定位请求信息；所述定位请求信息用于请求所述第一终端发送以下信息之一：第二定位参考信号；第二定位参考信号和第 二位置信息。
在一实施例中，参数确定模块320，设置为：
根据所述目标终端发送的第一SCI，获得所述目标终端的运动方向；计算所述第一终端的运动方向与所述目标终端的运动方向之间的第一夹角。
在一实施例中，参数确定模块320，设置为：
根据所述目标终端发送的第一定位参考信号，测量所述第一终端与所述目标终端之间的距离。
在一实施例中，参数确定模块320，设置为：
根据所述目标终端发送的第一定位参考信号或解调参考信号，测量所述第一终端接收的所述目标终端的参考信号的RSRP。
在一实施例中，还包括：
信息接收模块，设置为通过RRC信令接收目标参数的设定取值范围的指示信息。
在一实施例中，设定限制条件包括第一限制条件和第二限制条件；锚点确定模块320，包括：
候选终端确定单元，设置为在所述目标参数满足第一限制条件的情况下，确定所述第一终端为候选锚点终端；锚点终端确定单元，设置为在满足第二限制条件的情况下，确定所述第一终端为锚点终端。
在一实施例中，目标终端至少为一个；所述第一限制条件包括：
对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
在一实施例中，还包括：
第一资源确定模块，设置为在确定为候选锚点终端的情况下，确定用于发送第二定位参考信号的时频资源。
在一实施例中，锚点终端确定单元，设置为：
检测非第一终端发送的第三定位参考信号；在所述第三定位参考信号的检测结果满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述第三定位参考信号的检测结果不满足第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号；或者，在所述第三定位参考信号的检测结果不满足第二限制条件的情况下，确定所述第一终端为锚点终端，并 发送所述第二定位参考信号，在所述第三定位参考信号的检测结果满足第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号。
在一实施例中，还包括：
第二资源确定模块，设置为在确定为候选锚点终端的情况下，确定目标信道的时频资源以及第二定位参考信号的时频资源，其中，所述目标信道用于指示所述第二定位参考信号的时频资源。
在一实施例中，锚点终端确定单元，设置为：
检测非第一终端发送的目标信道；在所述目标信道的检测结果满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道不满足第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道；或者，在所述目标信道的检测结果不满足第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道满足第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道。
在一实施例中，还包括：
SCI发送模块，设置为发送第二SCI，所述第二SCI用于指示所述第一终端支持作为锚点终端。
在一实施例中，所述第二SCI还用于指示所述第一终端作为锚点终端的时效。
本实施例提出的锚点终端确定装置与上述实施例提出的锚点终端确定方法属于同一构思，未在本实施例中详尽描述的技术细节可参见上述任意实施例，并且本实施例具备与执行锚点终端确定方法相同的效果。
本申请实施例还提供一种信息发送装置。图12为一实施例提供的一种信息发送装置的结构示意图。如图12所示，所述信息发送装置包括：信息发送模块410和信息接收模块420。
信息发送模块410，设置为向第一终端发送信息，向第一终端发送的信息用于确定目标参数和设定限制条件中的至少之一；信息接收模块420，设置为接收所述第一终端在目标参数满足设定限制条件的情况下，作为锚点终端发送的信息。
本实施例的信息发送装置，通过向第一终端发送信息，供第一终端自主确 定是否可以作为锚点UE，并接收第一终端作为锚点UE发送的定位相关信息，从而降低与其他传输定位相关信息的终端之间的干扰。
在一实施例中，向第一终端发送信息包括以下至少之一：第一定位参考信号；第一边链路控制信息SCI；第一定位参考信号和第一位置信息；解调参考信号；目标信道。
在一实施例中，目标参数包括以下至少之一：
所述第二终端为第一终端指示的道路方向；所述第二终端为第一终端指示的道路标识；所述第二终端为第一终端指示的运动方向；所述第一终端与所述目标终端之间的距离；所述第一终端接收的所述目标终端的参考信号的参考信号接收功率RSRP；所述第一终端所在的道路方向与所述目标终端的所在道路方向之间的第一夹角；所述第一终端所在的道路方向与所述目标终端的所在道路方向之间的第一夹角对90或者对π/2取余；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角；所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角对90或者对π/2取余；锚点终端的用户识别号。
在一实施例中，锚点终端的用户识别号为所述锚点终端的源ID。
在一实施例中，向第一终端发送的信息包括第一SCI，所述第一SCI中包含所述设定限制条件；所述设定限制条件包括：所述目标参数的取值不超过设定取值范围；其中，所述设定取值范围包括以下至少之一：
所述第一终端所在的道路方向；所述第一终端所在的道路标识；所述第一终端的运动方向；所述第一终端与所述目标终端之间的距离的取值范围；所述第一终端与所述目标终端之间的距离的门限值；所述第一终端接收的所述目标终端的参考信号的RSRP的取值范围；所述第一终端接收的所述目标终端的参考信号的RSRP的门限值；第一夹角的取值范围；第一夹角的门限值；第二夹角的取值范围；第二夹角的门限值；第一夹角对90或者对π/2取余的取值范围；第一夹角对90或者对π/2取余的门限值；第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
在一实施例中，向第一终端发送的信息包括第一SCI；所述第一SCI包括定位请求信息，所述定位请求信息用于请求所述第一终端发送以下信息之一：第二定位参考信号；第二定位参考信号和第二位置信息。
在一实施例中，还包括：
SCI接收模块，设置为接收第二SCI，所述第二SCI用于指示所述第一终端支持作为锚点终端。
在一实施例中，第二SCI还用于指示所述第一终端作为锚点终端的时效。
本实施例提出的信息发送装置与上述实施例提出的信息发送方法属于同一构思，未在本实施例中详尽描述的技术细节可参见上述任意实施例，并且本实施例具备与执行信息发送方法相同的效果。
本申请实施例还提供了一种通信节点，图13为一实施例提供的一种通信节点的硬件结构示意图，如图13所示，本申请提供的通信节点，包括存储器52、处理器51以及存储在存储器上并可在处理器上运行的计算机程序，处理器51执行所述程序时实现上述的锚点终端确定方法。
通信节点还可以包括存储器52；该通信节点中的处理器51可以是一个或多个，图13中以一个处理器51为例；存储器52用于存储一个或多个程序；所述一个或多个程序被所述一个或多个处理器51执行，使得所述一个或多个处理器51实现如本申请实施例中所述的锚点终端确定方法或信息发送方法。
通信节点还包括：通信装置53、输入装置54和输出装置55。
通信节点中的处理器51、存储器52、通信装置53、输入装置54和输出装置55可以通过总线或其他方式连接，图13中以通过总线连接为例。
输入装置54可用于接收输入的数字或字符信息，以及产生与通信节点的用户设置以及功能控制有关的按键信号输入。输出装置55可包括显示屏等显示设备。
通信装置53可以包括接收器和发送器。通信装置53设置为根据处理器51的控制进行信息收发通信。
存储器52作为一种计算机可读存储介质，可设置为存储软件程序、计算机可执行程序以及模块，如本申请实施例所述锚点终端确定方法对应的程序指令/模块(例如，锚点终端确定装置中的接收模块310、参数确定模块320以及锚点确定模块330)。存储器52可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据通信节点的使用所创建的数据等。此外，存储器52可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器52可包括相对于处理器51远程设置的存储器，这些远程存储器可以通过网络连接至通信节点。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
本申请实施例还提供一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本申请实施例中任一所述的锚点终端确定方 法或信息发送方法。
该锚点确定方法，包括：根据目标终端发送的信息确定目标参数；在所述目标参数满足设定限制条件的情况下，确定第一终端为锚点终端。
该信息发送方法，包括：向第一终端发送信息，向第一终端发送的信息用于确定目标参数和设定限制条件中的至少之一；接收所述第一终端在目标参数满足设定限制条件的情况下，作为锚点终端发送的信息。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是，但不限于：电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、闪存、光纤、便携式CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于：电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、无线电频率(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)，连接到用户计算机，或者，可以连接 到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
以上所述，仅为本申请的示例性实施例而已。
本领域内的技术人员应明白，术语用户终端涵盖任何适合类型的无线用户设备，例如移动电话、便携数据处理装置、便携网络浏览器或车载移动台。
一般来说，本申请的多种实施例可以在硬件或专用电路、软件、逻辑或其任何组合中实现。例如，一些方面可以被实现在硬件中，而其它方面可以被实现在可以被控制器、微处理器或其它计算装置执行的固件或软件中，尽管本申请不限于此。
本申请的实施例可以通过移动装置的数据处理器执行计算机程序指令来实现，例如在处理器实体中，或者通过硬件，或者通过软件和硬件的组合。计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码。
本申请附图中的任何逻辑流程的框图可以表示程序步骤，或者可以表示相互连接的逻辑电路、模块和功能，或者可以表示程序步骤与逻辑电路、模块和功能的组合。计算机程序可以存储在存储器上。存储器可以具有任何适合于本地技术环境的类型并且可以使用任何适合的数据存储技术实现，例如但不限于只读存储器(Read-Only Memory，ROM)、随机访问存储器(Random Access Memory，RAM)、光存储器装置和系统(数码多功能光碟(Digital Video Disc，DVD)或光盘(Compact Disk，CD)等。计算机可读介质可以包括非瞬时性存储介质。数据处理器可以是任何适合于本地技术环境的类型，例如但不限于通用计算机、专用计算机、微处理器、数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Field-Programmable Gate Array，FPGA)以及基于多核处理器架构的处理器。

Claims (32)

  1. 一种锚点终端确定方法，应用于第一终端，包括：
    接收目标终端发送的信息；
    根据所述目标终端发送的信息确定目标参数；
    在所述目标参数满足设定限制条件的情况下，确定所述第一终端为锚点终端。
  2. 根据权利要求1所述的方法，其中，所述目标终端发送的信息包括以下至少之一：
    第一定位参考信号；第一边链路控制信息SCI；第一定位参考信号和第一位置信息；解调参考信号；目标信道。
  3. 根据权利要求1所述的方法，其中，所述目标参数包括以下至少之一：
    所述目标终端为所述第一终端指示的道路方向；所述目标终端为所述第一终端指示的道路标识；
    所述目标终端为所述第一终端指示的运动方向；
    所述第一终端与所述目标终端之间的距离；
    所述第一终端接收的所述目标终端的参考信号的参考信号接收功率RSRP；
    所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角；
    所述第一终端所在的道路方向与所述目标终端所在的道路方向之间的第一夹角对90或者对π/2取余；
    所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角；
    所述第一终端的运动方向与所述目标终端的运动方向之间的第二夹角对90或者对π/2取余；
    锚点终端的用户识别号。
  4. 根据权利要求1所述的方法，其中，所述设定限制条件包括：所述目标参数的取值不超过设定取值范围；
    其中，所述设定取值范围包括以下至少之一：
    所述第一终端所在的道路方向；所述第一终端所在的道路标识；
    所述第一终端的运动方向；
    所述第一终端与所述目标终端之间的距离的取值范围；所述第一终端与所述目标终端之间的距离的门限值；
    所述第一终端接收的所述目标终端的参考信号的RSRP的取值范围；所述第一终端接收的所述目标终端的参考信号的RSRP的门限值；
    第一夹角的取值范围；第一夹角的门限值；
    第二夹角的取值范围；第二夹角的门限值；
    第一夹角对90或者对π/2取余的取值范围；第一夹角对90或者对π/2取余的门限值；
    第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
  5. 根据权利要求1所述的方法，其中，所述目标参数包括锚点终端的用户识别号；
    所述设定限制条件包括：
    所述第一终端的源标识ID属于所述锚点终端的用户识别号。
  6. 根据权利要求1所述的方法，其中，所述目标终端发送的信息包括第一SCI；
    所述根据所述目标终端发送的信息确定目标参数，包括：
    根据所述第一SCI确定锚点终端的用户识别号。
  7. 根据权利要求1所述的方法，其中，所述目标参数包括锚点终端的用户识别号，所述锚点终端的用户识别号为所述锚点终端的源ID。
  8. 根据权利要求1所述的方法，其中，所述目标终端的数量至少为一个；
    所述设定限制条件包括：
    对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，
    对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
  9. 根据权利要求1所述的方法，其中，所述目标终端包括至少一个锚点终端；
    每个目标终端发送的信息包括第一定位参考信号和第一位置信息。
  10. 根据权利要求1所述的方法，其中，所述目标终端包括至少一个第二终端；
    每个目标终端发送的信息包括第一SCI，所述第一SCI包括定位请求信息；
    所述定位请求信息用于请求所述第一终端发送以下信息之一：第二定位参 考信号；第二定位参考信号和第二位置信息。
  11. 根据权利要求1所述的方法，其中，所述根据所述目标终端发送的信息确定目标参数，包括：
    根据所述目标终端发送的第一SCI，获得所述目标终端的运动方向；
    计算所述第一终端的运动方向与所述目标终端的运动方向之间的第一夹角。
  12. 根据权利要求1所述的方法，其中，所述根据所述目标终端发送的信息确定目标参数，包括：
    根据所述目标终端发送的第一定位参考信号，测量所述第一终端与所述目标终端之间的距离。
  13. 根据权利要求1所述的方法，其中，所述根据所述目标终端发送的信息确定目标参数，包括：
    根据所述目标终端发送的第一定位参考信号或解调参考信号，测量所述第一终端接收的所述目标终端的参考信号的RSRP。
  14. 根据权利要求4所述的方法，还包括：
    通过无线资源控制RRC信令接收所述目标参数的设定取值范围的指示信息。
  15. 根据权利要求1所述的方法，其中，所述设定限制条件包括第一限制条件和第二限制条件；
    所述在所述目标参数满足设定限制条件的情况下，确定所述第一终端为锚点终端，包括：
    在所述目标参数满足所述第一限制条件的情况下，确定所述第一终端为候选锚点终端；
    在满足所述第二限制条件的情况下，确定所述第一终端为锚点终端。
  16. 根据权利要求15所述的方法，其中，所述目标终端的数量至少为一个；
    所述第一限制条件包括：
    对应的目标参数满足设定限制条件的目标终端的数目不超过数目门限值；或者，
    对应的目标参数满足设定限制条件的目标终端的数目小于数目门限值。
  17. 根据权利要求15所述的方法，还包括：
    在所述第一终端确定为候选锚点终端的情况下，确定用于发送第二定位参考信号的时频资源。
  18. 根据权利要求17所述的方法，其中，所述在满足所述第二限制条件的情况下，确定所述第一终端为锚点终端，包括：
    检测非第一终端发送的第三定位参考信号；
    在所述第三定位参考信号的检测结果满足所述第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述第三定位参考信号的检测结果不满足所述第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号；或者，
    在所述第三定位参考信号的检测结果不满足所述第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述第三定位参考信号的检测结果满足所述第二限制条件的情况下，根据所述第三定位参考信号的检测结果确定所述第一终端不是锚点终端，并取消发送所述第二定位参考信号。
  19. 根据权利要求15所述的方法，还包括：
    在所述第一终端确定为候选锚点终端的情况下，确定目标信道的时频资源以及第二定位参考信号的时频资源，其中，所述目标信道用于指示所述第二定位参考信号的时频资源。
  20. 根据权利要求19所述的方法，其中，所述在满足所述第二限制条件的情况下，确定所述第一终端为锚点终端，包括：
    检测非第一终端发送的目标信道；
    在所述目标信道的检测结果满足所述第二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道不满足所述第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道；或者，
    在所述目标信道的检测结果不满足第所述二限制条件的情况下，确定所述第一终端为锚点终端，并发送所述第二定位参考信号，在所述目标信道满足所述第二限制条件的情况下，确定所述第一终端不是锚点终端，并取消发送所述目标信道。
  21. 根据权利要求1所述的方法，还包括：
    发送第二SCI，所述第二SCI用于指示所述第一终端支持作为锚点终端。
  22. 根据权利要求21所述的方法，其中，所述第二SCI还用于指示所述第一终端作为锚点终端的时效。
  23. 一种信息发送方法，应用于第二终端，包括：
    向第一终端发送信息，向第一终端发送的信息用于确定目标参数和设定限制条件中的至少之一；
    接收在所述目标参数满足所述设定限制条件的情况下，所述第一终端作为锚点终端发送的信息。
  24. 根据权利要求23所述的方法，其中，所述向第一终端发送的信息包括第一边链路控制信息SCI，所述第一SCI中包含锚点终端的用户识别号。
  25. 根据权利要求24所述的方法，其中，所述锚点终端的用户识别号为所述锚点终端的源标识ID。
  26. 根据权利要求23所述的方法，其中，所述目标参数包括以下至少之一：
    所述第二终端为所述第一终端指示的道路方向；所述第二终端为所述第一终端指示的道路标识；
    所述第二终端为所述第一终端指示的运动方向；
    所述第一终端与目标终端之间的距离；
    所述第一终端接收的目标终端的参考信号的参考信号接收功率RSRP；
    所述第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角；
    所述第一终端所在的道路方向与目标终端所在的道路方向之间的第一夹角对90或者对π/2取余；
    所述第一终端的运动方向与目标终端的运动方向之间的第二夹角；
    所述第一终端的运动方向与目标终端的运动方向之间的第二夹角对90或者对π/2取余；
    锚点终端的用户识别号。
  27. 根据权利要求23所述的方法，其中，所述向第一终端发送的信息包括第一SCI，所述第一SCI中包含所述设定限制条件；
    所述设定限制条件包括：所述目标参数的取值不超过设定取值范围；
    其中，所述设定取值范围包括以下至少之一：
    所述第一终端所在的道路方向；所述第一终端所在的道路标识；
    所述第一终端的运动方向；
    所述第一终端与所述目标终端之间的距离的取值范围；所述第一终端与所述目标终端之间的距离的门限值；
    所述第一终端接收的所述目标终端的参考信号的RSRP的取值范围；所述第一终端接收的所述目标终端的参考信号的RSRP的门限值；
    第一夹角的取值范围；第一夹角的门限值；
    第二夹角的取值范围；第二夹角的门限值；
    第一夹角对90或者对π/2取余的取值范围；第一夹角对90或者对π/2取余的门限值；
    第二夹角对90或者对π/2取余的取值范围；第二夹角对90或者对π/2取余的门限值。
  28. 根据权利要求23所述的方法，其中，所述向第一终端发送的信息包括第一SCI；
    所述第一SCI包括定位请求信息，所述定位请求信息用于请求所述第一终端发送以下信息之一：第二定位参考信号；第二定位参考信号和第二位置信息。
  29. 根据权利要求23所述的方法，还包括：
    接收第二SCI，所述第二SCI用于指示所述第一终端支持作为锚点终端。
  30. 根据权利要求29所述的方法，其中，所述第二SCI还用于指示所述第一终端作为锚点终端的时效。
  31. 一种通信节点，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1-22中任一项所述的锚点终端确定方法或如权利要求23-30中任一项所述的信息发送方法。
  32. 一种计算机可读存储介质，存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-22中任一项所述的锚点终端确定方法或如权利要求23-30中任一项所述的信息发送方法。
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