WO2024092577A1

WO2024092577A1 - Group positioning method, and apparatus, device and storage medium

Info

Publication number: WO2024092577A1
Application number: PCT/CN2022/129358
Authority: WO
Inventors: 江小威
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2024-05-10
Anticipated expiration: 2025-05-02
Also published as: CN116076122A

Abstract

Provided in the present disclosure are a group positioning method, and an apparatus, a device and a storage medium. The method comprises: in response to a first UE determining to perform sidelink (SL) group positioning with a target UE group, initiating a procedure of group positioning with the target UE group (201), wherein the target UE group comprises at least two second UEs. The method of the present disclosure can effectively reduce interaction signaling and increase the interaction efficiency, thereby increasing the positioning efficiency.

Description

A group positioning method, device, equipment and storage medium

Technical Field

本公开涉及通信技术领域，尤其涉及组定位方法、装置、设备及存储介质。The present disclosure relates to the field of communication technology, and in particular to a group positioning method, apparatus, device and storage medium.

Background technique

在通信系统中，通过引入侧行链路(Sidelink，SL)通信方式，来实现用户设备(User Equipment，UE)之间的直接通信。以及，针对于通过SL连接的UE而言，其通常需要与一组UE进行SL组定位。因此亟需一种SL组定位的方法。In a communication system, a sidelink (SL) communication mode is introduced to achieve direct communication between user equipments (UEs). Also, for a UE connected via SL, it is usually necessary to perform SL group positioning with a group of UEs. Therefore, a method for SL group positioning is urgently needed.

发明内容Summary of the invention

本公开提出的组定位方法、装置、设备及存储介质，用于提出一种信令交互较少且效率较高的组定位方法。The group positioning method, device, equipment and storage medium proposed in the present disclosure are used to propose a group positioning method with less signaling interaction and higher efficiency.

第一方面，本公开实施例提供一种组定位方法，该方法被第一UE执行，包括：In a first aspect, an embodiment of the present disclosure provides a group positioning method, which is executed by a first UE and includes:

响应于确定要与目标UE组进行侧行链路SL组定位，发起与所述目标UE组的组定位流程，其中，所述目标UE组包括至少两个第二UE。In response to determining that sidelink SL group positioning is to be performed with a target UE group, a group positioning procedure with the target UE group is initiated, wherein the target UE group includes at least two second UEs.

本公开中，响应于第一UE确定要与目标UE组进行SL组定位，该第一UE会发起与目标UE组的组定位流程；其中，该目标UE组包括至少两个第二UE。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在组定位过程中，第一UE与至少一个第二UE交互组定位所需消息时，至少部分消息是由第一UE向目标UE组的第二UE组播的，也即是，第一UE与目标UE组进行组定位的过程中，第一UE并非是与各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。In the present disclosure, in response to the first UE determining that it wants to perform SL group positioning with the target UE group, the first UE will initiate a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least part of the messages are multicast by the first UE to the second UEs of the target UE group, that is, during the process of group positioning between the first UE and the target UE group, the first UE does not interact with each second UE one-to-one throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thereby improving positioning efficiency.

第二方面，本公开实施例提供一种组定位方法，该方法被第二UE执行，包括：In a second aspect, an embodiment of the present disclosure provides a group positioning method, which is performed by a second UE and includes:

与第一UE建立SLPP或RSPP会话，其中，所述第二UE通过侧行链路SL与所述第一UE连接。A SLPP or RSPP session is established with a first UE, wherein the second UE is connected to the first UE via a sidelink SL.

第三方面，本公开实施例提供一种通信装置，该装置被配置在第一UE中，包括：In a third aspect, an embodiment of the present disclosure provides a communication device, which is configured in a first UE and includes:

处理模块，用于响应于确定要与目标UE组进行侧行链路SL组定位，发起与所述目标UE组的组定位流程，其中，所述目标UE组包括至少两个第二UE。A processing module is used to initiate a group positioning process with the target UE group in response to determining that sidelink SL group positioning is to be performed with the target UE group, wherein the target UE group includes at least two second UEs.

第四方面，本公开实施例提供一种通信装置，该装置被配置在第一UE中，包括：In a fourth aspect, an embodiment of the present disclosure provides a communication device, which is configured in a first UE and includes:

处理模块，用于与第一UE建立SLPP或RSPP会话，其中，所述第二UE通过侧行链路SL与所述第一UE连接。A processing module is used to establish an SLPP or RSPP session with a first UE, wherein the second UE is connected to the first UE via a side link SL.

第五方面，本公开实施例提供一种通信装置，该通信装置包括处理器，当该处理器调用存储器中的计算机程序时，执行上述第一方面至第二方面任一方面所述的方法。In a fifth aspect, an embodiment of the present disclosure provides a communication device, which includes a processor. When the processor calls a computer program in a memory, the method described in any one of the first to second aspects is executed.

第六方面，本公开实施例提供一种通信装置，该通信装置包括处理器和存储器，该存储器中存储有计算机程序；所述处理器执行该存储器所存储的计算机程序，以使该通信装置执行上述第一方面至第二方面任一方面所述的方法。In a sixth aspect, an embodiment of the present disclosure provides a communication device, which includes a processor and a memory, in which a computer program is stored; the processor executes the computer program stored in the memory so that the communication device executes the method described in any one of the first to second aspects above.

第七方面，本公开实施例提供一种通信装置，该装置包括处理器和接口电路，该接口电路用于接收代码指令并传输至该处理器，该处理器用于运行所述代码指令以使该装置执行上述第一方面至第二方面任一方面所述的方法。In the seventh aspect, an embodiment of the present disclosure provides a communication device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive code instructions and transmit them to the processor, and the processor is used to run the code instructions to enable the device to execute the method described in any one of the first to second aspects above.

第八方面，本公开实施例提供一种通信系统，该系统包括第三方面至第四方面任一方面所述的通信装置，或者，该系统包括第五方面所述的通信装置，或者，该系统包括第六方面所述的通信装置，或者，该系统包括第七方面所述的通信装置。In an eighth aspect, an embodiment of the present disclosure provides a communication system, the system comprising the communication device described in any one of aspects from the third to the fourth aspect, or the system comprising the communication device described in the fifth aspect, or the system comprising the communication device described in the sixth aspect, or the system comprising the communication device described in the seventh aspect.

第九方面，本发明实施例提供一种计算机可读存储介质，用于储存为上述网络设备所用的指令，当所述指令被执行时，使所述终端设备执行上述第一方面至第二方面任一方面所述的方法。In a ninth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing instructions used by the above-mentioned network device. When the instructions are executed, the terminal device executes the method described in any one of the above-mentioned first to second aspects.

第十方面，本公开还提供一种包括计算机程序的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面至第二方面任一方面所述的方法。In a tenth aspect, the present disclosure further provides a computer program product comprising a computer program, which, when executed on a computer, enables the computer to execute the method described in any one of the first to second aspects above.

第十一方面，本公开提供一种芯片系统，该芯片系统包括至少一个处理器和接口，用于支持网络设备实现第一方面至第二方面任一方面所述的方法所涉及的功能，例如，确定或处理上述方法中所涉及的数据和信息中的至少一种。在一种可能的设计中，所述芯片系统还包括存储器，所述存储器，用于保存源辅节点必要的计算机程序和数据。该芯片系统，可以由芯片构成，也可以包括芯片和其他分立器件。In the eleventh aspect, the present disclosure provides a chip system, which includes at least one processor and an interface, and is used to support a network device to implement the functions involved in the method described in any one of the first aspect to the second aspect, for example, determining or processing at least one of the data and information involved in the above method. In one possible design, the chip system also includes a memory, and the memory is used to store computer programs and data necessary for the source auxiliary node. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

第十二方面，本公开提供一种计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面至第二方面任一方面所述的方法。In a twelfth aspect, the present disclosure provides a computer program, which, when executed on a computer, enables the computer to execute the method described in any one of the first to second aspects above.

BRIEF DESCRIPTION OF THE DRAWINGS

本公开上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

图1为本公开实施例提供的一种通信系统的架构示意图；FIG1 is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

图2为本公开另一个实施例所提供的组定位方法的流程示意图；FIG2 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图3为本公开再一个实施例所提供的组定位方法的流程示意图；FIG3 is a schematic diagram of a flow chart of a group positioning method provided by yet another embodiment of the present disclosure;

图4为本公开又一个实施例所提供的组定位方法的流程示意图；FIG4 is a schematic diagram of a flow chart of a group positioning method provided by yet another embodiment of the present disclosure;

图5为本公开另一个实施例所提供的组定位方法的流程示意图；FIG5 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图6为本公开另一个实施例所提供的组定位方法的流程示意图；FIG6 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图7为本公开另一个实施例所提供的组定位方法的流程示意图；FIG7 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图8为本公开另一个实施例所提供的组定位方法的流程示意图；FIG8 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图9为本公开另一个实施例所提供的组定位方法的流程示意图；FIG9 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图10为本公开另一个实施例所提供的组定位方法的流程示意图；FIG10 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图11为本公开另一个实施例所提供的组定位方法的流程示意图；FIG11 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图12为本公开另一个实施例所提供的组定位方法的流程示意图；FIG12 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图13为本公开另一个实施例所提供的组定位方法的流程示意图；FIG13 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图14为本公开另一个实施例所提供的组定位方法的流程示意图；FIG14 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图15为本公开另一个实施例所提供的组定位方法的流程示意图；FIG15 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图16为本公开另一个实施例所提供的组定位方法的流程示意图；FIG16 is a schematic flow chart of a group positioning method provided by another embodiment of the present disclosure;

图17为本公开另一个实施例所提供的组定位方法的流程示意图；FIG17 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图18为本公开另一个实施例所提供的组定位方法的流程示意图；FIG18 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图19为本公开一个实施例所提供的通信装置的结构示意图；FIG19 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure;

图20为本公开另一个实施例所提供的组定位方法的流程示意图；FIG20 is a schematic diagram of a flow chart of a group positioning method provided by another embodiment of the present disclosure;

图21是本公开一个实施例所提供的一种用户设备的框图；FIG21 is a block diagram of a user equipment provided by an embodiment of the present disclosure;

图22为本公开一个实施例所提供的一种网络侧设备的框图。FIG22 is a block diagram of a network-side device provided by an embodiment of the present disclosure.

Detailed ways

这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开实施例相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开实施例的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present disclosure as detailed in the appended claims.

在本公开实施例使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开实施例。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

应当理解，尽管在本公开实施例可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开实施例范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”及“若”可以被解释成为“在……时”或“当……时”或“响应于确定”。It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的要素。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

为了便于理解，首先介绍本申请涉及的术语。To facilitate understanding, the terms involved in this application are first introduced.

1、第五代移动通信技术(5th generation mobile networks，5G)1. 5th generation mobile networks (5G)

5G是具有高速率、低时延特点的新一代宽带移动通信技术，是实现人机物互联的网络基础设施。5G is a new generation of broadband mobile communication technology with high speed and low latency. It is the network infrastructure for realizing the interconnection between people, machines and things.

2、侧行链路(Sidelink，SL)2. Sidelink (SL)

终端设备之间直接通信的链路。A link for direct communication between end devices.

为了更好的理解本公开实施例公开的一种组定位方法，下面首先对本公开实施例适用的通信系统进行描述。In order to better understand a group positioning method disclosed in an embodiment of the present disclosure, a communication system to which the embodiment of the present disclosure is applicable is first described below.

请参见图1，图1为本公开实施例提供的一种通信系统的架构示意图。该通信系统可包括但不限于两个UE，图1所示的设备数量和形态仅用于举例并不构成对本公开实施例的限定，实际应用中可以包括两个或两个以上的UE。图1所示的通信系统以包括一个第一UE11、两个第二UE12为例，其中，该两个第二UE12可以用于构成一UE组。Please refer to Figure 1, which is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure. The communication system may include but is not limited to two UEs. The number and form of devices shown in Figure 1 are only used for example and do not constitute a limitation on the embodiment of the present disclosure. In actual applications, two or more UEs may be included. The communication system shown in Figure 1 includes a first UE 11 and two second UEs 12 as an example, wherein the two second UEs 12 can be used to form a UE group.

需要说明的是，本公开实施例的技术方案可以应用于各种通信系统。例如：长期演进(long term evolution，LTE)系统、第五代(5th generation，5G)移动通信系统、5G新空口(new radio，NR)系统，或者其他未来的新型移动通信系统等。It should be noted that the technical solutions of the embodiments of the present disclosure can be applied to various communication systems, such as long term evolution (LTE) system, fifth generation (5G) mobile communication system, 5G new radio (NR) system, or other future new mobile communication systems.

本公开实施例中的第一UE11和第二UE12可以是用户侧的一种用于接收或发射信号的实体，如手机。UE也可以称为终端设备(terminal)、用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端设备(mobile terminal，MT)等。UE可以是具备通信功能的汽车、智能汽车、手机(mobile phone)、穿戴式设备、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(virtual reality，VR)终端设备、增强现实(augmented reality，AR)终端设备、工业控制(industrial control)中的无线终端设备、无人驾驶(self-driving)中的无线终端设备、远程手术(remote medical surgery)中的无线终端设备、智能电网(smart grid)中的无线终端设备、运输安全(transportation safety)中的无线终端设备、智慧城市(smart city)中的无线终端设备、智慧家庭(smart home)中的无线终端设备等等。本公开的实施例对UE所采用的具体技术和具体设备形态不做限定。The first UE11 and the second UE12 in the embodiment of the present disclosure may be an entity for receiving or transmitting signals on the user side, such as a mobile phone. UE may also be referred to as a terminal device, a user equipment (UE), a mobile station (MS), a mobile terminal device (MT), etc. UE may be a car with communication function, a smart car, a mobile phone, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, etc. The embodiments of the present disclosure do not limit the specific technology and specific device form adopted by the UE.

可以理解的是，本公开实施例描述的通信系统是为了更加清楚的说明本公开实施例的技术方案，并不构成对于本公开实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本公开实施例提供的技术方案对于类似的技术问题，同样适用。It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution provided by the embodiment of the present disclosure. A person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.

如上文所述，一种可选的方式组定位方法为：第一UE与UE组中的第二UE分别进行1对1交互(如第一UE与各个第二UE进行1对1交互，第二UE之间分别进行1对1交互)，以确定出该第一UE与该UE组中的第二UE之间的定位位置和/或测距距离，从而实现SL组定位和/或SL组测距。但是，该方法的信令交互较多，且效率较低。基于此，本公开用于提供一种信令交互较少且效率较高的组定位方法。As described above, an optional group positioning method is: the first UE and the second UE in the UE group perform one-to-one interactions respectively (such as the first UE performs one-to-one interactions with each second UE, and the second UEs perform one-to-one interactions with each other) to determine the positioning position and/or ranging distance between the first UE and the second UE in the UE group, thereby realizing SL group positioning and/or SL group ranging. However, this method has more signaling interactions and lower efficiency. Based on this, the present disclosure is used to provide a group positioning method with less signaling interactions and higher efficiency.

下面参考附图对本公开实施例所提供的组定位方法、装置、设备及存储介质进行详细描述。The group positioning method, apparatus, device and storage medium provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

需要说明的是，本公开中，任一个实施例提供的组定位方法可以单独执行，实施例中任一实现方式也可以单独执行，或是结合其他实施例，或其他实施例中的可能的实现方法一起被执行，还可以结合相关技术中的任一种技术方案一起被执行，可以理解，上述的各种结合方案均在本公开保护范围内。It should be noted that in the present disclosure, the group positioning method provided in any embodiment can be executed alone, and any implementation method in the embodiment can also be executed alone, or combined with other embodiments, or possible implementation methods in other embodiments, and can also be executed together with any technical solution in the related technology. It can be understood that the above-mentioned various combination schemes are all within the protection scope of the present disclosure.

图2为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图2所示，该组定位方法可以包括以下步骤：FIG. 2 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG. 2 , the group positioning method may include the following steps:

步骤201、响应于第一UE确定要与目标UE组进行侧行链路(Sidelink，SL)组定位，发起与目标UE组的组定位流程。Step 201: In response to the first UE determining to perform sidelink (SL) group positioning with the target UE group, a group positioning procedure with the target UE group is initiated.

其中，在本公开的一个实施例之中，该目标UE组可以包括至少两个第二UE。以及，该第一UE可以与第二UE通过SL链路连接，不同第二UE间也可以通过SL链路连接。In one embodiment of the present disclosure, the target UE group may include at least two second UEs. Also, the first UE may be connected to the second UE via a SL link, and different second UEs may also be connected via a SL link.

以及，在本公开的一个实施例之中，上述的“确定要与目标UE组进行SL组定位”可以包括：当第一UE接收到第一UE的高层发送的组定位请求时，确定第一UE要与目标UE组进行组定位，例如，当第一UE的侧行链路定位协议(Sidelink Positioning Protocol，SLPP)层，和/或，测距与侧行链路定位协议(Ranging and sidelink positioning protocol，RSPP)层接收到第一UE的高层发送的组定位请求时，确定第一UE要与目标UE组进行组定位。And, in one embodiment of the present disclosure, the above-mentioned "determining to perform SL group positioning with the target UE group" may include: when the first UE receives a group positioning request sent by a high layer of the first UE, determining that the first UE is to perform group positioning with the target UE group, for example, when the sidelink positioning protocol (Sidelink Positioning Protocol, SLPP) layer and/or the ranging and sidelink positioning protocol (Ranging and sidelink positioning protocol, RSPP) layer of the first UE receives a group positioning request sent by a high layer of the first UE, determining that the first UE is to perform group positioning with the target UE group.

其中，上述的“高层”可以包括以下至少一项：The above-mentioned “high-level” may include at least one of the following:

应用层；Application layer;

长期演进定位协议(Long Term Evolution positioning protocol，LPP)层；Long Term Evolution positioning protocol (LPP) layer;

PC5-信令(PC5-Signalling，PC5-S)层；PC5-Signalling (PC5-S) layer;

非接入层(Non-access stratum，NAS)；Non-access stratum (NAS);

邻近通信服务(Proximity based Service，Prose)层；Proximity based service (Prose) layer;

车用无线通信技术(vehicle to everything，V2X)层。Vehicle to everything (V2X) wireless communication technology layer.

上述的“组定位请求”可以包括以下至少一项：The above-mentioned “group location request” may include at least one of the following:

目标UE组的组标识(ID)；The group identifier (ID) of the target UE group;

目标UE组对应的组定位服务质量(Quality of Service，QoS)参数；The group positioning quality of service (QoS) parameters corresponding to the target UE group;

目标UE组中的各个第二UE的ID信息。ID information of each second UE in the target UE group.

以及，在本公开的一个实施例之中，上述的“第一UE的高层向SLPP层和/或RSPP层”发送组定位请求可以包括：高层直接向SLPP层和/或RSPP层发送该组定位请求，和/或，除PC5-S层之外的其他高层先向PC5-S层发送该组定位请求，该PC5-S层再向SLPP层和/或RSPP层发送该组定位请求。Furthermore, in one embodiment of the present disclosure, the above-mentioned "the high layer of the first UE sends the group positioning request to the SLPP layer and/or RSPP layer" may include: the high layer directly sends the group positioning request to the SLPP layer and/or RSPP layer, and/or other high layers except the PC5-S layer first send the group positioning request to the PC5-S layer, and the PC5-S layer then sends the group positioning request to the SLPP layer and/or RSPP layer.

进一步地，在本公开的一个实施例之中，上述的“触发与目标UE组的组定位流程”可以包括：第一UE建立与目标UE组的SLPP或RSPP会话(session)，也即是，第一UE与目标UE组中的第二UE建立SLPP或RSPP会话，以便后续第一UE可以与目标UE组中的至少一个第二UE交互组定位所需消息，从而实现组定位。Furthermore, in one embodiment of the present disclosure, the above-mentioned "triggering group positioning process with the target UE group" may include: the first UE establishes an SLPP or RSPP session with the target UE group, that is, the first UE establishes an SLPP or RSPP session with the second UE in the target UE group, so that the first UE can subsequently interact with at least one second UE in the target UE group to exchange messages required for group positioning, thereby achieving group positioning.

需要说明的是，在本公开的一个实施例之中，当第一UE与至少一个第二UE交互组定位所需消息时，至少部分消息是由第一UE向第二UE组播的，也即是，第一UE与目标UE组进行组定位的过程中，第一UE并非是与各个第二UE全程1对1交互的。由此，可以有效减少交互信令，提高交互效率，进而提高了定位效率。It should be noted that, in one embodiment of the present disclosure, when the first UE and at least one second UE exchange messages required for group positioning, at least part of the messages are groupcast by the first UE to the second UE, that is, during the process of group positioning between the first UE and the target UE group, the first UE does not interact with each second UE one-to-one throughout the process. As a result, the interactive signaling can be effectively reduced, the interactive efficiency can be improved, and the positioning efficiency can be further improved.

其中，关于第一UE具体“如何发起与所述目标UE组的组定位流程”的相关介绍会在后续实施例说明。The specific introduction on “how to initiate a group positioning process with the target UE group” for the first UE will be described in subsequent embodiments.

综上所述，本公开实施例提供的组定位方法之中，响应于第一UE确定要与目标UE组进行SL组定位，该第一UE会发起与目标UE组的组定位流程；其中，该目标UE组包括至少两个第二UE。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在组定位过程中，第一UE与至少一个第二UE交互组定位所需消息时，至少部分消息是由第一UE向目标UE组的第二UE组播的，也即是，第一UE与目标UE组进行组定位的过程中，第一UE并非是与各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。In summary, in the group positioning method provided by the embodiment of the present disclosure, in response to the first UE determining that it wants to perform SL group positioning with the target UE group, the first UE will initiate a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least part of the messages are multicast by the first UE to the second UEs of the target UE group, that is, during the process of group positioning between the first UE and the target UE group, the first UE does not interact with each second UE one-to-one throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thereby improving positioning efficiency.

图3为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图3所示，该组定位方法可以包括以下步骤：FIG3 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG3 , the group positioning method may include the following steps:

步骤301、响应于第一UE接收到第一UE的高层发送的组定位请求，确定第一UE要与目标UE组进行组定位。Step 301: In response to a first UE receiving a group positioning request sent by a higher layer of the first UE, it is determined that the first UE needs to perform group positioning with a target UE group.

其中，关于步骤301的详细介绍可以参考上述实施例描述，本公开在此不再赘述。The detailed description of step 301 can be referred to the above embodiment description, and the present disclosure will not elaborate on it here.

具体地，在一些实施方式中，响应于第一UE的SLPP层和/或PSPP层接收到第一UE的高层发送的组定位请求，确定第一UE要与目标UE组进行组定位。Specifically, in some implementations, in response to the SLPP layer and/or PSPP layer of the first UE receiving a group positioning request sent by a higher layer of the first UE, it is determined that the first UE is to perform group positioning with the target UE group.

应当理解，图3中所述的方法单独实施，也可以与前述实施例组合实施，本公开对此不作限制。It should be understood that the method described in FIG. 3 may be implemented alone or in combination with the aforementioned embodiments, and the present disclosure does not limit this.

图4为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图4所示，该组定位方法可以包括以下步骤：FIG4 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG4 , the group positioning method may include the following steps:

步骤401、发起组发现流程，以发现目标UE组中的至少一个第二UE。Step 401: Initiate a group discovery process to discover at least one second UE in a target UE group.

该组发现流程可以是第一UE的SLPP层、RSPP层、高层中的至少一种发起的。The group discovery process may be initiated by at least one of the SLPP layer, RSPP layer, and higher layer of the first UE.

在本公开的一个实施例之中，上述步骤401可以是在“发起与目标UE组的组定位流程”之前执行，以及，通过执行本步骤401可以发现目标UE组中的第二UE，从而方便后续可以成功发起与目标UE组的组定位流程。In one embodiment of the present disclosure, the above step 401 may be performed before "initiating a group positioning process with the target UE group", and by executing this step 401, the second UE in the target UE group may be discovered, thereby facilitating the subsequent successful initiation of a group positioning process with the target UE group.

其中，在本公开的一个实施例之中，上述的发起组发现流程可以包括：In one embodiment of the present disclosure, the initiating group discovery process may include:

监听第二UE发送的第一发现消息；Monitoring a first discovery message sent by a second UE;

响应于接收到第二UE发送的第一发现消息，确定发现了第二UE。In response to receiving the first discovery message sent by the second UE, it is determined that the second UE is discovered.

具体地，当第一UE监听到第二UE发送的第一发现消息时，第一UE可以确定发现了第二UE，否则，第一UE确定没有发现第二UE。Specifically, when the first UE monitors the first discovery message sent by the second UE, the first UE may determine that the second UE is discovered; otherwise, the first UE determines that the second UE is not discovered.

其中，在本公开的一个实施例之中，该第一发现消息可以是第二UE广播的。In one embodiment of the present disclosure, the first discovery message may be broadcast by the second UE.

以及，在本公开的一个实施例之中，上述的监听第二UE发送的第一发现消息可以包括：And, in one embodiment of the present disclosure, the above-mentioned monitoring of the first discovery message sent by the second UE may include:

通过监听SL接收资源池来监听所述第二UE发送的第一发现消息；Monitoring a first discovery message sent by the second UE by monitoring the SL receiving resource pool;

其中，该SL接收资源池可以包括以下至少一种：The SL receiving resource pool may include at least one of the following:

第一SL接收资源池，所述第一SL接收资源池为：专用于UE发现的接收资源池；A first SL receiving resource pool, where the first SL receiving resource pool is: a receiving resource pool dedicated to UE discovery;

第二SL接收资源池，所述第二SL接收资源池为通用SL接收资源池。The second SL receiving resource pool is a general SL receiving resource pool.

可选的，该SL接收资源池可以是预配置的或者可以是由网络设备配置至第一UE的，该网络设备可以包括基站和/或LMF。然而，应当理解，第一UE也可以通过其他方式从网络设备或者其他网元获取SL接收资源池，本公开对此不作限制。Optionally, the SL receiving resource pool may be preconfigured or may be configured to the first UE by a network device, which may include a base station and/or LMF. However, it should be understood that the first UE may also obtain the SL receiving resource pool from a network device or other network element in other ways, and the present disclosure does not limit this.

以及，在本公开的另一个实施例之中，上述的发起组发现流程可以包括：And, in another embodiment of the present disclosure, the above-mentioned initiating group discovery process may include:

基于目标UE组的组ID向目标UE组中的第二UE组播第二发现消息；multicast a second discovery message to a second UE in the target UE group based on the group ID of the target UE group;

监听第二UE发送的响应消息；Monitoring a response message sent by the second UE;

响应于接收到第二UE发送的响应消息，确定发现了第二UE。In response to receiving the response message sent by the second UE, it is determined that the second UE is discovered.

具体地，第一UE可以发送第二发现消息以发现可能的第二UE，响应于接收到第二发现消息，第二UE可以向第一UE发送响应消息，该响应消息例如可以是上文所述的第一发现消息。Specifically, the first UE may send a second discovery message to discover a possible second UE. In response to receiving the second discovery message, the second UE may send a response message to the first UE. The response message may be, for example, the first discovery message described above.

以及，在本公开的一个实施例之中，上述的监听第二UE发送的响应消息与监听上述第一发现消息的方式类同，本公开在此不再赘述。Furthermore, in one embodiment of the present disclosure, the above-mentioned monitoring of the response message sent by the second UE is similar to the method of monitoring the above-mentioned first discovery message, and the present disclosure will not repeat them here.

以及，在本公开的一个实施例之中，上述的组播第二发现消息可以包括：And, in one embodiment of the present disclosure, the multicast second discovery message may include:

通过SL发送资源池组播该第二发现消息；Send the second discovery message to the resource pool through the SL;

其中，该SL发送资源池可以包括以下至少一种：The SL sending resource pool may include at least one of the following:

第一SL发送资源池，所述第一SL发送资源池为：专用于UE发现的发送资源池；A first SL sending resource pool, where the first SL sending resource pool is: a sending resource pool dedicated to UE discovery;

第二SL发送资源池，所述第二SL发送资源池为通用SL接收资源池。The second SL sending resource pool is a general SL receiving resource pool.

可选的，该SL发送资源池可以是预配置的或者可以是由网络设备配置至第一UE的，该网络设备可以包括基站和/或LMF，然而，应当理解，第一UE也可以通过其他方式从网络设备或者其他网元获取SL发送资源池，本公开对此不作限制。Optionally, the SL sending resource pool can be pre-configured or can be configured to the first UE by a network device, and the network device may include a base station and/or LMF. However, it should be understood that the first UE can also obtain the SL sending resource pool from the network device or other network elements in other ways, and the present disclosure does not limit this.

需要说明的是，在本公开的一个实施例之中，上述的“组发现流程”可以是SLPP层、RSPP层、高层中的至少一种发起的。其中，当该组发现流程是由SLPP层或RSPP层发起时，该SLPP层或RSPP层可以是在收到高层发送的组定位请求后，发起该组发现流程的，以及，该SLPP层或RSPP层还可以将发现到的第二UE的ID进行存储，以便后续可以基于该发现到的第二UE的ID进行组定位流程。当该组发现流程是由高层发起时，该高层可以是在其向SLPP层和/或RSPP层发送了组定位请求之前或之后发起该组发现流程的，并且，高层还可以将发现到的第二UE的ID直接发送至SLPP层或RSPP层，或者，通过PC5-S层发送至SLPP层或RSPP层，以便后续SLPP层或RSPP层可以基于该发现到的第二UE的ID进行组定位流程。It should be noted that, in one embodiment of the present disclosure, the above-mentioned "group discovery process" may be initiated by at least one of the SLPP layer, the RSPP layer, and the high layer. Wherein, when the group discovery process is initiated by the SLPP layer or the RSPP layer, the SLPP layer or the RSPP layer may initiate the group discovery process after receiving the group positioning request sent by the high layer, and the SLPP layer or the RSPP layer may also store the ID of the discovered second UE so that the group positioning process can be performed based on the ID of the discovered second UE later. When the group discovery process is initiated by the high layer, the high layer may initiate the group discovery process before or after it sends the group positioning request to the SLPP layer and/or the RSPP layer, and the high layer may also send the ID of the discovered second UE directly to the SLPP layer or the RSPP layer, or send it to the SLPP layer or the RSPP layer through the PC5-S layer, so that the SLPP layer or the RSPP layer may perform the group positioning process based on the ID of the discovered second UE later.

应当理解，图4中所述的方法单独实施，也可以与前述实施例组合实施，本公开对此不作限制。It should be understood that the method described in FIG. 4 may be implemented alone or in combination with the aforementioned embodiments, and the present disclosure does not limit this.

综上所述，本公开实施例提供的组定位方法之中，响应于第一UE确定要与目标UE组进行SL组定位，该第一UE会发起与目标UE组的组定位流程；其中，该目标UE组包括至少两个第二UE。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在组定位过程中，第一UE与至少一个第二UE交互组定位所需消息时，至少部分消息是由第一UE向目标UE组的第二UE组播的，也即是，第一UE与目标UE组进行组定位的过程中，第一UE并非是与各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。In summary, in the group positioning method provided by the embodiment of the present disclosure, in response to the first UE determining that it wants to perform SL group positioning with the target UE group, the first UE will initiate a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least part of the messages are multicast by the first UE to the second UEs of the target UE group, that is, during the group positioning process of the first UE and the target UE group, the first UE does not interact with each second UE one-to-one throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thereby improving positioning efficiency.

图5为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图5所示，该组定位方法可以包括以下步骤：FIG5 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG5 , the group positioning method may include the following steps:

步骤501、与目标UE组建立SLPP或RSPP会话。Step 501: Establish a SLPP or RSPP session with a target UE group.

其中，在本公开的一个实施例之中，该与目标UE组建立SLPP或RSPP会话可以包括：与目标UE组的第二UE建立SLPP或RSPP会话。第一UE可以通过该SLPP或RSPP会话与第二UE交互定位所需的消息，从而实现组定位。In one embodiment of the present disclosure, establishing a SLPP or RSPP session with the target UE group may include: establishing a SLPP or RSPP session with a second UE in the target UE group. The first UE may exchange positioning messages required with the second UE through the SLPP or RSPP session, thereby achieving group positioning.

应当理解，图5中所述的方法单独实施，也可以与前述实施例组合实施，本公开对此不作限制。It should be understood that the method described in FIG. 5 may be implemented alone or in combination with the aforementioned embodiments, and the present disclosure does not limit this.

图6为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图6所示，该组定位方法可以包括以下步骤：FIG6 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG6 , the group positioning method may include the following steps:

步骤601、向目标UE组中的第二UE组播SLPP或RSPP消息，该SLPP或RSPP消息用于触发建立第一UE与第二UE之间SLPP或RSPP会话。Step 601: multicast a SLPP or RSPP message to a second UE in a target UE group, where the SLPP or RSPP message is used to trigger establishment of a SLPP or RSPP session between the first UE and the second UE.

在本公开的一个实施例之中，该SLPP或RSPP消息可以包括以下至少一种：In one embodiment of the present disclosure, the SLPP or RSPP message may include at least one of the following:

能力相关的消息(如SLPP或RSPP能力传输消息)；Capability-related messages (such as SLPP or RSPP capability transfer messages);

位置信息相关的消息(如SLPP或RSPP位置信息传输消息)；Messages related to location information (such as SLPP or RSPP location information transmission messages);

辅助信息相关的消息。Auxiliary information related messages.

其中，上述的“能力相关的消息”可以为第一UE的定位能力相关的消息，和/或，第二UE的定位能力相关的消息。The above-mentioned “capability-related message” may be a message related to the positioning capability of the first UE and/or a message related to the positioning capability of the second UE.

上述的“位置信息相关的消息”可以为与第一UE的位置相关的消息，和/或，与第二UE的位置相关的消息。The above-mentioned “message related to location information” may be a message related to the location of the first UE and/or a message related to the location of the second UE.

上述的“辅助信息相关的消息”可以为用于辅助组定位的消息。The aforementioned “assistance information related message” may be a message used to assist group positioning.

以及，在本公开的一个实施例之中，上述的“组播”的发送方法可以包括：第一UE基于目标UE组的组ID向目标UE组中的第二UE组播该SLPP或RSPP消息。其中，可以将组ID映射到目标UE组对应的Layer 2 destination ID(层2目标ID)，即：可以基于组ID将SLPP或RSPP消息映射到目标UE组对应的Layer 2 destination ID，其中，该组ID是应用层ID，Layer 2 destination ID是在媒体接入控制层(Medium Access Control，MAC)或物理层(Physical Layer，PHY)携带，以及，各个UE组会主动去检测其Layer 2 destination ID对应的SL数据，由此目标UE组中的第二UE通过检测该目标UE组的Layer 2 destination ID对应的SL数据，即可接收到第一UE组播的消息。And, in one embodiment of the present disclosure, the above-mentioned "multicast" sending method may include: the first UE multicasts the SLPP or RSPP message to the second UE in the target UE group based on the group ID of the target UE group. Wherein, the group ID can be mapped to the Layer 2 destination ID corresponding to the target UE group, that is, the SLPP or RSPP message can be mapped to the Layer 2 destination ID corresponding to the target UE group based on the group ID, wherein the group ID is an application layer ID, and the Layer 2 destination ID is carried in the media access control layer (Medium Access Control, MAC) or the physical layer (Physical Layer, PHY), and each UE group will actively detect the SL data corresponding to its Layer 2 destination ID, so that the second UE in the target UE group can receive the message multicast by the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group.

进一步地，在本公开的一个实施例之中，若未提供目标UE组的ID，则可以基于所请求的组定位对应的服务类型(service type)向目标UE组中的第二UE组播该SLPP或RSPP消息。其中，可以将service type映射到目标UE组对应的Layer 2 destination ID，即：可以基于service type将SLPP或RSPP消息映射到目标UE组对应的Layer 2 destination ID，由此目标UE组中的第二UE通过检测该目标UE组的Layer 2 destination ID对应的SL数据，即可接收到第一UE组播的消息。其中，上述的服务类型可以是基于组定位请求确定的，如可以是包含在该组定位请求中。Further, in one embodiment of the present disclosure, if the ID of the target UE group is not provided, the SLPP or RSPP message can be multicast to the second UE in the target UE group based on the service type (service type) corresponding to the requested group positioning. The service type can be mapped to the Layer 2 destination ID corresponding to the target UE group, that is, the SLPP or RSPP message can be mapped to the Layer 2 destination ID corresponding to the target UE group based on the service type, so that the second UE in the target UE group can receive the message multicast by the first UE by detecting the SL data corresponding to the Layer 2 destination ID of the target UE group. The above-mentioned service type can be determined based on the group positioning request, such as being included in the group positioning request.

其中，上述的“映射”可以由SLPP层、RSPP层、PC5-S层中的至少一个执行的。The above-mentioned "mapping" may be performed by at least one of the SLPP layer, the RSPP layer, and the PC5-S layer.

应当理解，图6中所述的方法单独实施，也可以与前述实施例组合实施，本公开对此不作限制。It should be understood that the method described in FIG. 6 may be implemented alone or in combination with the aforementioned embodiments, and the present disclosure does not limit this.

图7为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图7所示，该组定位方法可以包括以下步骤：FIG. 7 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG. 7 , the group positioning method may include the following steps:

步骤701、与至少一个第二UE交互组定位所需消息，以进行组定位。Step 701: Exchange messages required for group positioning with at least one second UE to perform group positioning.

其中，在本公开的一个实施例之中，上述的“与所述至少一个第二UE交互组定位所需消息”可以包括以下至少一种：Among them, in one embodiment of the present disclosure, the above-mentioned "message required for interacting with the at least one second UE for group positioning" may include at least one of the following:

第一种、将组定位所需发送的全部消息均采用组播方式发送至第二UE。The first method is to send all messages required for group positioning to the second UE in a multicast manner.

其中，通过将组定位所需发送的全部消息均采用组播方式发送至第二UE，则可以大大降低交互所需的信令，提升交互效率，进而提升定位效率。Among them, by sending all the messages required for group positioning to the second UE in a multicast manner, the signaling required for interaction can be greatly reduced, the interaction efficiency can be improved, and the positioning efficiency can be further improved.

第二种、将组定位所需发送的消息中的第一类型的消息采用单播方式发送至第二UE，除第一类型外的消息采用组播方式发送至第二UE。The second method is to send the first type of messages among the messages required for group positioning to the second UE in a unicast manner, and send the messages other than the first type to the second UE in a multicast manner.

其中，在本公开的一个实施例之中，该第一类型的消息可以包括：需要针对性发送的消息，例如可以为：第一UE需要向任一第二UE针对性发送的消息，如可以为位置信息相关的消息。以及，在本公开的一个实施例之中，对于采用组播发送的消息，也可以可选地单播发送。Among them, in one embodiment of the present disclosure, the first type of message may include: a message that needs to be sent specifically, for example, a message that the first UE needs to send specifically to any second UE, such as a message related to location information. And, in one embodiment of the present disclosure, for a message sent by multicast, it can also be optionally sent by unicast.

进一步示例的，在本公开的一个实施例之中，能力相关的消息、位置信息相关的消息、辅助信息相关的消息、Error(错误)消息、Abort(中止)消息中的至少一种可以采用组播发送或者采用单播发送。As a further example, in one embodiment of the present disclosure, at least one of capability-related messages, location information-related messages, auxiliary information-related messages, Error messages, and Abort messages can be sent by multicast or by unicast.

第三种、自主确定采用组播方式发送的消息，以及采用单播方式发送的消息，并按照自主确定的方式对应发送组定位所需发送的消息。The third type is to autonomously determine the messages to be sent in multicast mode and the messages to be sent in unicast mode, and locate the messages to be sent in the corresponding sending group in the autonomously determined manner.

如第一UE可以自主确定能力相关的消息采用组播方式发送或单播方式发送。For example, the first UE may autonomously determine whether the capability-related message is sent in a multicast manner or a unicast manner.

由上述内容可知，本公开中，第一UE与目标UE组进行组定位时，其中的至少部分消息是通过组播方式传输的，从而有效减少了通信所需的交互信令，且缩短了交互时间，提升了交互效率。From the above content, it can be seen that in the present disclosure, when the first UE performs group positioning with the target UE group, at least part of the messages therein are transmitted via multicast, thereby effectively reducing the interactive signaling required for communication, shortening the interaction time, and improving the interaction efficiency.

应当理解，图7中所述的方法单独实施，也可以与前述实施例组合实施，本公开对此不作限制。It should be understood that the method described in FIG. 7 may be implemented alone or in combination with the aforementioned embodiments, and the present disclosure does not limit this.

图8为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图8所示，该组定位方法可以包括以下步骤：FIG8 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG8 , the group positioning method may include the following steps:

步骤801、向第二UE指示第二UE发送组定位所需消息时的发送方式。Step 801: Instruct the second UE on a sending method for sending a message required for group positioning.

其中，该发送方式可以包括组播发送或单播发送。The sending method may include multicast sending or unicast sending.

以及，在本公开的一个实施例之中，上述的向第二UE指示第二UE发送组定位所需消息时的发送方式可以包括：在第一UE向所述第二UE发送的每一消息中包含第一指示信息，该第一指示信息用于指示：第二UE反馈该消息的响应消息时的发送方式；该第一指示信息指示的发送方式包括单播或组播。Furthermore, in one embodiment of the present disclosure, the above-mentioned sending method for instructing the second UE to send a message required for group positioning may include: including first indication information in each message sent by the first UE to the second UE, and the first indication information is used to indicate: the sending method when the second UE feeds back a response message to the message; the sending method indicated by the first indication information includes unicast or multicast.

其中，在本公开的一个实施例之中，该第一指示信息可以为比特码，当该第一指示信息为第一值(如1)时，可以指示单播发送方式；当该第一指示信息为第二值(如0)时，可以指示组播发送方式。In one embodiment of the present disclosure, the first indication information may be a bit code. When the first indication information is a first value (such as 1), it may indicate a unicast sending mode; when the first indication information is a second value (such as 0), it may indicate a multicast sending mode.

示例的，假设第一UE向第二UE发送的能力相关的消息中包括的第一指示信息为第一值，则当第二UE向第一UE反馈该能力相关的消息的响应消息时，可以以单播方式反馈该响应消息。For example, assuming that the first indication information included in the capability-related message sent by the first UE to the second UE is a first value, when the second UE feeds back a response message to the capability-related message to the first UE, the response message can be fed back in a unicast manner.

可选的，在本公开的另一个实施例之中，向第二UE指示第二UE发送组定位所需消息时的发送方式可以包括：向第二UE发送第二指示信息，该第二指示信息可以用于指示：第二UE收到第二指示信息后，采用第二指示信息所指示的发送方式来向第一UE发送组定位所需消息；第二指示信息指示的发送方式包括单播或组播。Optionally, in another embodiment of the present disclosure, the sending method for instructing the second UE to send the message required for group positioning may include: sending second indication information to the second UE, and the second indication information may be used to indicate: after the second UE receives the second indication information, use the sending method indicated by the second indication information to send the message required for group positioning to the first UE; the sending method indicated by the second indication information includes unicast or multicast.

需要说明的是，当第二UE接收到该第二指示信息之后，可以采用该第二指示信息指示的发送方式来向第一UE发送组定位所需消息，直到第二UE再次接收到新的第二指示信息，则第二UE可以采用该新的第二指示信息指示的发送方式来向第一UE发送组定位所需消息。It should be noted that after the second UE receives the second indication information, it can use the sending method indicated by the second indication information to send the message required for group positioning to the first UE until the second UE receives new second indication information again, then the second UE can use the sending method indicated by the new second indication information to send the message required for group positioning to the first UE.

其中，在本公开的一个实施例之中，该第二指示信息可以为比特码，当该第二指示信息为第三值(如1)时，可以指示单播发送方式；当该第二指示信息为第四值(如0)时，可以指示组播发送方式。In one embodiment of the present disclosure, the second indication information may be a bit code. When the second indication information is a third value (such as 1), it may indicate a unicast sending mode; when the second indication information is a fourth value (such as 0), it may indicate a multicast sending mode.

示例的，假设第一UE向第二UE发送了第二指示信息，该第二指示信息为第三值，则第二UE接收到到该第二指示信息之后，可以采用单播方式来向第一UE发送组定位所需消息。之后，经过一段时间，第一UE又向第二UE发送了一新的第二指示信息，该新的第二指示信息为第四值，则第二UE接收到到该新的第二指示信息之后，可以采用组播方式来向第一UE发送组定位所需消息。For example, assuming that the first UE sends second indication information to the second UE, and the second indication information is the third value, after the second UE receives the second indication information, it can use unicast to send the group positioning required message to the first UE. Afterwards, after a period of time, the first UE sends a new second indication information to the second UE, and the new second indication information is the fourth value. After the second UE receives the new second indication information, it can use multicast to send the group positioning required message to the first UE.

图9为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图9所示，该组定位方法可以包括以下步骤：FIG. 9 is a flow chart of a group positioning method provided in an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG. 9 , the group positioning method may include the following steps:

步骤901、终止或暂停与第二UE之间的SLPP或RSPP会话。Step 901: Terminate or suspend the SLPP or RSPP session with the second UE.

其中，在本公开的一个实施例之中，第一UE在与目标UE组进行组定位时，可能会出现第一UE与部分第二UE无法正常交互的情况，如第二UE不具备响应第一UE发送的消息的能力，或者，第一UE与第二UE之间的SL链路出现异常，或者，第一UE与第二UE之间的通信质量较低，此时，可以终止或暂停与该第二UE之间的SLPP或RSPP会话，以防止第一UE仍然试图与该第二UE交互通信的情况，避免无用交互信令的消耗。Among them, in one embodiment of the present disclosure, when the first UE is performing group positioning with the target UE group, it may happen that the first UE and some of the second UEs cannot interact normally, such as the second UE does not have the ability to respond to the message sent by the first UE, or the SL link between the first UE and the second UE is abnormal, or the communication quality between the first UE and the second UE is low. At this time, the SLPP or RSPP session with the second UE can be terminated or suspended to prevent the first UE from still attempting to interact and communicate with the second UE, thereby avoiding the consumption of useless interaction signaling.

在本公开的一个实施例之中，上述的终止或暂停与所述第二UE之间的SLPP或RSPP会话可以包括以下至少一种：In one embodiment of the present disclosure, the above-mentioned termination or suspension of the SLPP or RSPP session with the second UE may include at least one of the following:

响应于第一UE基于第二UE发送的信息(如能力信息)确定所述第二UE无法参与组定位流程，终止或暂停与第二UE之间的SLPP或RSPP会话；In response to the first UE determining that the second UE cannot participate in the group positioning process based on the information sent by the second UE (such as capability information), terminating or suspending the SLPP or RSPP session with the second UE;

响应于第一UE接收到第二UE发送的指示终止或暂停SLPP或RSPP会话的消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话；In response to the first UE receiving a message sent by the second UE indicating termination or suspension of the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

响应于第一UE接收到第二UE发送的请求终止或暂停SLPP或RSPP会话的消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话；In response to the first UE receiving a message sent by the second UE requesting to terminate or suspend the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

响应于第一UE接收到第二UE发送的Error消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话。In response to the first UE receiving an Error message sent by the second UE, the first UE terminates or suspends the SLPP or RSPP session with the second UE.

需要说明的是，在本公开的一个实施例之中，上述的指示终止或暂停SLPP或RSPP会话的消息、请求终止或暂停SLPP或RSPP会话的消息、Error消息可以是第二UE确定其无法或者不能响应第一UE的消息(比如无法提供第一UE请求的辅助相关的信息或位置相关的信息)时，发送至第一UE的。其中，该Error消息中还可以指示有第二UE发送该Error消息的原因，如，若该Error消息是由于第二UE无法响应第一UE发送的消息而由第二UE发送至第一UE的，则该Error消息可以指示有：第二UE无法响应第一UE发送的消息，和/或，指示第二UE为何无法响应第一UE发送的消息的具体原因。It should be noted that, in one embodiment of the present disclosure, the above-mentioned message indicating the termination or suspension of the SLPP or RSPP session, the message requesting the termination or suspension of the SLPP or RSPP session, and the Error message may be sent to the first UE when the second UE determines that it cannot or cannot respond to the message of the first UE (for example, it cannot provide the auxiliary-related information or location-related information requested by the first UE). The Error message may also indicate the reason why the second UE sends the Error message. For example, if the Error message is sent by the second UE to the first UE because the second UE cannot respond to the message sent by the first UE, the Error message may indicate: the second UE cannot respond to the message sent by the first UE, and/or indicate the specific reason why the second UE cannot respond to the message sent by the first UE.

进一步地，还需要说明的是，若第一UE接收到的是第二UE发送的请求终止或暂停SLPP或RSPP会话的消息，则该第一UE可以向第二UE反馈其接受或拒绝该请求消息，其中，当第一UE接受该请求消息时，则认为第一UE同意终止或暂停与所述第二UE之间的SLPP或RSPP会话，此时，当第二UE收到的第一UE反馈指示接受该请求消息时，则第二UE可以终止或暂停与所述第一UE之间的SLPP或RSPP会话；若第一UE拒绝该请求消息时，则认为第一UE不同意终止或暂停与所述第二UE之间的SLPP或RSPP会话，此时，当第二UE收的第一UE反馈指示拒绝该请求消息时，则第二UE不能终止或暂停与所述第一UE之间的SLPP或RSPP会话，或者，第二UE也可以自主确定终止或暂停与所述第一UE之间的SLPP或RSPP会话。Furthermore, it should be noted that if the first UE receives a message sent by the second UE requesting the termination or suspension of the SLPP or RSPP session, the first UE can feedback to the second UE whether it accepts or rejects the request message, wherein when the first UE accepts the request message, it is deemed that the first UE agrees to terminate or suspend the SLPP or RSPP session with the second UE. At this time, when the feedback from the first UE received by the second UE indicates acceptance of the request message, the second UE can terminate or suspend the SLPP or RSPP session with the first UE; if the first UE rejects the request message, it is deemed that the first UE does not agree to terminate or suspend the SLPP or RSPP session with the second UE. At this time, when the feedback from the first UE received by the second UE indicates rejection of the request message, the second UE cannot terminate or suspend the SLPP or RSPP session with the first UE, or the second UE can also autonomously determine to terminate or suspend the SLPP or RSPP session with the first UE.

此外，在本公开的一个实施例之中，上述的终止SLPP或RSPP会话可以包括：第一UE不再接收或不再发送与终止的SLPP或RSPP会话相关的任何信息。In addition, in one embodiment of the present disclosure, the above-mentioned termination of the SLPP or RSPP session may include: the first UE no longer receives or no longer sends any information related to the terminated SLPP or RSPP session.

上述的暂停SLPP或RSPP会话可以包括：该SLPP或RSPP会话不再激活，此时，第一UE不再发送与暂停的SLPP或RSPP会话相关的任何信息，但接收与所述暂停的SLPP或RSPP会话相关的信息。The above-mentioned suspension of the SLPP or RSPP session may include: the SLPP or RSPP session is no longer activated, at which time the first UE no longer sends any information related to the suspended SLPP or RSPP session, but receives information related to the suspended SLPP or RSPP session.

以及，在本公开的一个实施例之中，针对于目标UE组而言，其中部分第二UE的SLPP或RSPP会话终止或暂停，不影响其他第二UE与该第一UE基于该SLPP或RSPP会话交互，即不影响该SLPP或RSPP会话的其它UE的激活。Furthermore, in one embodiment of the present disclosure, for the target UE group, the termination or suspension of the SLPP or RSPP session of some second UEs does not affect the interaction between other second UEs and the first UE based on the SLPP or RSPP session, that is, it does not affect the activation of other UEs of the SLPP or RSPP session.

图10为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第一UE执行，如图10所示，该组定位方法可以包括以下步骤：FIG10 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a first UE. As shown in FIG10 , the group positioning method may include the following steps:

步骤1001、向第二UE发送第三指示信息，该第三指示信息用于指示第二UE终止或暂停与第一UE之间的SLPP或RSPP会话。Step 1001: Send third indication information to a second UE, where the third indication information is used to instruct the second UE to terminate or suspend a SLPP or RSPP session with the first UE.

其中，在本公开的一个实施例之中，当第一UE确定终止或暂停与第二UE之间的SLPP或RSPP会话时，该第一UE可以向该第二UE发送上述的第三指示信息，以指示该第二UE也终止或暂停与第一UE之间的SLPP或RSPP会话。In one embodiment of the present disclosure, when the first UE determines to terminate or suspend the SLPP or RSPP session with the second UE, the first UE may send the third indication information mentioned above to the second UE to instruct the second UE to also terminate or suspend the SLPP or RSPP session with the first UE.

可选的，在本公开的一个实施例之中，该向第二UE发送第三指示信息可以包括以下至少一种：Optionally, in an embodiment of the present disclosure, the sending of the third indication information to the second UE may include at least one of the following:

向第二UE单播第三指示信息；Unicast third indication information to the second UE;

组播第三指示信息，该第三指示信息中包括有需要终止或暂停SLPP或RSPP会话的第二UE的ID。其中，该第二UE的ID可以为第二UE对应的SL layer 2 ID(侧行链路层2标识)，和/或，第二UE对应的UE application layer ID(UE应用层标识)。The third indication information is multicast, and the third indication information includes the ID of the second UE that needs to terminate or suspend the SLPP or RSPP session. The ID of the second UE can be the SL layer 2 ID (side link layer 2 identifier) corresponding to the second UE, and/or the UE application layer ID (UE application layer identifier) corresponding to the second UE.

图11为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图11所示，该组定位方法可以包括以下步骤：FIG. 11 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 11 , the group positioning method may include the following steps:

步骤1101、与第一UE建立SLPP或RSPP会话，该第二UE通过SL与第一UE连接。Step 1101: Establish a SLPP or RSPP session with the first UE, and the second UE is connected to the first UE via SL.

该第二UE与至少一个其他第二UE构成目标UE组，以与第一UE进行组定位。The second UE and at least one other second UE form a target UE group to perform group positioning with the first UE.

以及，在本公开的一个实施例之中，该SLPP或RSPP会话具体可以用于交互组定位所需的信息。需要说明的是，在本公开的一个实施例之中，在交互组定位所需的信息时，至少部分信息时由第二UE组播发送的，其中，第二UE组播发送可以理解为：第二UE向目标UE组中的其他第二UE(和/或也包括它自己)以及第一UE组播发送信息。也即是，第一UE与目标UE组进行组定位的过程中，第二UE并非是与目标UE组中的其他各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。And, in one embodiment of the present disclosure, the SLPP or RSPP session can be specifically used for the information required for interactive group positioning. It should be noted that in one embodiment of the present disclosure, when the information required for interactive group positioning is used, at least part of the information is sent by the second UE multicast, wherein the second UE multicast sending can be understood as: the second UE multicasts the information to other second UEs (and/or itself) in the target UE group and the first UE. That is, during the process of group positioning between the first UE and the target UE group, the second UE does not interact one-to-one with each other second UE in the target UE group throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thereby improving positioning efficiency.

以及，关于步骤1101的详细介绍可以参考上述实施例描述。Also, for a detailed description of step 1101 , reference may be made to the above embodiment description.

综上所述，本公开实施例提供的组定位方法之中，第二UE会建立与第一UE的SLPP或RSPP会话，该第一UE通过SL与第二UE连接。其中，该SLPP或RSPP会话用于交互组定位所需的信息。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在交互组定位所需的信息时，至少部分信息时由第二UE组播发送的，其中，第二UE组播发送可以理解为：第二UE向目标UE组中的其他第二UE(和/或也包括它自己)组播发送信息。也即是，第一UE与目标UE组进行组定位的过程中，第二UE并非是与目标UE组中的其他各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。To sum up, in the group positioning method provided by the embodiment of the present disclosure, the second UE will establish an SLPP or RSPP session with the first UE, and the first UE is connected to the second UE through SL. The SLPP or RSPP session is used to exchange information required for group positioning. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, when the information required for interactive group positioning is transmitted, at least part of the information is multicasted by the second UE, wherein the second UE multicast transmission can be understood as: the second UE multicasts information to other second UEs (and/or itself) in the target UE group. That is, in the process of group positioning between the first UE and the target UE group, the second UE does not interact one-to-one with each other second UE in the target UE group throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thus improving positioning efficiency.

图12为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图12所示，该组定位方法可以包括以下步骤：FIG. 12 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 12 , the group positioning method may include the following steps:

步骤1201、接收所述第一UE发送的SLPP或RSPP消息，所述SLPP或RSPP消息用于触发建立所述第一UE与所述第二UE之间SLPP或RSPP会话。Step 1201: Receive a SLPP or RSPP message sent by the first UE, where the SLPP or RSPP message is used to trigger establishment of a SLPP or RSPP session between the first UE and the second UE.

关于步骤1201的详细介绍可以参考上述实施例描述。For a detailed description of step 1201 , please refer to the above embodiment description.

图13为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图13所示，该组定位方法可以包括以下步骤：FIG. 13 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 13 , the group positioning method may include the following steps:

步骤1301、交互组定位所需消息，以进行组定位。Step 1301: Exchange messages required for group positioning to perform group positioning.

可选的，上述的交互组定位所需消息可以为：第二UE与第一UE交互组定位所需消息，和/或，第二UE与目标UE组中的其他第二UE交互组定位所需消息。Optionally, the above-mentioned message required for interactive group positioning may be: a message required for interactive group positioning between the second UE and the first UE, and/or a message required for interactive group positioning between the second UE and other second UEs in the target UE group.

以及，上述的交互组定位所需消息可以包括以下至少一种：Furthermore, the above-mentioned interaction group positioning required message may include at least one of the following:

通过单播方式发送组定位所需消息；Send the messages required for group positioning via unicast;

基于第一UE的指示确定发送组定位所需消息时的发送方式；Determine, based on the instruction of the first UE, a sending method when sending a message required for group positioning;

将组定位所需发送的消息中的第一类型的消息采用单播方式发送，除第一类型外的消息采用组播方式发送；Sending a first type of message among the messages required to be sent by the group positioning in a unicast manner, and sending messages other than the first type in a multicast manner;

自主确定采用组播方式发送的消息，以及采用单播方式发送的消息，并按照自主确定的方式对应发送组定位所需发送的消息。Autonomously determine the messages to be sent in multicast mode and the messages to be sent in unicast mode, and send the messages required to be sent by the sending group positioning in the autonomously determined manner.

需要说明的是，上述的“第一类型的消息”可以为需要针对性发送的消息，例如第二UE需要向第一UE或其他第二UE针对性发送的消息，如该第一类型的消息可以为：能力相关的消息和/或辅助信息相关的消息。It should be noted that the above-mentioned "first type of message" may be a message that needs to be sent specifically, for example, a message that the second UE needs to send specifically to the first UE or other second UE. For example, the first type of message may be: capability-related messages and/or auxiliary information-related messages.

上述的“基于第一UE的指示确定发送组定位所需消息时的发送方式”可以包括：The above-mentioned “determining a sending method when sending a message required for group positioning based on an instruction of the first UE” may include:

响应于所述第一UE发送的消息中包括第一指示信息，采用所述第一指示信息指示的发送方式发送所述消息的响应消息；所述第一指示信息指示的发送方式包括单播或组播；和/或In response to the message sent by the first UE including first indication information, sending a response message of the message using a sending mode indicated by the first indication information; the sending mode indicated by the first indication information includes unicast or multicast; and/or

响应于接收到第一UE发送的第二指示信息后，采用所述第二指示信息所指示的发送方式来发送组定位所需消息；所述第二指示信息指示的发送方式包括单播或组播。In response to receiving the second indication information sent by the first UE, a message required for group positioning is sent using a sending mode indicated by the second indication information; the sending mode indicated by the second indication information includes unicast or multicast.

此外，关于步骤1301的详细介绍可以参考上述实施例描述。In addition, for a detailed description of step 1301 , reference may be made to the above embodiment description.

图14为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图14所示，该组定位方法可以包括以下步骤：FIG. 14 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 14 , the group positioning method may include the following steps:

步骤1401、响应于第二UE无法响应第一UE发送的消息，执行以下操作中的至少一项：向第一UE发送指示终止或暂停SLPP或RSPP会话的消息，向第一UE发送请求终止或暂停SLPP或RSPP会话的消息，向第一UE发送Error消息。Step 1401: In response to the second UE being unable to respond to the message sent by the first UE, perform at least one of the following operations: send a message to the first UE indicating termination or suspension of the SLPP or RSPP session, send a message to the first UE requesting termination or suspension of the SLPP or RSPP session, and send an Error message to the first UE.

关于步骤1401的详细介绍可以参考上述实施例描述。For a detailed description of step 1401 , please refer to the above embodiment description.

图15为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图15所示，该组定位方法可以包括以下步骤：FIG. 15 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 15 , the group positioning method may include the following steps:

步骤1501、响应于所述第二UE无法响应第一UE发送的消息，终止或暂停与所述第一UE之间的SLPP或RSPP会话。Step 1501: In response to the second UE being unable to respond to a message sent by the first UE, terminate or suspend the SLPP or RSPP session between the second UE and the first UE.

关于步骤1501的详细介绍可以参考上述实施例描述。For a detailed description of step 1501 , please refer to the above embodiment description.

图16为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图16所示，该组定位方法可以包括以下步骤：FIG. 16 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 16 , the group positioning method may include the following steps:

步骤1601、接收所述第一UE发送的第三指示信息，所述第三指示信息用于指示所述第二UE终止或暂停与所述第一UE之间的SLPP或RSPP会话。Step 1601: Receive third indication information sent by the first UE, where the third indication information is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

步骤1602、基于所述第三指示信息确定是否终止或暂停与所述第一UE之间的SLPP或RSPP会话。Step 1602: Determine whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information.

可选的，所述基于所述第三指示信息确定是否终止或暂停与所述第一UE之间的SLPP或RSPP会话可以包括以下中的至少一项：Optionally, the determining whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information may include at least one of the following:

响应于所述第三指示信息中未包括第二UE的ID，终止或暂停与所述第一UE之间的SLPP或RSPP会话；In response to the third indication information not including the ID of the second UE, terminating or suspending the SLPP or RSPP session with the first UE;

响应于所述第三指示信息包括第二UE的ID，确定所述第三指示信息中包括的所述第二UE的ID是否为自身的ID，若是，终止或暂停与所述第一UE之间的SLPP或RSPP会话。In response to the third indication information including the ID of the second UE, determine whether the ID of the second UE included in the third indication information is its own ID, and if so, terminate or suspend the SLPP or RSPP session with the first UE.

此外，关于步骤1601的详细介绍可以参考上述实施例描述。In addition, for a detailed description of step 1601, reference may be made to the above embodiment description.

图17为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图17所示，该组定位方法可以包括以下步骤：FIG. 17 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 17 , the group positioning method may include the following steps:

步骤1701、向第一UE发送第一发现消息，以使所述第一UE发现所述第二UE。Step 1701: Send a first discovery message to a first UE so that the first UE discovers the second UE.

关于步骤1701的详细介绍可以参考上述实施例描述。For a detailed description of step 1701 , please refer to the above embodiment description.

图18为本公开实施例所提供的一种组定位方法的流程示意图，该方法由第二UE执行，如图18所示，该组定位方法可以包括以下步骤：FIG. 18 is a flow chart of a group positioning method provided by an embodiment of the present disclosure. The method is executed by a second UE. As shown in FIG. 18 , the group positioning method may include the following steps:

步骤1801、接收第一UE发送的第二发现消息；Step 1801: Receive a second discovery message sent by a first UE;

步骤1802、向所述第一UE发送响应消息。Step 1802: Send a response message to the first UE.

关于步骤1801-1802的详细介绍可以参考上述实施例描述。For a detailed description of steps 1801 - 1802 , please refer to the above embodiment description.

以下为对上述本公开的组定位方法的具体示例介绍。The following is a specific example introduction to the group positioning method of the present disclosure.

可选的，在本公开的一个实施例之中，UE A(即前述的第一UE)确定要与一组UE(即前述的目标UE组)进行组定位，向该组UE发起定位流程。Optionally, in one embodiment of the present disclosure, UE A (i.e., the aforementioned first UE) determines to perform group positioning with a group of UEs (i.e., the aforementioned target UE group) and initiates a positioning process to the group of UEs.

可选的，在本公开的一个实施例之中，所述UE A确定要与一组UE进行组定位，包括UE A的upper layer请求进行组定位。Optionally, in one embodiment of the present disclosure, the UE A determines to perform group positioning with a group of UEs, including an upper layer request of UE A to perform group positioning.

实施例：upper layer可以为应用层或PC5-S层或NAS层，upper layer向SLPP/RSPP层指示需要进行组定位，或upper layer向PC5-S层请求进行组定位，并提供相关信息，比如组ID，组定位QoS参数，各个组成员的ID信息等。Embodiment: The upper layer may be an application layer, a PC5-S layer, or a NAS layer. The upper layer indicates to the SLPP/RSPP layer that group positioning is required, or the upper layer requests the PC5-S layer to perform group positioning and provides relevant information, such as group ID, group positioning QoS parameters, and ID information of each group member.

可选的，在本公开的一个实施例之中，SLPP/RSPP层或upper layer发起组发现流程，用于发现属于该组的UE。Optionally, in one embodiment of the present disclosure, the SLPP/RSPP layer or the upper layer initiates a group discovery process to discover UEs belonging to the group.

实施例1：SLPP/RSPP层在收到upper layer的组定位请求后，发起组发现流程。对组发现流程，UE可以监听组成员UE(即前述的第二UE)发送的发现消息，也可以主动通过组播ID发送发现消息。网络或预配置消息可以配置专门的SL接收资源池或采用通用接收资源池来让UE监听发现消息，网络或预配置消息可以配置专门的SL发送资源池或采用通用发送资源池来让UE发送发现消息。Embodiment 1: After receiving the group location request from the upper layer, the SLPP/RSPP layer initiates a group discovery process. For the group discovery process, the UE can monitor the discovery message sent by the group member UE (i.e., the aforementioned second UE), or actively send a discovery message through the multicast ID. The network or pre-configured message can configure a dedicated SL receiving resource pool or use a general receiving resource pool to allow the UE to monitor the discovery message, and the network or pre-configured message can configure a dedicated SL sending resource pool or use a general sending resource pool to allow the UE to send the discovery message.

实施例2：upper layer在向SLPP/RSPP或PC5-S请求组定位流程前，先发起组发现流程，具体内容同上。upper layer将发现到的组成员ID告知SLPP/RSPP或PC5-S。Embodiment 2: Before requesting the group positioning process from SLPP/RSPP or PC5-S, the upper layer first initiates the group discovery process, the specific contents of which are the same as above. The upper layer informs SLPP/RSPP or PC5-S of the discovered group member IDs.

可选的，在本公开的一个实施例之中，UE A向该组UE发起定位流程包括与该组UE建立SLPP/RSPP session。Optionally, in one embodiment of the present disclosure, UE A initiates a positioning process to the group of UEs, including establishing a SLPP/RSPP session with the group of UEs.

可选的，在本公开的一个实施例之中，UE A采用组播的方式向该组UE发送触发SLPP/RSPP session建立的SLPP/RSPP消息。Optionally, in one embodiment of the present disclosure, UE A sends a SLPP/RSPP message to trigger the establishment of a SLPP/RSPP session to the group of UEs using multicast.

实施例：该SLPP/RSPP消息可以为SLPP/RSPP能力传输消息，SLPP/RSPP位置信息传输消息，或辅助信息传输消息。采用组播方式传输，比如将组ID映射到某个组播Layer 2 destination ID。如果没有提供组ID，则可以将service type映射到某个组播Layer 2 destination ID。该映射可以由SLPP/RSPP或者PC5-S来完成。Embodiment: The SLPP/RSPP message may be a SLPP/RSPP capability transmission message, a SLPP/RSPP location information transmission message, or an auxiliary information transmission message. The message is transmitted in a multicast manner, such as mapping the group ID to a multicast Layer 2 destination ID. If the group ID is not provided, the service type may be mapped to a multicast Layer 2 destination ID. The mapping may be performed by SLPP/RSPP or PC5-S.

可选的，在本公开的一个实施例之中，UE A在触发session建立后，随后发送给组成员UE的消息有以下几种方式：Optionally, in an embodiment of the present disclosure, after UE A triggers session establishment, the messages subsequently sent to the group member UEs are as follows:

-方式一：全部都采用组播。-Method 1: All use multicast.

-方式二：特定类型的消息采用组播，其它消息采用单播。-Method 2: Specific types of messages are multicast, and other messages are unicast.

实施例：能力交互的消息，辅助信息交互的消息,Error消息，Abort消息，位置信息交互可以采用组播或单播。对采用组播的消息，可选地UE也可以单播发送。Embodiment: Capability exchange messages, auxiliary information exchange messages, Error messages, Abort messages, and location information exchange can be sent by multicast or unicast. For messages using multicast, the UE can also send them by unicast.

-方式三：UE A可以自由决定哪个消息采用单播，哪个消息采用组播。-Method 3: UE A can freely decide which message to use unicast and which message to use multicast.

可选的，在本公开的一个实施例之中，组成员UE向UE A发送消息时，有以下几种方式：Optionally, in one embodiment of the present disclosure, when a group member UE sends a message to UE A, there are the following ways:

-方式一：全部采用单播发送。-Method 1: All messages are sent using unicast.

-方式二：基于UE A的指示来决定是采用单播还是组播发送。-Method 2: Decide whether to use unicast or multicast based on the instruction of UE A.

实施例：UE A可以per消息地指示采用单播或组播，比如在请求消息里指示响应消息采用单播或组播；UE A也可以开关配置单播或组播，比如发送组播配置后，组成员UE在收到单播配置前，一直采用组播来发送。Embodiment: UE A can indicate the use of unicast or multicast per message, for example, indicating in a request message whether a response message uses unicast or multicast; UE A can also switch configuration of unicast or multicast, for example, after sending the multicast configuration, the group member UE uses multicast to send until receiving the unicast configuration.

-方式三：基于消息类型来决定采用单播或多播。比如能力交互的消息，辅助信息交互的消息采用组播。-Method 3: Unicast or multicast is determined based on the message type. For example, messages for capability exchange and auxiliary information exchange use multicast.

可选的，在本公开的一个实施例之中，UE A可以向某个组成员UE指示session终止或session暂停。Optionally, in one embodiment of the present disclosure, UE A may instruct a group member UE to terminate a session or pause a session.

实施例:指示session终止/暂停的消息可以通过单播发送给该UE，或者通过组播发送给该UE，对后者，需要在消息中携带该UE的标识。标识可以为SL layer 2 ID，或UE application layer ID。Embodiment: The message indicating session termination/pause can be sent to the UE via unicast or multicast. For the latter, the UE identifier needs to be carried in the message. The identifier can be SL layer 2 ID or UE application layer ID.

实施例：组成员UE在收到UE A发送的session终止/暂停指示后，终止/暂停session。Embodiment: After receiving the session termination/pause indication sent by UE A, the group member UE terminates/pauses the session.

实施例：UE在终止session后，不再接收或发送与该session相关的任何信息。Embodiment: After terminating a session, the UE no longer receives or sends any information related to the session.

实施例：所述session暂停代表session当前不再active。UE在暂停session后，可以接收该session的消息，但不再发送消息。Embodiment: The session suspension means that the session is no longer active. After suspending the session, the UE can receive messages of the session but no longer send messages.

实施例：组成员UE的session终止或暂停不影响该session的其它UE的activity。Embodiment: The termination or suspension of a session of a group member UE does not affect the activities of other UEs in the session.

可选的，在本公开的一个实施例之中，UE A在接收到某个组成员发送的能力信息后，如果认为该UE无法参与后续的组定位流程，UE A向该组成员UE发送session终止或暂停。Optionally, in one embodiment of the present disclosure, after UE A receives capability information sent by a group member, if it is considered that the UE is unable to participate in the subsequent group positioning process, UE A sends a session termination or pause message to the group member UE.

可选的，在本公开的一个实施例之中，组成员UE向UE A指示或申请session终止或session暂停。Optionally, in one embodiment of the present disclosure, the group member UE instructs or applies for session termination or session suspension to UE A.

实施例：UE A在收到申请后，反馈接受或拒绝该请求。Example: After receiving the application, UE A responds by accepting or rejecting the request.

可选的，在本公开的一个实施例之中，组成员UE在无法响应UE A的请求时，比如无法提供UE A请求的辅助信息或位置信息，该组成员UE向UE A指示或申请session终止或session暂停。Optionally, in one embodiment of the present disclosure, when a group member UE is unable to respond to a request from UE A, such as being unable to provide the auxiliary information or location information requested by UE A, the group member UE instructs or applies to UE A for session termination or session suspension.

可选的，在本公开的一个实施例之中，组成员UE在无法响应UE A的请求时，比如无法提供UE A请求的辅助信息或位置信息，该组成员UE向UE A发送Error信息。Optionally, in one embodiment of the present disclosure, when a group member UE is unable to respond to a request from UE A, such as being unable to provide the auxiliary information or location information requested by UE A, the group member UE sends an Error message to UE A.

实施例：组成员UE可以在error中具体指示原因。组UE A可以在收到Error后终止或暂停该组成员UE的session。组成员UE可以直接终止或暂停该session，或等待UE A指示。Embodiment: The group member UE may specifically indicate the reason in the error. Group UE A may terminate or suspend the session of the group member UE after receiving the Error. The group member UE may directly terminate or suspend the session, or wait for the instruction of UE A.

图19为本公开实施例所提供的一种通信装置的结构示意图，如图19所示，装置可以包括：FIG. 19 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 19 , the device may include:

综上所述，在本公开实施例提供的通信装置之中，响应于第一UE确定要与目标UE组进行SL组定位，该第一UE会发起与目标UE组的组定位流程；其中，该目标UE组包括至少两个第二UE。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在组定位过程中，第一UE与至少一个第二UE交互组定位所需消息时，至少部分消息是由第一UE向目标UE组的第二UE组播的，也即是，第一UE与目标UE组进行组定位的过程中，第一UE并非是与各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。In summary, in the communication device provided by the embodiment of the present disclosure, in response to the first UE determining that it wants to perform SL group positioning with the target UE group, the first UE will initiate a group positioning process with the target UE group; wherein the target UE group includes at least two second UEs. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, during the group positioning process, when the first UE interacts with at least one second UE to exchange messages required for group positioning, at least part of the messages are multicast by the first UE to the second UEs of the target UE group, that is, during the process of group positioning between the first UE and the target UE group, the first UE does not interact with each second UE one-to-one throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thereby improving positioning efficiency.

可选的，在本公开的一个实施例之中，所述处理模块还用于：Optionally, in an embodiment of the present disclosure, the processing module is further configured to:

响应于所述第一UE接收到所述第一UE的高层发送的组定位请求，确定所述第一UE要与目标UE组进行组定位。In response to the first UE receiving a group positioning request sent by a higher layer of the first UE, it is determined that the first UE is to perform group positioning with a target UE group.

可选的，在本公开的一个实施例之中，所述装置还用于：Optionally, in one embodiment of the present disclosure, the device is further used for:

通过所述第一UE的侧行链路定位协议SLPP层，和/或，测距与侧行链路定位协议RSPP层接收所述组定位请求。The group positioning request is received through the sidelink positioning protocol SLPP layer and/or the ranging and sidelink positioning protocol RSPP layer of the first UE.

可选的，在本公开的一个实施例之中，所述组定位请求包括以下至少一项：Optionally, in an embodiment of the present disclosure, the group positioning request includes at least one of the following:

所述目标UE组的组标识ID；The group identification ID of the target UE group;

所述目标UE组对应的组定位服务质量QoS参数；A group positioning quality of service QoS parameter corresponding to the target UE group;

所述目标UE组中的第二UE的ID。The ID of the second UE in the target UE group.

发起组发现流程，以发现所述目标UE组中的至少一个第二UE。A group discovery process is initiated to discover at least one second UE in the target UE group.

通过所述第一UE的SLPP层、RSPP层、高层中的至少一种发起组发现流程。A group discovery process is initiated through at least one of the SLPP layer, RSPP layer, and high layer of the first UE.

监听所述第二UE发送的第一发现消息；Monitoring a first discovery message sent by the second UE;

响应于接收到所述第二UE发送的第一发现消息，确定发现了所述第二UE。In response to receiving the first discovery message sent by the second UE, it is determined that the second UE is discovered.

基于所述目标UE组的组ID向目标UE组中的第二UE组播第二发现消息；multicast a second discovery message to a second UE in the target UE group based on the group ID of the target UE group;

监听所述第二UE发送的响应消息；monitoring a response message sent by the second UE;

响应于接收到所述第二UE发送的响应消息，确定发现了所述第二UE。In response to receiving the response message sent by the second UE, it is determined that the second UE is found.

通过监听SL接收资源池来监听所述第二UE发送的第一发现消息或响应消息；Monitoring the first discovery message or response message sent by the second UE by monitoring the SL receiving resource pool;

其中，所述SL接收资源池包括以下至少一种：The SL receiving resource pool includes at least one of the following:

第一SL接收资源池，所述第一SL接收资源池为专用于UE发现的接收资源池；A first SL receiving resource pool, where the first SL receiving resource pool is a receiving resource pool dedicated to UE discovery;

通过SL发送资源池组播所述第二发现消息；Send the second discovery message to the resource pool multicast through the SL;

所述SL发送资源池包括以下至少一种：The SL sending resource pool includes at least one of the following:

第一SL发送资源池，所述第一SL发送资源池为专用于UE发现的发送资源池；A first SL sending resource pool, where the first SL sending resource pool is a sending resource pool dedicated to UE discovery;

与所述目标UE组建立SLPP或RSPP会话。Establish a SLPP or RSPP session with the target UE group.

向所述目标UE组中的第二UE组播SLPP或RSPP消息，所述SLPP或RSPP消息用于触发建立所述第一UE与所述第二UE之间SLPP或RSPP会话。A SLPP or RSPP message is multicasted to a second UE in the target UE group, where the SLPP or RSPP message is used to trigger establishment of a SLPP or RSPP session between the first UE and the second UE.

可选的，在本公开的一个实施例之中，所述SLPP或RSPP消息包括以下至少一种：Optionally, in an embodiment of the present disclosure, the SLPP or RSPP message includes at least one of the following:

能力相关的消息；Capability-related messages;

位置信息相关的消息；Messages related to location information;

辅助信息相关的消息。Auxiliary information related messages.

与所述至少一个第二UE交互组定位所需消息，以进行组定位。The message required for group positioning is exchanged with the at least one second UE to perform group positioning.

可选的，在本公开的一个实施例之中，所述装置还用于以下中的至少一项：Optionally, in an embodiment of the present disclosure, the device is further used for at least one of the following:

将组定位所需发送的全部消息均采用组播方式发送至所述第二UE；Sending all messages required for group positioning to the second UE in a multicast manner;

将组定位所需发送的消息中的第一类型的消息采用单播方式发送至第二UE，除第一类型外的消息采用组播方式发送至所述第二UE；Sending a first type of message among the messages required for group positioning to the second UE in a unicast manner, and sending messages other than the first type to the second UE in a multicast manner;

自主确定采用组播方式发送的消息，以及采用单播方式发送的消息，并按照自主确定的方式对应发送组定位所需发送的消息。Autonomously determine messages to be sent in a multicast manner and messages to be sent in a unicast manner, and locate the messages to be sent in a corresponding sending group in an autonomously determined manner.

可选的，在本公开的一个实施例之中，所述第一类型的消息包括：需要针对性发送的消息。Optionally, in an embodiment of the present disclosure, the first type of message includes: a message that needs to be sent in a targeted manner.

向第二UE指示第二UE发送组定位所需消息时的发送方式。Indicate to the second UE the sending method when the second UE sends the message required for group positioning.

在所述第一UE向所述第二UE发送的每一消息中包含第一指示信息，所述第一指示信息用于指示所述第二UE反馈所述消息的响应消息时的发送方式，所述第一指示信息指示的发送方式包括单播或组播。Each message sent by the first UE to the second UE includes first indication information, where the first indication information is used to indicate a sending method when the second UE feeds back a response message to the message, and the sending method indicated by the first indication information includes unicast or multicast.

向所述第二UE发送第二指示信息，所述第二指示信息用于指示所述第二UE收到所述第二指示信息后，采用所述第二指示信息所指示的发送方式来向第一UE发送组定位所需消息，所述第二指示信息指示的发送方式包括单播或组播。Sending second indication information to the second UE, wherein the second indication information is used to instruct the second UE to send a message required for group positioning to the first UE using a sending method indicated by the second indication information after receiving the second indication information, and the sending method indicated by the second indication information includes unicast or multicast.

终止或暂停与所述第二UE之间的SLPP或RSPP会话。The SLPP or RSPP session with the second UE is terminated or suspended.

可选的，在本公开的一个实施例之中，所述装置还用于以下至少一种：Optionally, in an embodiment of the present disclosure, the device is further used for at least one of the following:

响应于所述第一UE基于第二UE发送的信息确定所述第二UE无法参与组定位流程，终止或暂停与所述第二UE之间的SLPP或RSPP会话；In response to the first UE determining, based on the information sent by the second UE, that the second UE cannot participate in the group positioning procedure, terminating or suspending the SLPP or RSPP session with the second UE;

响应于所述第一UE接收到第二UE发送的指示终止或暂停SLPP或RSPP会话的消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话；In response to the first UE receiving a message sent by the second UE indicating termination or suspension of the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

响应于所述第一UE接收到第二UE发送的请求终止或暂停SLPP或RSPP会话的消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话；In response to the first UE receiving a message sent by the second UE requesting to terminate or suspend the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

响应于所述第一UE接收到第二UE发送的Error消息，终止或暂停与所述第二UE之间的SLPP或RSPP会话。In response to the first UE receiving an Error message sent by the second UE, the SLPP or RSPP session between the first UE and the second UE is terminated or suspended.

向所述第二UE发送第三指示信息，所述第三指示信息用于指示所述第二UE终止或暂停与所述第一UE之间的SLPP或RSPP会话。Send third indication information to the second UE, where the third indication information is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

向所述第二UE单播所述第三指示信息；Unicasting the third indication information to the second UE;

组播所述第三指示信息，所述第三指示信息中包括有需要终止或暂停SLPP或RSPP会话的第二UE的ID。The third indication information is multicasted, where the third indication information includes an ID of a second UE that needs to terminate or suspend the SLPP or RSPP session.

不再接收或不再发送与终止的SLPP或RSPP会话相关的任何信息；no longer receive or send any information related to the terminated SLPP or RSPP session;

并且所述暂停SLPP或RSPP会话，包括：And the suspending of the SLPP or RSPP session includes:

不再发送与暂停的SLPP或RSPP会话相关的任何信息，但接收与所述暂停的SLPP或RSPP会话相关的信息。No information related to the suspended SLPP or RSPP session is sent anymore, but information related to the suspended SLPP or RSPP session is received.

图20为本公开实施例所提供的一种通信装置的结构示意图，如图20所示，装置可以包括：FIG. 20 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure. As shown in FIG. 20 , the device may include:

综上所述，在本公开实施例提供的通信装置之中，第二UE会建立与第一UE的SLPP或RSPP会话，该第一UE通过SL与第二UE连接。其中，该SLPP或RSPP会话用于交互组定位所需的信息。由此可知，本公开提供了一种组定位方法，用于实现UE间的组定位。并且，本公开的方法中，在交互组定位所需的信息时，至少部分信息时由第二UE组播发送的，其中，第二UE组播发送可以理解为：第二UE向目标UE组中的其他第二UE(和/或也包括它自己)组播发送信息。也即是，第一UE与目标UE组进行组定位的过程中，第二UE并非是与目标UE组中的其他各个第二UE全程1对1交互的，从而可以有效减少交互信令，提高交互效率，进而提高了定位效率。To sum up, in the communication device provided in the embodiment of the present disclosure, the second UE will establish an SLPP or RSPP session with the first UE, and the first UE is connected to the second UE through SL. The SLPP or RSPP session is used to exchange information required for group positioning. It can be seen that the present disclosure provides a group positioning method for realizing group positioning between UEs. Moreover, in the method of the present disclosure, when the information required for interactive group positioning is transmitted, at least part of the information is multicasted by the second UE, wherein the second UE multicast transmission can be understood as: the second UE multicasts information to other second UEs (and/or itself) in the target UE group. That is, in the process of group positioning between the first UE and the target UE group, the second UE does not interact with each other second UE in the target UE group in a one-to-one manner throughout the process, thereby effectively reducing interactive signaling, improving interaction efficiency, and thus improving positioning efficiency.

接收所述第一UE发送的SLPP或RSPP消息，所述SLPP或RSPP消息用于触发所述第二UE建立所述第一UE与所述第二UE之间SLPP或RSPP会话。Receive a SLPP or RSPP message sent by the first UE, where the SLPP or RSPP message is used to trigger the second UE to establish a SLPP or RSPP session between the first UE and the second UE.

能力相关的消息；Capability-related messages;

位置信息相关的消息；Messages related to location information;

辅助信息相关的消息。Auxiliary information related messages.

可选的，在本公开的一个实施例之中，所述第二UE与至少一个其他第二UE构成目标UE组，以与所述第一UE进行组定位。Optionally, in one embodiment of the present disclosure, the second UE and at least one other second UE form a target UE group to perform group positioning with the first UE.

与所述第一UE交互组定位所需消息，以进行组定位。The message required for group positioning is exchanged with the first UE to perform group positioning.

响应于所述第一UE发送的消息中包括第一指示信息，采用所述第一指示信息指示的发送方式发送所述消息的响应消息；所述第一指示信息指示的发送方式包括单播或组播。In response to the message sent by the first UE including first indication information, a response message of the message is sent using a sending method indicated by the first indication information; the sending method indicated by the first indication information includes unicast or multicast.

响应于所述第二UE无法响应第一UE发送的消息，执行以下操作中的至少一项：In response to the second UE being unable to respond to the message sent by the first UE, performing at least one of the following operations:

向第一UE发送指示终止或暂停SLPP或RSPP会话的消息；Sending a message to the first UE indicating termination or suspension of the SLPP or RSPP session;

向第一UE发送请求终止或暂停SLPP或RSPP会话的消息；Sending a message to the first UE requesting termination or suspension of the SLPP or RSPP session;

向第一UE发送Error消息。Send an Error message to the first UE.

响应于所述第二UE无法响应第一UE发送的消息，终止或暂停与所述第一UE之间的SLPP或RSPP会话。In response to the second UE being unable to respond to the message sent by the first UE, terminating or suspending the SLPP or RSPP session with the first UE.

接收所述第一UE发送的第三指示信息，所述第三指示信息用于指示所述第二UE终止或暂停与所述第一UE之间的SLPP或RSPP会话；receiving third indication information sent by the first UE, where the third indication information is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE;

基于所述第三指示信息确定是否终止或暂停与所述第一UE之间的SLPP或RSPP会话。Determine whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information.

可选的，在本公开的一个实施例之中，终止SLPP或RSPP会话，包括：Optionally, in one embodiment of the present disclosure, terminating the SLPP or RSPP session includes:

向第一UE发送第一发现消息，以使所述第一UE发现所述第二UE。A first discovery message is sent to a first UE, so that the first UE discovers the second UE.

接收第一UE发送的第二发现消息；Receiving a second discovery message sent by the first UE;

向所述第一UE发送响应消息。Send a response message to the first UE.

请参见图21，图21是本申请实施例提供的一种通信装置2100的结构示意图。通信装置2100可以是网络设备，也可以是终端设备，也可以是支持网络设备实现上述方法的芯片、芯片系统、或处理器等，还可以是支持终端设备实现上述方法的芯片、芯片系统、或处理器等。该装置可用于实现上述方法实施例中描述的方法，具体可以参见上述方法实施例中的说明。Please refer to Figure 21, which is a schematic diagram of the structure of a communication device 2100 provided in an embodiment of the present application. The communication device 2100 can be a network device, or a terminal device, or a chip, a chip system, or a processor that supports the network device to implement the above method, or a chip, a chip system, or a processor that supports the terminal device to implement the above method. The device can be used to implement the method described in the above method embodiment, and the details can be referred to the description in the above method embodiment.

通信装置2100可以包括一个或多个处理器2101。处理器2101可以是通用处理器或者专用处理器等。例如可以是基带处理器或中央处理器。基带处理器可以用于对通信协议以及通信数据进行处理，中央处理器可以用于对通信装置(如，基站、基带芯片，终端设备、终端设备芯片，DU或CU等)进行控制，执行计算机程序，处理计算机程序的数据。The communication device 2100 may include one or more processors 2101. The processor 2101 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process the data of the computer program.

可选的，通信装置2100中还可以包括一个或多个存储器2102，其上可以存有计算机程序2104，处理器2101执行所述计算机程序2104，以使得通信装置2100执行上述方法实施例中描述的方法。可选的，所述存储器2102中还可以存储有数据。通信装置2100和存储器2102可以单独设置，也可以集成在一起。Optionally, the communication device 2100 may further include one or more memories 2102, on which a computer program 2104 may be stored, and the processor 2101 executes the computer program 2104 so that the communication device 2100 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory 2102. The communication device 2100 and the memory 2102 may be provided separately or integrated together.

可选的，通信装置2100还可以包括收发器2105、天线2106。收发器2105可以称为收发单元、收发机、或收发电路等，用于实现收发功能。收发器2105可以包括接收器和发送器，接收器可以称为接收机或接收电路等，用于实现接收功能；发送器可以称为发送机或发送电路等，用于实现发送功能。Optionally, the communication device 2100 may further include a transceiver 2105 and an antenna 2106. The transceiver 2105 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., for implementing a transceiver function. The transceiver 2105 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., for implementing a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., for implementing a transmitting function.

可选的，通信装置2100中还可以包括一个或多个接口电路21021。接口电路2107用于接收代码指令并传输至处理器2101。处理器2101运行所述代码指令以使通信装置2100执行上述方法实施例中描述的方法。Optionally, the communication device 2100 may further include one or more interface circuits 21021. The interface circuit 2107 is used to receive code instructions and transmit them to the processor 2101. The processor 2101 runs the code instructions to enable the communication device 2100 to execute the method described in the above method embodiment.

在一种实现方式中，处理器2101中可以包括用于实现接收和发送功能的收发器。例如该收发器可以是收发电路，或者是接口，或者是接口电路。用于实现接收和发送功能的收发电路、接口或接口电路可以是分开的，也可以集成在一起。上述收发电路、接口或接口电路可以用于代码/数据的读写，或者，上述收发电路、接口或接口电路可以用于信号的传输或传递。In one implementation, the processor 2101 may include a transceiver for implementing receiving and sending functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code/data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

在一种实现方式中，处理器2101可以存有计算机程序2103，计算机程序2103在处理器2101上运行，可使得通信装置2100执行上述方法实施例中描述的方法。计算机程序2103可能固化在处理器2101中，该种情况下，处理器2101可能由硬件实现。In one implementation, the processor 2101 may store a computer program 2103, which runs on the processor 2101 and enables the communication device 2100 to perform the method described in the above method embodiment. The computer program 2103 may be fixed in the processor 2101, in which case the processor 2101 may be implemented by hardware.

在一种实现方式中，通信装置2100可以包括电路，所述电路可以实现前述方法实施例中发送或接收或者通信的功能。本申请中描述的处理器和收发器可实现在集成电路(integrated circuit，IC)、模拟IC、射频集成电路RFIC、混合信号IC、专用集成电路(application specific integrated circuit，ASIC)、印刷电路板(printed circuit board，PCB)、电子设备等上。该处理器和收发器也可以用各种IC工艺技术来制造，例如互补金属氧化物半导体(complementary metal oxide semiconductor，CMOS)、N型金属氧化物半导体(nMetal-oxide-semiconductor，NMOS)、P型金属氧化物半导体(positive channel metal oxide semiconductor，PMOS)、双极结型晶体管(bipolar junction transistor，BJT)、双极CMOS(BiCMOS)、硅锗(SiGe)、砷化镓(GaAs)等。In one implementation, the communication device 2100 may include a circuit that can implement the functions of sending or receiving or communicating in the aforementioned method embodiments. The processor and transceiver described in the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

以上实施例描述中的通信装置可以是网络设备或者终端设备，但本申请中描述的通信装置的范围并不限于此，而且通信装置的结构可以不受图21的限制。通信装置可以是独立的设备或者可以是较大设备的一部分。例如所述通信装置可以是：The communication device described in the above embodiments may be a network device or a terminal device, but the scope of the communication device described in the present application is not limited thereto, and the structure of the communication device may not be limited by FIG. 21. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

(1)独立的集成电路IC，或芯片，或，芯片系统或子系统；(1) Independent integrated circuit IC, or chip, or chip system or subsystem;

(2)具有一个或多个IC的集合，可选的，该IC集合也可以包括用于存储数据，计算机程序的存储部件；(2) having a set of one or more ICs, and optionally, the IC set may also include a storage component for storing data and computer programs;

(3)ASIC，例如调制解调器(Modem)；(3) ASIC, such as modem;

(4)可嵌入在其他设备内的模块；(4) Modules that can be embedded in other devices;

(5)接收机、终端设备、智能终端设备、蜂窝电话、无线设备、手持机、移动单元、车载设备、网络设备、云设备、人工智能设备等等；(5) Receivers, terminal devices, intelligent terminal devices, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

(6)其他等等。(6)Others

对于通信装置可以是芯片或芯片系统的情况，可参见图22所示的芯片的结构示意图。图22所示的芯片包括处理器2201和接口2202。其中，处理器2201的数量可以是一个或多个，接口2202的数量可以是多个。For the case where the communication device can be a chip or a chip system, please refer to the schematic diagram of the chip structure shown in Figure 22. The chip shown in Figure 22 includes a processor 2201 and an interface 2202. The number of processors 2201 can be one or more, and the number of interfaces 2202 can be multiple.

可选的，芯片还包括存储器2203，存储器2203用于存储必要的计算机程序和数据。Optionally, the chip also includes a memory 2203, and the memory 2203 is used to store necessary computer programs and data.

本领域技术人员还可以了解到本申请实施例列出的各种说明性逻辑块(illustrative logical block)和步骤(step)可以通过电子硬件、电脑软件，或两者的结合进行实现。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现所述的功能，但这种实现不应被理解为超出本申请实施例保护的范围。Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

本申请还提供一种可读存储介质，其上存储有指令，该指令被计算机执行时实现上述任一方法实施例的功能。The present application also provides a readable storage medium having instructions stored thereon, which implement the functions of any of the above method embodiments when executed by a computer.

本申请还提供一种计算机程序产品，该计算机程序产品被计算机执行时实现上述任一方法实施例的功能。The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机程序。在计算机上加载和执行所述计算机程序时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机程序可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机程序可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from a website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

本领域普通技术人员可以理解：本申请中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围，也表示先后顺序。A person skilled in the art may understand that the various numerical numbers such as first and second involved in the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application, but also indicate the order of precedence.

本申请中的至少一个还可以描述为一个或多个，多个可以是两个、三个、四个或者更多个，本申请不做限制。在本申请实施例中，对于一种技术特征，通过“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”等区分该种技术特征中的技术特征，该“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”描述的技术特征间无先后顺序或者大小顺序。At least one in the present application can also be described as one or more, and a plurality can be two, three, four or more, which is not limited in the present application. In the embodiments of the present application, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no order of precedence or size between the technical features described by the "first", "second", "third", "A", "B", "C" and "D".

本申请中各表所示的对应关系可以被配置，也可以是预定义的。各表中的信息的取值仅仅是举例，可以配置为其他值，本申请并不限定。在配置信息与各参数的对应关系时，并不一定要求必须配置各表中示意出的所有对应关系。例如，本申请中的表格中，某些行示出的对应关系也可以不配置。又例如，可以基于上述表格做适当的变形调整，例如，拆分，合并等等。上述各表中标题示出参数的名称也可以采用通信装置可理解的其他名称，其参数的取值或表示方式也可以通信装置可理解的其他取值或表示方式。上述各表在实现时，也可以采用其他的数据结构，例如可以采用数组、队列、容器、栈、线性表、指针、链表、树、图、结构体、类、堆、散列表或哈希表等。The corresponding relationships shown in each table in the present application can be configured or predefined. The values of the information in each table are only examples and can be configured as other values, which are not limited by the present application. When configuring the corresponding relationship between the information and each parameter, it is not necessarily required to configure all the corresponding relationships illustrated in each table. For example, in the table in the present application, the corresponding relationships shown in some rows may not be configured. For another example, appropriate deformation adjustments can be made based on the above table, such as splitting, merging, etc. The names of the parameters shown in the titles of the above tables can also use other names that can be understood by the communication device, and the values or representations of the parameters can also be other values or representations that can be understood by the communication device. When implementing the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables.

本申请中的预定义可以理解为定义、预先定义、存储、预存储、预协商、预配置、固化、或预烧制。The predefined in the present application may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A group positioning method, characterized in that the method is executed by a first UE, comprising:

In response to determining that sidelink SL group positioning is to be performed with a target UE group, a group positioning procedure with the target UE group is initiated, wherein the target UE group includes at least two second UEs.

The method according to claim 1, wherein the determining to perform SL group positioning with the target UE group comprises:

In response to the first UE receiving a group positioning request sent by a higher layer of the first UE, it is determined that the first UE is to perform group positioning with a target UE group.

The method according to claim 2, characterized in that the method further comprises:

The group positioning request is received through the sidelink positioning protocol SLPP layer and/or the ranging and sidelink positioning protocol RSPP layer of the first UE.

The method according to claim 2, wherein the group location request includes at least one of the following:

The group identification ID of the target UE group;

A group positioning quality of service QoS parameter corresponding to the target UE group;

The ID of the second UE in the target UE group.

The method according to claim 1, characterized in that the method further comprises:

A group discovery process is initiated to discover at least one second UE in the target UE group.

The method according to claim 5, wherein the initiating group discovery process comprises:

A group discovery process is initiated through at least one of the SLPP layer, RSPP layer, and high layer of the first UE.

Monitoring a first discovery message sent by the second UE;

In response to receiving the first discovery message sent by the second UE, it is determined that the second UE is discovered.

multicast a second discovery message to a second UE in the target UE group based on the group ID of the target UE group;

monitoring a response message sent by the second UE;

In response to receiving the response message sent by the second UE, it is determined that the second UE is found.

The method according to claim 7 or 8, characterized in that the monitoring of the first discovery message or response message sent by the second UE comprises:

Monitoring the first discovery message or response message sent by the second UE by monitoring the SL receiving resource pool;

The SL receiving resource pool includes at least one of the following:

A first SL receiving resource pool, where the first SL receiving resource pool is a receiving resource pool dedicated to UE discovery;

The second SL receiving resource pool is a general SL receiving resource pool.

The method according to claim 8, wherein the multicasting of the second discovery message comprises:

Send the second discovery message to the resource pool multicast through the SL;

The SL sending resource pool includes at least one of the following:

A first SL sending resource pool, where the first SL sending resource pool is a sending resource pool dedicated to UE discovery;

The second SL sending resource pool is a general SL receiving resource pool.

The method according to claim 1, characterized in that the initiating a group positioning process with the target UE group comprises:

Establish a SLPP or RSPP session with the target UE group.

The method according to claim 11, characterized in that the method further comprises:

A SLPP or RSPP message is multicast to a second UE in the target UE group, where the SLPP or RSPP message is used to trigger establishment of a SLPP or RSPP session between the first UE and the second UE.

The method according to claim 12, characterized in that the SLPP or RSPP message includes at least one of the following:

Capability-related messages;

Messages related to location information;

Auxiliary information related messages.

The method according to claim 12, characterized in that the method further comprises:

The message required for group positioning is exchanged with the at least one second UE to perform group positioning.

The method according to claim 14, wherein the interacting with the at least one second UE to group position required messages comprises at least one of the following:

Sending all messages required for group positioning to the second UE in a multicast manner;

Sending a first type of message among the messages required for group positioning to the second UE in a unicast manner, and sending messages other than the first type to the second UE in a multicast manner;

Autonomously determine messages to be sent in a multicast manner and messages to be sent in a unicast manner, and locate the messages to be sent in a corresponding sending group in an autonomously determined manner.

The method as claimed in claim 15 is characterized in that the first type of message includes: a message that needs to be sent in a targeted manner.

The method according to claim 14, characterized in that the method further comprises:

Indicate to the second UE the sending manner when the second UE sends a message required for group positioning.

The method according to claim 17, wherein the sending method of instructing the second UE to send a message required for group positioning to the second UE comprises:

Each message sent by the first UE to the second UE includes first indication information, where the first indication information is used to indicate a sending method when the second UE feeds back a response message to the message, and the sending method indicated by the first indication information includes unicast or multicast.

Sending second indication information to the second UE, wherein the second indication information is used to instruct the second UE to send a message required for group positioning to the first UE using a sending method indicated by the second indication information after receiving the second indication information, and the sending method indicated by the second indication information includes unicast or multicast.

The SLPP or RSPP session with the second UE is terminated or suspended.

The method according to claim 20, wherein the terminating or suspending the SLPP or RSPP session with the second UE comprises at least one of the following:

In response to the first UE determining, based on the information sent by the second UE, that the second UE cannot participate in the group positioning procedure, terminating or suspending the SLPP or RSPP session with the second UE;

In response to the first UE receiving a message sent by the second UE indicating termination or suspension of the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

In response to the first UE receiving a message sent by the second UE requesting to terminate or suspend the SLPP or RSPP session, terminating or suspending the SLPP or RSPP session between the first UE and the second UE;

In response to the first UE receiving an Error message sent by the second UE, terminating or suspending the SLPP or RSPP session between the first UE and the second UE.

The method according to claim 20, characterized in that the method further comprises:

Send third indication information to the second UE, where the third indication information is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE.

The method according to claim 22, wherein the sending the third indication information to the second UE comprises:

Unicasting the third indication information to the second UE;

The third indication information is multicasted, where the third indication information includes an ID of a second UE that needs to terminate or suspend the SLPP or RSPP session.

The method according to any one of claims 20 to 23, wherein terminating the SLPP or RSPP session comprises:

no longer receive or send any information related to the terminated SLPP or RSPP session;

And the suspending of the SLPP or RSPP session includes:

No more information related to the suspended SLPP or RSPP session is sent, but information related to the suspended SLPP or RSPP session is received.

A group positioning method, characterized in that the method is executed by a second UE, comprising:

A SLPP or RSPP session is established with a first UE, wherein the second UE is connected to the first UE via a sidelink SL.

The method according to claim 25, characterized in that the method further comprises:

Receive a SLPP or RSPP message sent by the first UE, where the SLPP or RSPP message is used to trigger the second UE to establish a SLPP or RSPP session between the first UE and the second UE.

The method of claim 26, wherein the SLPP or RSPP message includes at least one of the following:

Capability-related messages;

Messages related to location information;

Auxiliary information related messages.

The method as claimed in claim 25 is characterized in that the second UE and at least one other second UE form a target UE group to perform group positioning with the first UE.

The method according to claim 23, characterized in that the method further comprises:

The message required for group positioning is exchanged with the first UE to perform group positioning.

The method of claim 29, wherein the interacting with the first UE to group position the required message comprises at least one of the following:

Send the messages required for group positioning via unicast;

Determine, based on the instruction of the first UE, a sending method when sending a message required for group positioning;

Sending a first type of message among the messages required to be sent by the group positioning in a unicast manner, and sending messages other than the first type in a multicast manner;

The method of claim 30, wherein the determining, based on the indication of the first UE, the sending method of the message required for group positioning comprises:

In response to the message sent by the first UE including first indication information, a response message of the message is sent using a sending method indicated by the first indication information; the sending method indicated by the first indication information includes unicast or multicast.

The method of claim 30, wherein the determining, based on the instruction of the first UE, a sending method for sending a message required for group positioning to the first UE comprises:

In response to receiving the second indication information sent by the first UE, a message required for group positioning is sent using a sending mode indicated by the second indication information; the sending mode indicated by the second indication information includes unicast or multicast.

In response to the second UE being unable to respond to the message sent by the first UE, performing at least one of the following operations:

Sending a message to the first UE indicating termination or suspension of the SLPP or RSPP session;

Sending a message to the first UE requesting termination or suspension of the SLPP or RSPP session;

Send an Error message to the first UE.

The method according to claim 29, characterized in that the method further comprises:

In response to the second UE being unable to respond to the message sent by the first UE, terminating or suspending the SLPP or RSPP session with the first UE.

The method according to claim 25 or 33, characterized in that the method further comprises:

receiving third indication information sent by the first UE, where the third indication information is used to instruct the second UE to terminate or suspend the SLPP or RSPP session with the first UE;

Determine whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information.

The method of claim 35, wherein the determining whether to terminate or suspend the SLPP or RSPP session with the first UE based on the third indication information comprises at least one of the following:

In response to the third indication information not including the ID of the second UE, terminating or suspending the SLPP or RSPP session with the first UE;

In response to the third indication information including the ID of the second UE, determine whether the ID of the second UE included in the third indication information is its own ID, and if so, terminate or suspend the SLPP or RSPP session with the first UE.

The method according to any one of claims 33 to 36, wherein terminating the SLPP or RSPP session comprises:

And the suspending of the SLPP or RSPP session includes:

No information related to the suspended SLPP or RSPP session is sent anymore, but information related to the suspended SLPP or RSPP session is received.

A first discovery message is sent to a first UE, so that the first UE discovers the second UE.

Receiving a second discovery message sent by the first UE;

Send a response message to the first UE.

A communication device, characterized in that it is configured in a first UE, comprising:

A processing module is used to initiate a group positioning process with the target UE group in response to determining that sidelink SL group positioning is to be performed with the target UE group, wherein the target UE group includes at least two second UEs.

A communication device, characterized in that it is configured in a second UE, comprising:

A processing module is used to establish an SLPP or RSPP session with a first UE, wherein the second UE is connected to the first UE via a side link SL.

A communication device, characterized in that the device comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory so that the device performs the method as described in any one of claims 1 to 24, or the processor executes the computer program stored in the memory so that the device performs the method as described in any one of claims 25 to 39.

A communication device, comprising: a processor and an interface circuit, wherein

The interface circuit is used to receive code instructions and transmit them to the processor;

The processor is used to run the code instructions to execute the method according to any one of claims 1 to 24, or is used to run the code instructions to execute the method according to any one of claims 25 to 39.

A computer-readable storage medium for storing instructions, which, when executed, enables the method according to any one of claims 1 to 24 to be implemented, or, when executed, enables the method according to any one of claims 28 to 39 to be implemented.