[go: up one dir, main page]

WO2021027515A1 - 测距方法及设备 - Google Patents

测距方法及设备 Download PDF

Info

Publication number
WO2021027515A1
WO2021027515A1 PCT/CN2020/103573 CN2020103573W WO2021027515A1 WO 2021027515 A1 WO2021027515 A1 WO 2021027515A1 CN 2020103573 W CN2020103573 W CN 2020103573W WO 2021027515 A1 WO2021027515 A1 WO 2021027515A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
time
information
ranging
sent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/103573
Other languages
English (en)
French (fr)
Inventor
司晔
邬华明
潘学明
孙鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
Original Assignee
Vivo Mobile Communication Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Priority to ES20852192T priority Critical patent/ES2987025T3/es
Priority to JP2022506289A priority patent/JP2022543005A/ja
Priority to KR1020227006035A priority patent/KR20220038133A/ko
Priority to EP20852192.2A priority patent/EP4016125B1/en
Publication of WO2021027515A1 publication Critical patent/WO2021027515A1/zh
Priority to US17/668,882 priority patent/US12372632B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/767—Responders; Transponders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices

Definitions

  • the embodiments of the present disclosure relate to the field of communication technologies, and in particular, to a ranging method and device.
  • V2X vehicle-to-everything
  • a sidelink technology can be used to directly transmit data between a vehicle and its surrounding objects. It mainly includes vehicle-to-vehicle communication (V2V). , Vehicle-to-road communication (V2I), vehicle-to-network communication (V2N), and vehicle-to-person communication (V2P), etc.
  • V2V vehicle-to-vehicle communication
  • V2I Vehicle-to-road communication
  • V2N vehicle-to-network communication
  • V2P vehicle-to-person communication
  • the sidelink communication technology can be considered to measure the distance between the vehicle and its surrounding objects to prevent traffic accidents The accident happened. In this way, how to measure the distance between any two objects based on the sidelink technology has become an urgent problem to be solved.
  • the embodiments of the present disclosure provide a distance measurement method and device to solve the problem of how to measure the distance between any two objects based on the sidelink technology.
  • an embodiment of the present disclosure provides a ranging method.
  • This method can be applied to a first user equipment (user equipment, UE).
  • the method may include: sending a first signal, the time when the first signal is sent from the first UE is the first time; receiving a second signal sent by the second UE, and the time when the second signal reaches the first UE is the second time; according to The first time, the second time, and the first time difference determine the distance between the first UE and the second UE; where the first time difference is the third time when the second UE sends the second signal and the first signal is received The difference between the fourth time and the first time difference is sent by the second UE to the first UE.
  • embodiments of the present disclosure provide a ranging method.
  • This method can be applied to the second UE.
  • the method may include: receiving a first signal sent by a first UE, the time when the first signal reaches the second UE is a fourth time; sending a second signal, the time when the second signal is sent from the second UE is a third time, and The difference between the third time and the fourth time is the first time difference; where the second signal is used by the first UE to determine the first UE and the second time based on the first time, the second time, and the first time difference.
  • the distance between UEs is the time when the first signal is sent from the first UE, the second time is the time when the second signal reaches the first UE, and the first time difference is the time that the second UE sends to the first UE .
  • an embodiment of the present disclosure provides a UE.
  • the UE is the first UE.
  • the first UE may include a sending module, a receiving module, and a determining module.
  • the sending module is used to send the first signal, and the time when the first signal is sent from the first UE is the first time;
  • the receiving module is used to receive the second signal sent by the second UE, and the time when the second signal reaches the first UE is The second time;
  • a determining module for determining the distance between the first UE and the second UE according to the first time, the second time, and the first time difference; where the first time difference is the second UE sending the second signal The difference between the third time at and the fourth time at which the first signal is received, where the first time difference is sent by the second UE to the first UE.
  • an embodiment of the present disclosure provides a UE.
  • the UE is the second UE.
  • the second UE may include a receiving module and a sending module.
  • the receiving module is used to receive the first signal sent by the first UE, and the time when the first signal reaches the second UE is the fourth time;
  • the transmitting module is used to send the second signal, and the time when the second signal is sent from the second UE is At the third time, the difference between the third time and the fourth time is the first time difference; where the second signal is used by the first UE to determine the first time according to the first time, the second time, and the first time difference.
  • the embodiments of the present disclosure provide a UE.
  • the UE is a first UE.
  • the UE includes a processor, a memory, and a computer program stored in the memory and running on the processor.
  • the computer program is The processor implements the steps of the distance measurement method provided in the first aspect when executed.
  • the embodiments of the present disclosure provide a UE.
  • the UE is a second UE.
  • the UE includes a processor, a memory, and a computer program that is stored on the memory and can run on the processor.
  • the computer program is The processor implements the steps of the distance measurement method provided in the second aspect when executed.
  • embodiments of the present disclosure provide a communication system, which includes the UE in the third aspect described above, and the UE in the fourth aspect described above.
  • the communication system includes the UE in the fifth aspect described above, and the UE in the sixth aspect described above.
  • embodiments of the present disclosure provide a computer-readable storage medium that stores a computer program on the computer-readable storage medium, and when the computer program is executed by a processor, the distance measurement in the first or second aspect is implemented. Method steps.
  • the first UE may send a first signal, and the time when the first signal is sent from the first UE is the first time; and receives a second signal sent by the second UE, and the second signal reaches the first UE.
  • the time is the second time; the distance between the first UE and the second UE is determined according to the first time, the second time and the first time difference; where the first time difference is the third time when the second UE sends the second signal.
  • the first UE sends the first signal to the second UE and receives the second signal sent by the second UE.
  • the first UE can obtain the time when the first signal is sent from the first UE and the second signal from the second UE. The time difference between the time sent by the UE and the time when the first signal reaches the second UE, and the time when the second signal reaches the first UE. In this way, the first UE can obtain the round-trip time of signal transmission between the first UE and the second UE to measure the distance between the first UE and the second UE. For example, it can measure the distance between cars and people. The distance between the car and other objects, so as to prevent traffic accidents.
  • FIG. 1 is a schematic diagram of the architecture of a communication system provided by an embodiment of the disclosure
  • FIG. 2 is one of the schematic diagrams of a ranging method provided by an embodiment of the disclosure
  • FIG. 3 is a second schematic diagram of a ranging method provided by an embodiment of the disclosure.
  • FIG. 5 is a fourth schematic diagram of a distance measurement method provided by an embodiment of the disclosure.
  • FIG. 6 is the fifth schematic diagram of a ranging method provided by an embodiment of the disclosure.
  • FIG. 7 is a sixth schematic diagram of a ranging method provided by an embodiment of the disclosure.
  • FIG. 8 is one of the schematic structural diagrams of the UE provided by an embodiment of the disclosure.
  • FIG. 9 is the second structural diagram of the UE provided by an embodiment of the disclosure.
  • FIG. 10 is a schematic diagram of hardware of a UE provided by an embodiment of the disclosure.
  • first and second in the specification and claims of the present disclosure are used to distinguish different objects, rather than to describe a specific order of objects.
  • first time and the second time are used to distinguish different times, rather than to describe a specific order of time.
  • words such as “exemplary” or “for example” are used as examples, illustrations, or illustrations. Any embodiment or design solution described as “exemplary” or “for example” in the embodiments of the present disclosure should not be construed as being more advantageous than other embodiments or design solutions. To be precise, words such as “exemplary” or “for example” are used to present related concepts in a specific manner.
  • multiple refers to two or more than two, for example, multiple UEs refers to two or more than two UEs, etc.
  • Sidelink technology It can be called side link technology, secondary link technology, side link technology or side link technology, etc. It refers to the technology that can directly transmit data between UEs without using network side equipment.
  • sidelink transmission mainly includes several transmission forms: broadcast, groupcast and unicast.
  • the control node and the UE can communicate through the Uu interface and use the uplink and the downlink, and the UE and the UE can communicate through the PC5 interface and use the sidelink.
  • sidelink has two resource allocation modes: scheduled resource allocation mode and autonomous resource selection mode.
  • the former may be called mode1, which is controlled by the control node and allocates resources for each UE; the latter may be called mode2, which is independently selected by the UE.
  • these two resource allocation modes may be performed simultaneously.
  • V2X Vehicle to everything
  • V2X refers to the technology that the vehicle can communicate with other surrounding vehicles and other related equipment, including basic security communications, advanced driving, vehicle formation, and sensor expansion.
  • V2X mainly includes V2V, V2I, V2N and V2P.
  • a first UE can send a first signal.
  • the first signal is sent from the first UE at the first time; and the second signal sent by the second UE is received.
  • the time when the second signal reaches the first UE is the second time; the distance between the first UE and the second UE is determined according to the first time, the second time and the first time difference; where the first time difference is the second
  • the first UE sends the first signal to the second UE and receives the second signal sent by the second UE.
  • the first UE can obtain the time when the first signal is sent from the first UE and the second signal from the second UE. The time difference between the time sent by the UE and the time when the first signal reaches the second UE, and the time when the second signal reaches the first UE. In this way, the first UE can obtain the round-trip time of signal transmission between the first UE and the second UE to measure the distance between the first UE and the second UE. For example, it can measure the distance between cars and people. The distance between the car and other objects, so as to prevent traffic accidents.
  • the ranging method, device, and system provided by the embodiments of the present disclosure can be applied to a sidelink communication system. Specifically, it can be used in scenarios where the distance between a vehicle and other objects around it is measured through a sidelink communication system, such as a scenario where the distance between a vehicle and a vehicle is measured.
  • Fig. 1 shows a schematic structural diagram of a communication system provided by an embodiment of the present disclosure.
  • the communication system may include a first UE 01, a second UE 02, and a control node device 03.
  • an uplink and downlink connection can be established between the first UE 01 and the control node 03, and a sidelink connection can be established between the first UE 01 and the second UE 02.
  • a UE is a device that provides voice and/or data connectivity to users, a handheld device with wired/wireless connection functions, or other processing devices connected to a wireless modem.
  • the UE may communicate with one or more core network devices through a radio access network (RAN).
  • RAN radio access network
  • the UE can be a mobile terminal, such as a mobile phone (or called a "cellular" phone) and a computer with a mobile terminal. It can also be a portable, pocket-sized, handheld, built-in computer or vehicle-mounted mobile device, which exchanges languages with the RAN And/or data, for example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (personal digital assistants) , PDA) and other equipment.
  • PCS personal communication service
  • SIP session initiation protocol
  • WLL wireless local loop
  • PDA personal digital assistants
  • the UE may also be referred to as a user agent or terminal device.
  • the control node is a device used to provide wireless communication functions.
  • the control node may be a base station, UE, integrated access backhaul (IAB), relay station, roadside unit (RSU), or other network facilities.
  • the base station may include various forms of macro base stations and micro base stations.
  • the names of devices with base station functions may be different.
  • gNB 5G base station
  • 4G fourth-generation wireless communication
  • eNB evolved NodeB
  • 3G third-generation mobile communication
  • base station Node B
  • embodiments of the present disclosure provide a ranging method.
  • This method can be applied to the first UE and the second UE.
  • the method may include the following S201 to S205.
  • the first UE sends a first signal.
  • the time when the first signal is sent from the first UE is the first time.
  • the first UE may be a ranging (ranging) requesting UE
  • the second UE may be a ranging auxiliary UE.
  • the first signal may be a broadcast signal, a multicast signal, or a unicast signal. That is, the first UE may broadcast the first signal, multicast the first signal, or unicast the first signal.
  • the first signal may carry a ranging message, which can be specifically divided into the following three situations:
  • the first signal may carry a ranging message.
  • the ranging message may be used for the second UE to obtain the fourth time, and to request the second UE to send the second signal or send the difference between the second signal and the first time after receiving the first signal.
  • the ranging message can be used not only for the second UE to obtain the fourth time, but also for requesting the second UE to send the second signal after receiving the first signal or send the second signal and the first time difference . So it can be considered that the measurement request message is implicitly included in the ranging message. That is, the resources used to transmit the ranging message are dedicated resources. As long as other UEs monitor the ranging message, it can be considered that the measurement request message has been received. For example, the ranging message is a special sequence. As long as other UEs detect the ranging message, it is considered that the measurement request message has been received.
  • the first signal may carry a ranging message and a ranging request message.
  • the ranging message can be used by the second UE to obtain the fourth time, and the ranging request message can be used to request the second UE to send the second signal after receiving the first signal or send the second signal and the first time difference value.
  • the first signal may carry a ranging message.
  • the ranging message can be used for the second UE to obtain the fourth time.
  • the ranging method provided by the embodiment of the present disclosure may further include: the first UE sends a third signal carrying a ranging request message.
  • the ranging request message may be used to request the second UE to send the second signal or send the second signal and the first time difference after receiving the first signal.
  • the third signal may also carry a first identifier for indicating the first UE.
  • the third signal may be a broadcast signal, a multicast signal or a unicast signal. That is, the first UE may broadcast the third signal, multicast the third signal, or unicast the third signal.
  • the first time may specifically be the time when the ranging message is sent from the first UE.
  • the embodiment of the present disclosure does not limit the time sequence of the first UE sending the first signal and sending the third signal, which can be specifically determined according to actual usage requirements.
  • the first UE may first send the third signal carrying the ranging request message, and then send the first signal carrying the ranging message, that is, the first UE may perform S206, execute S201A again.
  • the second UE may first receive the third signal, and then the first signal, that is, the second UE may first perform S207 and then perform S202.
  • the first UE may first send a first signal carrying a ranging message, and then send a third signal carrying a ranging request message, that is, the first UE may perform S201A, then execute S206.
  • the second UE may first receive the first signal and then the third signal, that is, the second UE may first perform S202 and then perform S207.
  • the ranging message may be a physical measurement signal or a high-layer signal data block used for ranging.
  • the physical measurement signal can be a reference signal (RS) used for ranging, an RS in a sidelink, a synchronization signal, a preamble, etc.
  • a high-level signal data block can be a radio resource control (radio resource control, RRC) signaling, medium access control control element (MAC CE) signaling, etc.
  • UE1 or the control node may also indicate whether the ranging message sent to UE2 includes a reference signal. This indication can be carried in RRC signaling, MAC CE signaling, downlink control information (DCI) signaling, sidelink control indication (SCI) signaling, or it can be pre-defined by the control node. Configuration.
  • the first signal may carry a first identifier indicating the first UE.
  • the first identifier may include at least one of the following: an identifier of the first UE and a first resource identifier.
  • the first identifier may be used as a scrambling ID (scrambling ID) or a sequence ID (sequence ID), or carried by a data block.
  • the first identifier may be carried in the sequence of the ranging message S1, that is, the sequence of the ranging message S1 may be scrambled by the first identifier, or the first identifier may be used as the queue identifier of the ranging message S1.
  • the first identifier may be any one of the following: configured by the control node for the first UE, configured by the second UE through signaling for the first UE, pre-configured by the protocol or manufacturer, and the first UE from the information set Selected, generated by the first UE according to high-level information, and generated by the first UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the first signal may carry a ranging message; or, the first signal may carry the ranging message and the first identifier of the first UE.
  • the second UE receives the first signal.
  • the time when the first signal arrives at the second UE may be the fourth time, that is, the time when the second UE receives the first signal may be the fourth time.
  • the fourth time may specifically be the time when the ranging message reaches the second UE.
  • the second UE may obtain the time when the first signal arrives at the second UE according to the measurement or demodulation result, that is, the fourth time. In addition, in any of the following situations, the second UE may continue to perform the following S203.
  • Case 1 The second UE obtains the ranging request message from the first signal sent by the first UE.
  • Case 2 If the resource used to transmit the ranging message is a dedicated resource, after the second UE receives the ranging message sent by the first UE, the second UE can verify the time domain resource used to transmit the ranging message It is a dedicated time domain resource, and it is considered that a ranging request message has been received.
  • Case 3 Before receiving the first signal sent by the first UE, the second UE obtains the ranging request message from the third signal sent by the first UE.
  • Case 4 After receiving the first signal sent by the first UE, the second UE obtains the ranging request message from the third signal sent by the first UE.
  • the second UE may obtain the first identifier by processing the sequence of the ranging message S1. S203.
  • the second UE sends a second signal.
  • the time when the second signal is sent from the second UE is the third time.
  • the difference between the third time and the fourth time is the first time difference.
  • the second signal may be a broadcast signal, a multicast signal or a unicast signal. That is, the second UE may broadcast the first signal, multicast the first signal, or unicast the first signal.
  • the second signal may be the following manner one or two:
  • the second signal carries the ranging response message and the first time difference.
  • the ranging response message may be used by the first UE to obtain the time when the second signal reaches the first UE, that is, the second time.
  • the second signal may directly carry the first time difference; or, the second signal may carry the third time and the fourth time, so that the first UE can obtain the first time difference according to the third time and the fourth time value.
  • the first time difference may be included in the data block or payload of the ranging response message.
  • the second signal carries a ranging response message.
  • the ranging response message may be used by the first UE to obtain the time when the second signal reaches the first UE, that is, the second time.
  • the ranging method provided in the embodiment of the present disclosure may further include: the second UE may send the The fourth signal of a time difference.
  • the ranging method provided in the embodiment of the present disclosure may further include: the first UE may receive the second signal sent by the second UE The fourth signal that carries the first time difference.
  • the fourth signal may also carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the fourth signal may directly carry the first time difference; or the fourth signal may carry the third time and the fourth time, so that the first UE can obtain the first time difference according to the third time and the fourth time value.
  • the fourth signal may be a broadcast signal, a multicast signal or a unicast signal. That is, the second UE may broadcast the fourth signal, multicast the fourth signal, or unicast the fourth signal.
  • the third time may specifically be the time when the ranging response message is sent from the second UE.
  • the embodiment of the present disclosure does not limit the time sequence of the second UE sending the second signal and sending the fourth signal, which can be specifically determined according to actual use requirements.
  • the second UE may first send the second signal carrying the ranging response message, and then send the fourth signal carrying the first time difference, that is, the second UE may Perform S203A first, and then perform S208.
  • the first UE may first receive the second signal, and then the fourth signal, that is, the first UE may first perform S204 and then perform S209.
  • the second UE may first send the fourth signal carrying the first time difference, and then send the second signal carrying the ranging response message, that is, the second UE may Perform S208 first, and then S203A.
  • the first UE may first receive the fourth signal, and then receive the second signal, that is, the first UE may first perform S209 and then perform S204.
  • the ranging response message may be used to indicate the physical measurement signal or high layer signal data block of the ranging.
  • the physical measurement signal may be RS used for ranging, RS in sidelink, synchronization signal, preamble sequence, etc.
  • the high-level signal data block may be RRC signaling, MAC CE signaling, etc.
  • UE2 or the control node may also indicate whether the ranging response message sent to UE1 contains a reference signal.
  • the indication can be carried in RRC signaling, MAC CE signaling, downlink control information (DCI) signaling, sidelink control indication (SCI) signaling, or it can be pre-defined by the control node. Configuration.
  • the second signal may carry a second identifier indicating the second UE, or carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the second identifier may include at least one of the following: an identifier of the second UE and a second resource identifier.
  • the second identifier may be used as a scrambling ID or a sequence ID, or carried by a data block.
  • the second identifier may be carried in the sequence of the ranging response message S2, that is, the sequence of the ranging response message S2 may be scrambled by the second identifier, or the second identifier may be used as the queue identifier of the ranging response message S2 .
  • the second identifier may be any one of the following: configured by the control node for the second UE, configured by the first UE for the second UE through signaling, pre-configured by the protocol or manufacturer, and the second UE from the information set Selected, generated by the second UE according to high-level information, and generated by the second UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, pre-configured by the control node, and predefined by the protocol.
  • the second signal may carry a ranging response message; or, the second signal may carry a ranging response message and the first identifier of the second UE; or, the second signal may carry There is a ranging response message, the first identifier of the first UE, and the first identifier of the second UE.
  • the first UE receives the second signal.
  • the time when the second signal reaches the first UE is the second time, that is, the time when the first UE receives the second signal may be the second time.
  • the second time may specifically be the time when the ranging message reaches the first UE.
  • the first UE may obtain the time when the second signal arrives at the first UE according to the measurement or demodulation result, that is, the second time.
  • the first UE may continue to perform the following S205.
  • Scenario 1 The first UE obtains the first time difference from the second signal sent by the second UE.
  • the first UE Before receiving the second signal sent by the second UE, the first UE receives the fourth signal sent by the second UE that carries the first time difference, that is, the first UE is obtained from the fourth signal sent by the second UE. A time difference.
  • the first UE After receiving the second signal sent by the second UE, the first UE receives the fourth signal sent by the second UE and carries the first time difference, that is, the first UE is obtained from the fourth signal sent by the second UE. A time difference.
  • the first UE determines the distance between the first UE and the second UE according to the difference between the first time, the second time, and the first time.
  • the foregoing S205 may specifically include: the first UE determines the distance between the first UE and the second UE according to the first time difference and the second time difference.
  • the second time difference is the difference between the second time and the first time.
  • the first UE and the second UE The distance between them can be: [(t 3 -t 0 )-(t 2 -t 1 )] ⁇ 2 ⁇ c. It can be understood that since t 3 and t 0 only need to refer to the synchronization source of the first UE, and t 2 and t 1 only need to refer to the synchronization source of the second UE, there is no need for absolute synchronization between the first UE and the second UE in this manner.
  • the unit/granularity of the first time difference and the unit/granularity of the second time difference may be any of the following: the time domain sampling granularity of the ranging message in the first signal, and the ranging response in the second signal.
  • OFDM orthogonal frequency-division multiplexing
  • the first UE and the second UE are taken as examples for exemplification, which does not form any limitation. It can be understood that there may be multiple UEs participating in ranging/positioning, and the first UE and the second UE may be any two UEs among the multiple UEs, which may be specifically determined according to actual usage requirements.
  • the embodiment of the present disclosure is exemplified by taking the first UE sending the first message, the second UE receiving the first message, the second UE sending the second message, and the first UE receiving the second message as an example. Form any limit. It can be understood that in actual implementation, the second UE may also send the first message, the first UE receives the first message, the first UE sends the second message, and the second UE receives the second message, which may be specifically determined according to actual usage requirements.
  • the first UE sends a first signal to the second UE and receives the second signal sent by the second UE.
  • the first UE can obtain the time when the first signal is sent from the first UE, The time when the first signal reaches the second UE, the time when the second signal is sent from the second UE, and the time when the second signal reaches the first UE.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • the ranging method provided in the embodiment of the present disclosure may further include the following S210 and S211 .
  • the first UE sends a fifth signal.
  • the second UE receives the fifth signal.
  • the fifth signal may carry at least one group of information.
  • Each group of information may include at least one of target distance information and identification information.
  • the identification information may include a first identification and a second identification.
  • the target distance information in each group of information may be used to indicate the distance between the first UE and the second UE.
  • the fifth signal may be a broadcast signal, a multicast signal, or a unicast signal. That is, the first UE may broadcast the first signal, multicast the first signal, or unicast the fifth signal.
  • the fifth signal is a broadcast signal and the number of second UEs is M (M is a positive integer) as an example.
  • the first UE may obtain M groups of information and broadcast the M groups of information. Since each group of information can include target distance information, a first identifier, and a second identifier, the second UE that receives the broadcast information can determine whether the corresponding target distance information is based on the first identifier and the second identifier. Target distance information corresponding to the second UE. If the target distance information is target distance information corresponding to the second UE, the second UE may determine the distance between the second UE and the first UE.
  • the first UE broadcasts/multicasts/unicasts a fifth signal that carries at least one set of information, so that the second UE receiving the fifth signal can determine the second UE and the first UE.
  • the foregoing S201 may be specifically implemented by S201a
  • the foregoing S202 may be specifically implemented by S202a
  • the foregoing S203 may be specifically implemented by S203a
  • the foregoing S204 may be specifically implemented by S204a.
  • the first UE sends a first signal according to the first information.
  • the first information may be configuration information corresponding to the first UE.
  • the first UE may generate the first signal according to the first information and a preset rule, and send the first signal.
  • the preset rule may be a rule predefined by the protocol or indicated by the control node.
  • the first information may include at least one of the following: first sequence information, first time-frequency resource information, and first resource identifier.
  • the first UE may generate the first signal used for ranging according to the first sequence information and the mapping manner predefined by the protocol.
  • the first UE may generate an RS sequence according to the first resource identifier and the sequence generation mode predefined by the protocol; and map the RS sequence according to the mapping mode predefined by the protocol, so as to generate the first signal for ranging.
  • the first UE may generate an RS sequence according to the first resource identifier and the sequence generation mode predefined by the protocol; and generate the first signal used for ranging according to the RS sequence and the first time-frequency resource information.
  • the first information is the first sequence information and the first time-frequency resource information as an example for exemplification.
  • the first UE may generate a sequence according to the first sequence information; and generate the first signal used for ranging according to the sequence and the first time-frequency resource information.
  • the first information may be any of the following: configured by the control node for the first UE through signaling, selected by the first UE from the information set, and configured by the second UE through signaling.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the control node may configure the first information for the first UE through signaling.
  • the control node may configure the first information for the first UE through signaling.
  • the control node may configure the information set for the first UE through signaling, and the information set may include configuration information of multiple UEs, and the configuration information of the multiple UEs includes the first information; or, the control node may configure information The first UE configures the first information.
  • the first UE may select from the information set The first information.
  • the information set may be broadcast or multicast by the control node, pre-configured by the control node or predefined by the protocol.
  • the first information may be that the first UE is from Information selected in the information collection.
  • the information set may be pre-configured by the control node or predefined by the protocol.
  • the positioning resource corresponding to the first information can be any one of the following: Uu resources on the licensed frequency band, sidelink resources on the licensed frequency band (for example, resources in the sidelink resource pool), and resources on the ITS frequency band (for example, Resources in the sidelink resource pool), resources on unlicensed frequency bands.
  • the above information collection may also be referred to as an information group, an information pool, an information cluster, or multiple information.
  • the set of positioning resources corresponding to the information combination may also be called a resource group, a resource pool, a resource cluster, or multiple resources.
  • the resource collection can also be expressed as a resource configuration, a resource configuration collection, multiple resource configurations, a resource configuration group, and so on.
  • the information set may include at least one of the following: multiple resources orthogonal to each other in the time domain, multiple resources orthogonal to each other in the frequency domain, multiple resources orthogonal to each other in the code domain, and mutually orthogonal resources in the spatial domain. Multiple resources handed in.
  • the target time-frequency resource may be a time-frequency resource shared by the target signal and other signals or channels; or, the target time-frequency resource may be a time-frequency resource dedicated to the target signal.
  • the target time-frequency resource may be a time-frequency resource for transmitting a target signal, and the target signal may be a first signal, a second signal, or other possible ranging signals.
  • the first signal may share a time-frequency resource grid with a data channel, a control channel, or other RSs.
  • the control signal may be a physical sidelink shared channel (pysical sidelink share channel, PSSCH) or a physical sidelink control channel (pysical sidelink control channel, PSCCH).
  • the target time-frequency resource is a dedicated time-frequency resource for the target signal
  • the target time-frequency resource is only used to send signals for ranging, and cannot send data channels, control channels, or other RSs.
  • the ranging method provided in the embodiment of the present disclosure may further include: sending first information, where the first information is used by other UEs to receive the first signal.
  • the first information may include at least one of the following: first sequence information, first time-frequency resource information, and first resource identifier.
  • the method for UE1 to send the first information may be broadcast, multicast or unicast.
  • the second UE receives the first signal according to the first information.
  • the first information is configuration information corresponding to the first UE or configuration information corresponding to multiple UEs, and the multiple UEs may include the first UE.
  • the second UE may receive the first signal according to the first information and a preset rule.
  • the preset rule is a rule predefined by the protocol or indicated by the control node.
  • the ranging method provided in the embodiment of the present disclosure may further include: acquiring the first information.
  • the second UE may measure or demodulate the first signal in any of the following ways:
  • the second UE may first obtain the first information, and then obtain the first signal.
  • the second UE sends a second signal according to the second information.
  • the second information may be configuration information corresponding to the second UE.
  • the second UE may generate a second signal according to the second information and a preset rule, and send the second signal.
  • the preset rule is a rule predefined by the protocol or indicated by the control node.
  • the second information may include at least one of the following: second sequence information, second time-frequency resource information, and second resource identifier.
  • the second UE may generate the second signal used for ranging according to the second sequence information and the mapping mode predefined by the protocol.
  • the second UE may generate an RS sequence according to the second resource identifier and the sequence generation mode predefined by the protocol; and map the RS sequence according to the mapping mode predefined by the protocol, so as to generate the second signal for ranging.
  • the second UE may generate an RS sequence according to the second resource identifier and the sequence generation mode predefined by the protocol; and generate the second signal used for ranging according to the RS sequence and the second time-frequency resource information.
  • the second information is the second sequence information and the second time-frequency resource information as an example.
  • the second UE may generate a sequence according to the second sequence information; and generate the first signal for ranging according to the sequence and the second time-frequency resource information.
  • the second information may be any one of the following: configured by the control node for the second UE through signaling, selected by the second UE from the information set, and configured by the first UE through signaling for the second UE.
  • the information set is at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • control node may configure the second information for the second UE through signaling.
  • the control node may configure the second information for the second UE through signaling.
  • the control node may configure the information set for the second UE through signaling, the information set includes configuration information of multiple UEs, and the configuration information of the multiple UEs includes the second information; or, the control node may configure the information set for the second UE through signaling.
  • the UE configures the second information.
  • the second UE can select from the information set Second information.
  • the information set may be broadcast or multicast by the control node, pre-configured by the control node or predefined by the protocol.
  • the second UE may select from the information set Second information.
  • the information set may be pre-configured by the control node or predefined by the protocol.
  • the positioning resource corresponding to the second information can be any of the following: Uu resources on the licensed frequency band, sidelink resources on the licensed frequency band (for example, resources in the sidelink resource pool), and resources on the ITS frequency band (for example, Resources in the sidelink resource pool), resources on unlicensed frequency bands.
  • the above information collection may also be referred to as an information group, an information pool, an information cluster, or multiple information.
  • the set of positioning resources corresponding to the information combination may also be called a resource group, a resource pool, a resource cluster, or multiple resources.
  • the resource collection can also be expressed as a resource configuration, a resource configuration collection, multiple resource configurations, a resource configuration group, and so on.
  • the multiple UEs can randomly select positioning resources from a resource pool pre-configured by the control node or a broadcast resource pool. Since the positioning resources are selected randomly, the positioning resources selected by multiple UEs may be the same. In order to avoid the same positioning resource selected by multiple UEs, the receiving end UE cannot distinguish, the sending UE can map the unique ID of the UE to the data block carried in the positioning signal when sending the sidelink positioning signal.
  • the unique ID of the UE may be any of the following: a globally unique ID, a unique ID within a certain range, an ID predefined by a manufacturer, and an ID preconfigured by a control node.
  • the ranging method provided in the embodiment of the present disclosure may further include: the second UE sends second information, and the second information may be used for other UEs to receive the second signal.
  • the second information may include at least one of the following: second sequence information, second time-frequency resource information, and second resource identifier.
  • the manner in which the UE1 sends the second information may be broadcast, multicast or unicast.
  • the first UE receives the second signal according to the second information.
  • the second information is configuration information corresponding to the second UE or configuration information corresponding to multiple UEs, and the multiple UEs may include the second UE.
  • the first UE may receive the second signal according to the second information and a preset rule.
  • the preset rule is a rule predefined by the protocol or indicated by the control node.
  • the ranging method provided in the embodiment of the present disclosure may further include: the first UE obtains the second information.
  • the specific manner for the first UE to obtain the second information may be any of the following: receiving the second information sent by the control node; receiving the second information sent by the second UE; and selecting the second information from the information set.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • control node may broadcast the second information, or multicast the second information, or unicast the second information to the second UE, so that the first UE may obtain the second information.
  • the second UE may broadcast the second information, or multicast the second information, or unicast the second information to the second UE, so that the first UE may obtain the second information.
  • the first UE may select the second information from the information set broadcast or multicast by the control node, the information set preconfigured by the control node, or the information set predefined by the protocol according to a certain predefined manner.
  • the ranging method provided in the embodiment of the present disclosure may further include: the first UE receives the first UE sent by the second UE. Two information.
  • the ranging method provided in the embodiment of the present disclosure may further include: the first UE receives the control node or the second UE Signaling sent.
  • the signaling can be used to indicate the second information.
  • the UE by configuring the first information and the second information, the UE can generate a signal for ranging or receive a signal for ranging. In this way, UEs can obtain four sending and receiving times by sending the first signal, receiving the first signal, sending the second signal, and receiving the second signal, so that the distance between the UEs can be determined according to the four sending and receiving times, that is, UE positioning.
  • the embodiment of the present disclosure also provides an information configuration method.
  • This method can be applied to control nodes. If the control node has established connections with multiple UEs participating in positioning, the method includes the following S301 and S302; if the control node has not established connections with multiple UEs participating in the positioning, the method includes the following S303.
  • control node In the case that the control node has established connections with multiple UEs participating in positioning, the control node configures multiple pieces of information for the multiple UEs participating in positioning.
  • one UE is configured with one piece of information, and each piece of information is used for the UE to broadcast a ranging signal.
  • control node configures a unique identifier for it.
  • each information includes at least one of the following: sequence information, time-frequency resource information, and resource identification.
  • the control node sends multiple pieces of information to each of the multiple UEs.
  • multiple pieces of information may be used for the UE to receive ranging signals broadcast by other UEs.
  • control node does not establish a connection with multiple UEs participating in positioning
  • the control node broadcasts an information set, and the information set includes multiple pieces of information.
  • the information set includes at least one of the following: multiple resources that are orthogonal to each other in the time domain, multiple resources that are orthogonal to each other in the frequency domain, multiple resources that are orthogonal to each other in the code domain, and resources that are orthogonal to each other in the space domain. Multiple resources.
  • the information set is used for multiple UEs participating in positioning to select specific ranging resources/location resources.
  • a control node configures ranging resources so that multiple UEs participating in positioning can broadcast ranging signals or receive ranging signals, thereby realizing ranging/positioning between UEs.
  • the embodiment of the present disclosure provides a ranging method. This method can be applied to the first UE and the second UE.
  • the ranging method may include the following S401 to S405.
  • the first UE broadcasts the first signal.
  • the time when the first signal is sent from the first UE is the first time.
  • the second UE receives the first signal.
  • the time when the first signal arrives at the second UE may be the fourth time, that is, the time when the second UE receives the first signal may be the fourth time.
  • the second UE broadcasts the second signal.
  • the time when the second signal is sent from the second UE is the third time.
  • the difference between the third time and the fourth time is the first time difference.
  • the first UE receives the second signal.
  • the time when the second signal reaches the first UE may be the second time, that is, the time when the first UE receives the second signal may be the second time.
  • the first UE determines the distance between the first UE and the second UE according to the difference between the first time, the second time, and the first time.
  • the first UE broadcasts the first signal and receives the second signal broadcast by the second UE.
  • the first UE can obtain the time when the first signal is sent from the first UE and the arrival of the first signal.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • the ranging method provided in the embodiment of the present disclosure may further include the following S406 and S407.
  • the first UE broadcasts the fifth signal.
  • the second UE receives the fifth signal.
  • the fifth signal may carry at least one of target distance information and identification information.
  • the identification information may include a first identification and a second identification.
  • the target distance information may be used to indicate the distance between the first UE and the second UE.
  • the first UE may broadcast the fifth signal in a beam sweeping manner.
  • the first UE broadcasts the fifth signal, so that the second UE that has received the fifth signal can obtain the distance between the second UE and the first UE.
  • the foregoing S401 may be specifically implemented by S401a
  • the foregoing S402 may be specifically implemented by S402a
  • the foregoing S403 may be specifically implemented by S403a
  • the foregoing S404 may be specifically implemented by S404a.
  • the first UE broadcasts a first signal according to the first information.
  • the first information may be configuration information corresponding to the first UE.
  • the second UE receives the first signal according to the first information.
  • the second UE broadcasts the second signal according to the second information.
  • the second information is configuration information corresponding to the second UE.
  • the first UE receives the second signal according to the second information.
  • the UE by configuring the first information and the second information, the UE can generate a signal for ranging or receive a signal for ranging. In this way, UEs can obtain four sending and receiving times by broadcasting the first signal, receiving the first signal, broadcasting the second signal, and receiving the second signal, so that the distance between the UEs can be determined according to the four sending and receiving times, that is, UE positioning.
  • Embodiment 2 Unicast mode
  • the embodiment of the present disclosure provides a ranging method. This method can be applied to the first UE and the second UE that have established a sidelink connection.
  • the ranging method may include the following S501 to S505.
  • S501 The first UE sends a first signal to the second UE.
  • the time when the first signal is sent from the first UE may be the first time.
  • the second UE receives the first signal.
  • the time when the first signal arrives at the second UE may be the fourth time, that is, the time when the second UE receives the first signal may be the fourth time.
  • S503 The second UE sends a second signal to the first UE.
  • the time when the second signal is sent from the second UE may be the third time.
  • the difference between the third time and the fourth time may be the first time difference.
  • the first UE receives the second signal.
  • the time when the second signal reaches the first UE is the second time, that is, the time when the first UE receives the second signal may be the second time.
  • the first UE determines the distance between the first UE and the second UE according to the difference between the first time, the second time, and the first time.
  • the first UE sends the first signal to the second UE and receives the second signal sent by the second UE to the first UE.
  • the first UE can obtain the first signal from the first UE.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • the ranging method provided in the embodiment of the present disclosure may further include the following S506 and S507.
  • S506 The first UE sends a fifth signal to the second UE.
  • the second UE receives the fifth signal.
  • the fifth signal may carry target distance information, a first identifier and a second identifier.
  • the target distance information may be used to indicate the distance between the first UE and the second UE.
  • the first UE sends the fifth signal to the second UE, so that the second UE that has received the fifth signal can obtain the distance between the second UE and the first UE.
  • the foregoing S501 may be specifically implemented by S501a
  • the foregoing S502 may be specifically implemented by S502a
  • the foregoing S503 may be specifically implemented by S503a
  • the foregoing S504 may be specifically implemented by S504a.
  • the first UE sends a first signal to the second UE according to the first information.
  • the first information may be configuration information corresponding to the first UE.
  • the second UE receives the first signal according to the first information.
  • the second UE sends a second signal to the first UE according to the second information.
  • the second information may be configuration information corresponding to the second UE.
  • the first UE receives the second signal according to the second information.
  • the UE by configuring the first information and the second information, the UE can generate a signal for ranging or receive a signal for ranging. In this way, the UEs can obtain four transmission and reception times by sending the first signal to the second UE, receiving the first signal, sending the second signal to the first UE, and receiving the second signal, so as to determine the The distance between UEs is to realize UE positioning.
  • Embodiment 3 Multicast mode
  • the embodiment of the present disclosure provides a ranging method. This method can be applied to the first UE and the second UE.
  • the ranging method may include the following S601 to S605.
  • the first UE multicasts the first signal.
  • the time when the first signal is sent from the first UE may be the first time.
  • the first signal may also carry a group ID (group ID).
  • the "first UE sending the third signal carrying the ranging request message" in the foregoing embodiment may specifically include: the first UE multicasts the third signal carrying the ranging request message.
  • the third signal may also carry a group ID.
  • the second UE receives the first signal.
  • the time when the first signal arrives at the second UE may be the fourth time, that is, the time when the second UE receives the first signal may be the fourth time.
  • the second UE may obtain the time when the first signal arrives at the second UE according to the measurement or demodulation result, that is, the fourth time. If the second UE and the group ID satisfy any one of Case 1 to Case 4 in the foregoing embodiment, the second UE may continue to perform the following S603.
  • the second UE multicasts the second signal.
  • the time when the second signal is sent from the second UE may be the third time.
  • the difference between the third time and the fourth time may be the first time difference.
  • the second signal may also carry a group ID.
  • the "second UE sending the fourth signal carrying the first time difference" in the foregoing embodiment may specifically include: the second UE multicasting the fourth signal carrying the first time difference.
  • the fifth signal may also carry a group ID.
  • the first UE receives the second signal.
  • the time when the second signal reaches the first UE may be the second time, that is, the time when the first UE receives the second signal may be the second time.
  • the first UE determines the distance between the first UE and the second UE according to the difference between the first time, the second time, and the first time.
  • a first UE multicasts a first signal and receives a second signal multicasted by a second UE.
  • the first UE can obtain the time when the first signal is sent from the first UE, and the first UE.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • the ranging method provided in the embodiment of the present disclosure may further include the following S606 and S607.
  • the first UE multicasts the fifth signal.
  • the second UE receives the fifth signal.
  • the fifth signal may carry at least one group of information.
  • Each group of information may include at least one of target distance information and identification information, and the identification information may include a first identification and a second identification.
  • the target distance information in each group of information may be used to indicate the distance between the first UE and the second UE.
  • the fifth signal may also carry a group ID.
  • the first UE may multicast the fifth signal in a beam sweeping manner.
  • the first UE multicasts the fifth signal that carries at least one set of information, so that the second UE that receives the fifth signal can obtain the information between the second UE and the first UE. distance.
  • the foregoing S601 may be specifically implemented by S601a
  • the foregoing S602 may be specifically implemented by S602a
  • the foregoing S603 may be specifically implemented by S603a
  • the foregoing S604 may be specifically implemented by S604a.
  • the first UE multicasts the first signal according to the first information.
  • the first information may be configuration information corresponding to the first UE.
  • the second UE receives the first signal according to the first information.
  • the second UE multicasts the second signal according to the second information.
  • the second information is configuration information corresponding to the second UE.
  • the first UE receives the second signal according to the second information.
  • the UE by configuring the first information and the second information, the UE can generate a signal for ranging or receive a signal for ranging. In this way, UEs can obtain four sending and receiving times by multicasting the first signal, receiving the first signal, multicasting the second signal, and receiving the second signal, so that the distance between the UEs can be determined according to the four sending and receiving times. That is, UE positioning is realized.
  • the distance measurement methods shown in each of the above figures are all exemplified in conjunction with one figure in the embodiment of the present disclosure.
  • the distance measurement methods shown in the foregoing figures can also be implemented in combination with any other figures illustrated in the foregoing embodiments that can be combined, and details are not described herein again.
  • an embodiment of the present disclosure provides a UE 800.
  • the UE may be the first UE.
  • the first UE may include a sending module 801, a receiving module 802, and a determining module 803.
  • the sending module 801 is configured to send a first signal, and the time when the first signal is sent from the first UE may be the first time.
  • the receiving module 802 is configured to receive a second signal sent by a second UE, and the time when the second signal reaches the first UE may be a second time.
  • the determining module 803 is configured to determine the distance between the first UE and the second UE according to the first time, the second time and the first time difference.
  • the first time difference may be the difference between the third time when the second UE sends the second signal and the fourth time when the first signal is received.
  • the first time difference may be sent by the second UE to the first UE.
  • the first signal may carry a ranging message.
  • the ranging message may be used for the second UE to obtain the fourth time, and to request the second UE to send the second signal or send the difference between the second signal and the first time after receiving the first signal.
  • the first signal may carry a ranging message and a ranging request message.
  • the ranging message may be used by the second UE to obtain the fourth time.
  • the ranging request message may be used to request the second UE to send the second signal or send the second signal and the first time difference after receiving the first signal.
  • the first signal may carry a ranging message.
  • the ranging message may be used by the second UE to obtain the fourth time.
  • the sending module 801 may also be used to send a third signal carrying a ranging request message after or before sending the first signal.
  • the ranging request message may be used to request the second UE to send the second signal or send the second signal and the first time difference after receiving the first signal.
  • the second signal may carry a ranging response message and the first time difference.
  • the ranging response message may be used by the first UE to obtain the second time.
  • the second signal carries a ranging response message
  • the ranging response message may be used by the first UE to obtain the second time.
  • the receiving module may also be used for receiving the fourth signal sent by the second UE and carrying the first time difference before receiving the second signal sent by the second UE or after receiving the second signal sent by the second UE.
  • the third signal may also carry a first identifier indicating the first UE.
  • the fourth signal may also carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the first signal may carry a first identifier indicating the first UE.
  • the second signal may carry a second identifier indicating the second UE, or carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the number of second UEs may be at least one.
  • the sending module 801 may also be used to send the fifth signal after the determining module 803 determines the distance between the first UE and the second UE.
  • the fifth signal may carry at least one set of information, and each set of information may include at least one of target distance information and identification information.
  • the identification information may include a first identification and a second identification. The target in each set of information
  • the distance information may be used to indicate the distance between the first UE and a second UE.
  • the first identifier may include at least one of the following: an identifier of the first UE and a first resource identifier.
  • the second identifier may include at least one of the following: an identifier of the second UE and a second resource identifier.
  • the first identifier may be any one of the following: configured by the control node for the first UE, configured by the second UE through signaling for the first UE, pre-configured by the protocol or manufacturer, and the first UE from the information set Selected, generated by the first UE according to high-level information, and generated by the first UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the second identifier may be any one of the following: configured by the control node for the second UE, configured by the first UE for the second UE through signaling, pre-configured by the protocol or manufacturer, and the second UE from the information set Selected, generated by the second UE according to high-level information, and generated by the second UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the sending module 801 may be specifically configured to send the first signal according to the first information, and the first information may be configuration information corresponding to the first UE.
  • the receiving module 802 may be specifically configured to receive the second signal sent by the second UE according to the second information, where the second information is configuration information corresponding to the second UE.
  • the first information may include at least one of the following: first sequence information, first time-frequency resource information, and first resource identifier.
  • the second information may include at least one of the following: second sequence information, second time-frequency resource information, and second resource identifier.
  • the first information may be any of the following: configured by the control node for the first UE through signaling, selected by the first UE from the information set, and configured by the second UE through signaling.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the second information may be any one of the following: configured by the control node for the second UE through signaling, selected by the second UE from the information set, and configured by the first UE through signaling for the second UE.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the information set may include at least one of the following: multiple resources orthogonal to each other in the time domain, multiple resources orthogonal to each other in the frequency domain, multiple resources orthogonal to each other in the code domain, and mutually orthogonal resources in the spatial domain. Multiple resources handed in.
  • the receiving module 802 may also be configured to receive the second information sent by the control node before receiving the second signal sent by the second UE; or, receive the second information sent by the second UE; or, from the information set Select the second message.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the target time-frequency resource may be a time-frequency resource shared by the target signal and other signals or channels; or, the target time-frequency resource is a time-frequency resource dedicated to the target signal.
  • the target time-frequency resource may be a time-frequency resource for transmitting the target signal, and the target signal may be the first signal or the second signal.
  • the first signal may be a broadcast signal, a multicast signal or a unicast signal
  • the second signal may be a broadcast signal, a multicast signal or a unicast signal
  • the UE provided in the embodiments of the present disclosure can implement the various processes implemented by the first UE in the foregoing method embodiments. To avoid repetition, details are not described herein again.
  • the embodiments of the present disclosure provide a UE.
  • the UE may be a first UE.
  • the first UE can obtain the first signal from The time when the first UE is sent, the time when the first signal reaches the second UE, the time when the second signal is sent from the second UE, and the time when the second signal reaches the first UE.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • an embodiment of the present disclosure provides a UE 900.
  • the UE may be the second UE.
  • the second UE may include a receiving module 901 and a sending module 902.
  • the receiving module 901 may be used to receive the first signal sent by the first UE, and the time when the first signal arrives at the second UE may be the fourth time;
  • the sending module 902 may be used to send a second signal, which is from The time sent by the second UE may be the third time, and the difference between the third time and the fourth time may be the first time difference.
  • the second signal may be used by the first UE to determine the distance between the first UE and the second UE according to the first time, the second time, and the difference between the first time.
  • the first time may be the time when the first signal is sent from the first UE.
  • the second time may be the time when the second signal reaches the first UE.
  • the first time difference may be sent by the second UE to the first UE.
  • the first signal may carry a ranging message.
  • the ranging message may be used for the second UE to obtain the fourth time, and to request the second UE to send the second signal or send the difference between the second signal and the first time after receiving the first signal.
  • the first signal may carry a ranging message and a ranging request message.
  • the ranging message may be used by the second UE to obtain the fourth time.
  • the ranging request message may be used to request the second UE to send the second signal or send the second signal and the first time difference after receiving the first signal.
  • the first signal may carry a ranging message
  • the ranging message may be used by the second UE to acquire the fourth time.
  • the receiving module 901 may also be configured to receive a third signal carrying a ranging request message after receiving the first signal sent by the first UE.
  • the ranging request message may be used to request the second UE to send the second signal or send the second signal and the first time difference after receiving the first signal.
  • the second signal may carry a ranging response message and the first time difference.
  • the ranging response message may be used by the first UE to obtain the second time.
  • the second signal may carry a ranging response message
  • the ranging response message may be used by the first UE to obtain the second time.
  • the sending module 902 may also be used to send a fourth signal carrying the first time difference before or after sending the second signal.
  • the third signal may also carry a first identifier indicating the first UE.
  • the fourth signal may also carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the first signal may carry a first identifier indicating the first UE.
  • the second signal may carry a second identifier indicating the second UE, or carry a first identifier indicating the first UE and a second identifier indicating the second UE.
  • the number of second UEs is at least one.
  • the receiving module 901 may also be configured to receive the fifth signal sent by the first UE after the sending module 902 sends the second signal.
  • the fifth signal may include at least one set of information, and each set of information may include at least one of target distance information and identification information.
  • the identification information may include a first identification and a second identification. The target distance in each set of information The information can be used to indicate the distance between the first UE and a second UE.
  • the first identifier may include at least one of the following: an identifier of the first UE and a first resource identifier.
  • the second identifier may include at least one of the following: an identifier of the second UE and a second resource identifier.
  • the first identifier may be any one of the following: configured by the control node for the first UE, configured by the second UE through signaling for the first UE, pre-configured by the protocol or manufacturer, and the first UE from the information set Selected, generated by the first UE according to high-level information, and generated by the first UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the second identifier may be any one of the following: configured by the control node for the second UE, configured by the first UE for the second UE through signaling, pre-configured by the protocol or manufacturer, and the second UE from the information set Selected, generated by the second UE according to high-level information, and generated by the second UE according to a control node instruction or protocol rule.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the receiving module 901 may be specifically configured to receive the first signal sent by the first UE according to the first information.
  • the first information may be configuration information corresponding to the first UE or configuration information corresponding to multiple UEs, and the multiple UEs may include the first UE.
  • the sending module 902 may be specifically configured to send the second signal according to the second information.
  • the second information may be configuration information corresponding to the second UE.
  • the first information may include at least one of the following: first sequence information, first time-frequency resource information, and first resource identifier.
  • the second information may include at least one of the following: second sequence information, second time-frequency resource information, and second resource identifier.
  • the first information may be any of the following: configured by the control node for the first UE through signaling, selected by the first UE from the information set, and configured by the second UE through signaling.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the second information may be any one of the following: configured by the control node for the second UE through signaling, selected by the second UE from the information set, and configured by the first UE through signaling for the second UE.
  • the information set may be at least one of the following: broadcast or multicast by the control node, preconfigured by the control node, and predefined by the protocol.
  • the information set may include at least one of the following: multiple resources orthogonal to each other in the time domain, multiple resources orthogonal to each other in the frequency domain, multiple resources orthogonal to each other in the code domain, and mutually orthogonal resources in the spatial domain. Multiple resources handed in.
  • the sending module 902 may also be used to send the second information to the first UE before sending the second signal.
  • the target time-frequency resource may be a time-frequency resource shared by the target signal and other signals or channels; or, the target time-frequency resource may be a time-frequency resource dedicated to the target signal.
  • the target time-frequency resource may be a time-frequency resource for transmitting the target signal, and the target signal may be the first signal or the second signal.
  • the first signal may be a broadcast signal, a multicast signal, or a unicast signal.
  • the second signal may be a broadcast signal, a multicast signal or a unicast signal.
  • the UE provided in the embodiments of the present disclosure can implement the various processes implemented by the second UE in the foregoing method embodiments. To avoid repetition, details are not described herein again.
  • the embodiments of the present disclosure provide a UE.
  • the UE may be a second UE. Since the second UE can obtain the time when the first signal arrives at the second UE and the time when the second UE sends the second signal, the second UE can obtain this The difference between the two times, and send the difference to the first UE, so that the first UE can be based on the difference, the time when the first signal is sent from the first UE, and the time when the second signal arrives at the first UE, The distance between the first UE and the second UE is measured.
  • FIG. 10 is a schematic diagram of the hardware structure of a UE for implementing various embodiments of the present disclosure.
  • UE100 includes but is not limited to: radio frequency unit 101, network module 102, audio output unit 103, input unit 104, sensor 105, display unit 106, user input unit 107, interface unit 108, memory 109, processor 110, and power supply 111 and other components.
  • the UE structure shown in FIG. 10 does not constitute a limitation on the UE, and the UE may include more or less components than shown in the figure, or combine certain components, or arrange different components.
  • the UE includes, but is not limited to, mobile phones, tablet computers, notebook computers, palmtop computers, wearable devices, pedometers, and the like.
  • UE 100 as shown in FIG. 10 is the first UE.
  • the radio frequency unit 101 may be used to send a first signal, the time when the first signal is sent from the first UE may be the first time; and to receive a second signal sent by the second UE, the time when the second signal reaches the first UE It can be a second time.
  • the processor 110 may be configured to determine the distance between the first UE and the second UE according to the first time, the second time, and the first time difference.
  • the second signal may be used by the first UE to determine the distance between the first UE and the second UE according to the first time, the second time, and the difference between the first time.
  • the first time may be the time when the first signal is sent from the first UE.
  • the second time may be the time when the second signal reaches the first UE.
  • the first time difference may be sent by the second UE to the first UE.
  • the embodiments of the present disclosure provide a UE.
  • the UE may be a first UE.
  • the first UE can obtain the first signal from The time when the first UE is sent, the time when the first signal reaches the second UE, the time when the second signal is sent from the second UE, and the time when the second signal reaches the first UE.
  • the first UE can measure the distance between the first UE and the second UE based on these four times, for example, can measure the distance between cars, cars, people, cars and other objects. , Which can prevent traffic accidents and so on.
  • the UE 100 shown in FIG. 10 is the second UE.
  • the radio frequency unit 101 may be used to receive a first signal sent by a first UE, and the time when the first signal reaches the second UE may be a fourth time; and send a second signal, the time when the second signal is sent from the second UE It may be the third time, and the difference between the third time and the fourth time may be the first time difference.
  • the second signal may be used by the first UE to determine the distance between the first UE and the second UE according to the first time, the second time, and the difference between the first time.
  • the first time may be the time when the first signal is sent from the first UE.
  • the second time may be the time when the second signal reaches the first UE.
  • the first time difference may be sent by the second UE to the first UE.
  • the embodiments of the present disclosure provide a UE.
  • the UE may be a second UE. Since the second UE can obtain the time when the first signal arrives at the second UE and the time when the second UE sends the second signal, the second UE can obtain this The difference between the two times, and send the difference to the first UE, so that the first UE can be based on the difference, the time when the first signal is sent from the first UE, and the time when the second signal arrives at the first UE, The distance between the first UE and the second UE is measured.
  • the radio frequency unit 101 can be used for receiving and sending signals in the process of sending and receiving information or talking. Specifically, the downlink data from the base station is received and processed by the processor 110; Uplink data is sent to the base station.
  • the radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the radio frequency unit 101 can also communicate with the network and other devices through a wireless communication system.
  • the UE 100 provides users with wireless broadband Internet access through the network module 102, such as helping users to send and receive emails, browse web pages, and access streaming media.
  • the audio output unit 103 can convert the audio data received by the radio frequency unit 101 or the network module 102 or stored in the memory 109 into audio signals and output them as sounds. Moreover, the audio output unit 103 may also provide audio output related to a specific function performed by the UE 100 (for example, call signal reception sound, message reception sound, etc.).
  • the audio output unit 103 includes a speaker, a buzzer, a receiver, and the like.
  • the input unit 104 is used to receive audio or video signals.
  • the input unit 104 may include a graphics processing unit (GPU) 1041 and a microphone 1042.
  • the graphics processor 1041 is configured to monitor images of still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. Data is processed.
  • the processed image frame can be displayed on the display unit 106.
  • the image frame processed by the graphics processor 1041 may be stored in the memory 109 (or other storage medium) or sent via the radio frequency unit 101 or the network module 102.
  • the microphone 1042 can receive sound, and can process such sound into audio data.
  • the processed audio data can be converted into a format that can be sent to a mobile communication base station via the radio frequency unit 101 for output in the case of a telephone call mode.
  • the UE 100 also includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors.
  • the light sensor includes an ambient light sensor and a proximity sensor.
  • the ambient light sensor can adjust the brightness of the display panel 1061 according to the brightness of the ambient light.
  • the proximity sensor can turn off the display panel 1061 and/or when the UE 100 moves to the ear. Or backlight.
  • the accelerometer sensor can detect the magnitude of acceleration in various directions (usually three-axis), and can detect the magnitude and direction of gravity when stationary, and can be used to identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games , Magnetometer attitude calibration), vibration recognition related functions (such as pedometer, tap), etc.; sensor 105 can also include fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, Infrared sensors, etc., will not be repeated here.
  • the display unit 106 is used to display information input by the user or information provided to the user.
  • the display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.
  • LCD liquid crystal display
  • OLED organic light-emitting diode
  • the user input unit 107 may be used to receive inputted numeric or character information, and generate key signal input related to user settings and function control of the UE 100.
  • the user input unit 107 includes a touch panel 1071 and other input devices 1072.
  • the touch panel 1071 also known as a touch screen, can collect the user's touch operations on or near it (for example, the user uses any suitable object such as a finger or stylus to operate on the touch panel 1071 or near the touch panel 1071) .
  • the touch panel 1071 may include two parts: a touch detection device and a touch controller.
  • the touch detection device detects the user's touch position, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it To the processor 110, the command sent by the processor 110 is received and executed.
  • the touch panel 1071 can be realized by various types such as resistive, capacitive, infrared, and surface acoustic wave.
  • the user input unit 107 may also include other input devices 1072.
  • other input devices 1072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackball, mouse, and joystick, which will not be repeated here.
  • the touch panel 1071 can be overlaid on the display panel 1061.
  • the touch panel 1071 detects a touch operation on or near it, it is transmitted to the processor 110 to determine the type of the touch event, and then the processor 110 according to The type of touch event provides corresponding visual output on the display panel 1061.
  • the touch panel 1071 and the display panel 1061 are used as two independent components to implement the input and output functions of the UE 100, in some embodiments, the touch panel 1071 and the display panel 1061 can be integrated
  • the implementation of the input and output functions of the UE 100 is not specifically limited here.
  • the interface unit 108 is an interface for connecting an external device with the UE 100.
  • the external device may include a wired or wireless headset port, an external power source (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, audio input/output (I/O) port, video I/O port, headphone port, etc.
  • the interface unit 108 can be used to receive input (such as data information, power, etc.) from an external device and transmit the received input to one or more elements in the UE 100 or can be used to transmit between the UE 100 and the external device data.
  • the memory 109 can be used to store software programs and various data.
  • the memory 109 may mainly include a program storage area and a data storage area.
  • the program storage area may store an operating system, an application program required by at least one function (such as a sound playback function, an image playback function, etc.), etc.; Data (such as audio data, phone book, etc.) created by the use of mobile phones.
  • the memory 109 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the processor 110 is the control center of the UE 100. It uses various interfaces and lines to connect the various parts of the entire UE 100. It runs or executes software programs and/or modules stored in the memory 109, and calls data stored in the memory 109. , Execute various functions of the UE 100 and process data, thereby monitoring the UE 100 as a whole.
  • the processor 110 may include one or more processing units; optionally, the processor 110 may integrate an application processor and a modem processor, where the application processor mainly processes the operating system, user interface, and application programs, etc.
  • the adjustment processor mainly deals with wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 110.
  • the UE 100 may also include a power source 111 (such as a battery) for supplying power to various components.
  • a power source 111 such as a battery
  • the power source 111 may be logically connected to the processor 110 through a power management system, so as to manage charging, discharging, and power consumption management through the power management system. And other functions.
  • the UE 100 includes some functional modules not shown, which will not be repeated here.
  • an embodiment of the present disclosure also provides a UE, including a processor 110 as shown in FIG. 10, a memory 109, a computer program stored in the memory 109 and capable of running on the processor 110, and the computer program is processed When the device 110 is executed, each process of the above method embodiment is realized, and the same technical effect can be achieved. In order to avoid repetition, details are not repeated here.
  • the embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the processor 110 as shown in FIG. 10, each process of the foregoing method embodiment is implemented, And can achieve the same technical effect, in order to avoid repetition, I will not repeat them here.
  • computer-readable storage media such as read-only memory (read-only memory, ROM for short), random access memory (random access memory, RAM for short), magnetic disks, or optical disks, etc.
  • the technical solution of the present disclosure essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk). ) Includes several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present disclosure.
  • a terminal which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种测距方法及设备。方法包括：发送第一信号，第一信号从第一UE（01）发出的时间为第一时间；接收第二UE（02）发送的第二信号，第二信号到达第一UE（01）的时间为第二时间；根据第一时间、第二时间和第一时间差值，确定第一UE（01）与第二UE（02）之间的距离；其中，第一时间差为第二UE（02）发送第二信号的第三时间与接收到第一信号的第四时间之间的差值。

Description

测距方法及设备
本申请要求于2019年08月12日提交国家知识产权局、申请号为201910741403.4、申请名称为“一种测距方法及设备”的中国专利申请的优先权，其全部内容通过引用包含于此。
技术领域
本公开实施例涉及通信技术领域，尤其涉及一种测距方法及设备。
背景技术
在车联网(vehicle to everything，V2X)通信中，车辆与其周围的对象之间可以采用旁链路(sidelink)技术直接传输数据的通信技术，其主要包括车到车通信(vehicle to vehicle，V2V)、车到路通信(vehicle to infrastructure，V2I)、车到网络通信(vehicle to network，V2N)以及车到人通信(vehicle to pedestrian，V2P)等。
目前，由于车辆与其周围的对象之间均可以通信，因此，为了避免车辆与其周围的对象之间发生碰撞，可以考虑基于sidelink通信技术，测量车辆与其周围的对象之间的距离，从而防止交通意外事故的发生。如此，如何基于sidelink技术测量任意两个对象之间的距离成为亟待解决的问题。
发明内容
本公开实施例提供一种测距方法及设备，以解决如何基于sidelink技术测量任意两个对象之间的距离的问题。
为了解决上述技术问题，本公开实施例是这样实现的：
第一方面，本公开实施例提供了一种测距方法。该方法可以应用于第一用户设备(user equipment，UE)。该方法可以包括：发送第一信号，第一信号从第一UE发出的时间为第一时间；接收第二UE发送的第二信号，第二信号到达第一UE的时间为第二时间；根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离；其中，第一时间差为第二UE发送第二信号的第三时间与接收到第一信号的第四时间之间的差值，第一时间差值为第二UE发送给第一UE的。
第二方面，本公开实施例提供了一种测距方法。该方法可以应用于第二UE。该方法可以包括：接收第一UE发送的第一信号，第一信号到达第二UE的时间为第四时间；发送第二信号，第二信号从第二UE发出的时间为第三时间，第三时间与第四时间之间的差值为第一时间差值；其中，第二信号用于第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离；第一时间为第一信号从第一UE发出的时间，第二时间为第二信号到达第一UE的时间，第一时间差值为第二UE发送给第一UE的。
第三方面，本公开实施例提供了一种UE。该UE为第一UE。该第一UE可以包括发送模块、接收模块和确定模块。发送模块，用于发送第一信号，第一信号从第一UE发出的时间为第一时间；接收模块，用于接收第二UE发送的第二信号，第二信号到达第一UE的时间为第二时间；确定模块，用于根据第一时间、第二时间和第一时 间差值，确定第一UE与第二UE之间的距离；其中，第一时间差为第二UE发送第二信号的第三时间与接收到第一信号的第四时间之间的差值，第一时间差值为第二UE发送给第一UE的。
第四方面，本公开实施例提供了一种UE。该UE为第二UE。该第二UE可以包括接收模块和发送模块。接收模块，用于接收第一UE发送的第一信号，第一信号到达第二UE的时间为第四时间；发送模块，用于发送第二信号，第二信号从第二UE发出的时间为第三时间，第三时间与第四时间之间的差值为第一时间差值；其中，第二信号用于第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离；第一时间为第一信号从第一UE发出的时间，第二时间为第二信号到达第一UE的时间，第一时间差值为第二UE发送给第一UE的。
第五方面，本公开实施例提供了一种UE，该UE为第一UE，该UE包括处理器、存储器及存储在该存储器上并可在该处理器上运行的计算机程序，该计算机程序被该处理器执行时实现上述第一方面提供的测距方法的步骤。
第六方面，本公开实施例提供了一种UE，该UE为第二UE，该UE包括处理器、存储器及存储在该存储器上并可在该处理器上运行的计算机程序，该计算机程序被该处理器执行时实现上述第二方面提供的测距方法的步骤。
第七方面，本公开实施例提供了一种通信系统，该通信系统包括上述第三方面中的UE，以及上述第四方面中的UE。或者，该通信系统包括上述第五方面中的UE，以及上述第六方面中的UE。
第八方面，本公开实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储计算机程序，该计算机程序被处理器执行时实现上述第一方面或者第二方面中的测距方法的步骤。
在本公开实施例中，第一UE可以发送第一信号，第一信号从第一UE发出的时间为第一时间；并接收第二UE发送的第二信号，第二信号到达第一UE的时间为第二时间；根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离；其中，第一时间差为第二UE发送第二信号的第三时间与接收到第一信号的第四时间之间的差值，第一时间差值为第二UE发送给第一UE的。通过该方案，第一UE通过向第二UE发送第一信号，并接收第二UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第二信号从第二UE发出的时间与第一信号到达第二UE的时间之间的时间差、第二信号到达第一UE的时间。如此，第一UE可以得到第一UE和第二UE之间信号传输的往返时间，以测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
附图说明
图1为本公开实施例提供的一种通信系统的架构示意图；
图2为本公开实施例提供的一种测距方法的示意图之一；
图3为本公开实施例提供的一种测距方法的示意图之二；
图4为本公开实施例提供的一种测距方法的示意图之三；
图5为本公开实施例提供的一种测距方法的示意图之四；
图6为本公开实施例提供的一种测距方法的示意图之五；
图7为本公开实施例提供的一种测距方法的示意图之六；
图8为本公开实施例提供的UE的结构示意图之一；
图9为本公开实施例提供的UE的结构示意图之二；
图10为本公开实施例提供的UE的硬件示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本文中术语“和/或”，是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本文中符号“/”表示关联对象是或者的关系，例如A/B表示A或者B。
本公开的说明书和权利要求书中的术语“第一”和“第二”等是用于区别不同的对象，而不是用于描述对象的特定顺序。例如，第一时间和第二时间等是用于区别不同的时间，而不是用于描述时间的特定顺序。
在本公开实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本公开实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
在本公开实施例的描述中，除非另有说明，“多个”的含义是指两个或者两个以上，例如，多个UE是指两个或者两个以上的UE等。
下面对本公开实施例中涉及的一些术语/名词进行解释说明。
sidelink技术：可以称为旁链路技术、副链路技术、侧链路技术或边链路技术等，是指UE之间可以不通过网络侧设备而直接传输数据的技术。目前，sidelink传输主要包括广播(broadcast)、组播(groupcast)和单播(unicast)几种传输形式。控制节点和UE之间可以通过Uu接口并使用上下行链路(uplink and downlink)进行通信，UE和UE之间可以通过PC5接口并使用sidelink通信。
此外，sidelink存在两种资源分配模式：调度资源分配(scheduled resource allocation)模式、自主资源选择(autonomous resource selection)模式。其中，前者可以称为mode1，其由控制节点控制并为每个UE分配资源；后者可以称为mode2，其由UE自主选择资源。对于某些UE，可能同时进行这两种资源分配模式。
车辆网(vehicle to everything，V2X)技术：是指车辆与周围的其他车辆以及其他相关设备可以进行通信的技术，主要包括基本安全类通信、高级驾驶、车辆编队和传感器扩展等各种业务。V2X主要包括V2V、V2I、V2N以及V2P等。
本公开实施例提供一种测距方法、设备及系统，第一UE可以发送第一信号，第一信号从第一UE发出的时间为第一时间；并接收第二UE发送的第二信号，第二信号到达第一UE的时间为第二时间；根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离；其中，第一时间差为第二UE发送第二信号的第三时 间与接收到第一信号的第四时间之间的差值，第一时间差值为第二UE发送给第一UE的。通过该方案，第一UE通过向第二UE发送第一信号，并接收第二UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第二信号从第二UE发出的时间与第一信号到达第二UE的时间之间的时间差、第二信号到达第一UE的时间。如此，第一UE可以得到第一UE和第二UE之间信号传输的往返时间，以测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
本公开实施例提供的测距方法、设备及系统，可以应用于sidelink通信系统中。具体可以应用于通过sidelink通信系统，测量车辆与其周围的其他对象之间的距离的场景中，例如测量车辆与车辆之间的距离的场景中。
图1示出了本公开实施例提供的一种通信系统的架构示意图。如图1所示，该通信系统可以包括第一UE 01、第二UE 02和控制节点备03。
其中，第一UE 01和控制节点03之间可以建立上下行链路连接，第一UE 01和第二UE 02之间可以建立sidelink连接。
UE是一种向用户提供语音和/或数据连通性的设备，具有有线/无线连接功能的手持式设备，或连接到无线调制解调器的其他处理设备。UE可以经过无线接入网(radio access network，RAN)与一个或多个核心网设备进行通信。UE可以是移动终端，如移动电话(或称为“蜂窝”电话)和具有移动终端的计算机，也可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与RAN交换语言和/或数据，例如，个人通信业务(personal communication service，PCS)电话、无绳电话、会话发起协议(SIP)话机、无线本地环路(wireless local loop，WLL)站、个人数字助理(personal digital assistant，PDA)等设备。UE也可以称为用户代理(user agent)或者终端设备等。
控制节点是一种用于提供无线通信功能的设备。本公开实施例中，控制节点可以为基站、UE、集成接入回程节点(integrated access backhaul，IAB)、中继站、路边单元(road side unit，RSU)或其他网络设施等。其中，基站可以包括各种形式的宏基站和微基站等。在采用不同的无线接入技术的系统中，具备基站功能的设备的名称可能会有所不同。例如，在5G系统中，可以称为5G基站(gNB)；在第四代无线通信(4-Generation，4G)系统，如LTE系统中，可以称为演进型基站(evolved NodeB，eNB)；在第三代移动通信(3G)系统中，可以称为基站(Node B)。需要说明的是，随着通信技术的演进，“基站”这一名称可能会发生变化。
下面结合各个附图，通过具体的实施例及其应用场景对本公开实施例提供的测距方法、设备及系统进行详细地说明。
基于如图1所示的通信系统，本公开实施例提供一种测距方法。该方法可以应用于第一UE和第二UE。如图2所示，该方法可以包括下述的S201至S205。
S201、第一UE发送第一信号。
其中，第一信号从第一UE发出的时间为第一时间。
本公开实施例中，第一UE可以为测距(ranging)请求UE，第二UE可以为测距辅助UE。
可选地，第一UE与第二UE之间可以为sidelink通信，或其他可能的通信等。
可选地，第一信号可以为广播信号、组播信号或单播信号。即第一UE可以广播第一信号、组播第一信号或单播第一信号。
可选地，第一信号可以携带有测距消息，具体可以分为下述三种情况：
情况一、第一信号可以携带有测距消息。该测距消息可以用于第二UE获取第四时间，以及请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
对于情况一，由于测距消息除了可以用于第二UE获取第四时间，还可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值，因此可以认为测量请求消息隐式包含在测距消息中。即用于传输测距消息的资源为专用的资源，只要其他UE监测到测距消息，那么就可以认为接收到了测量请求消息。比如，测距消息为一种专用的序列，只要其他UE监测到了测距消息，就认为接收到了测量请求消息。
情况二、第一信号可以携带有测距消息和测距请求消息。其中，该测距消息可以用于第二UE获取第四时间，该测距请求消息可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
情况三、第一信号可以携带有测距消息。其中，该测距消息可以用于第二UE获取第四时间。
对于情况三，本公开实施例提供的测距方法还可以包括：第一UE发送携带有测距请求消息的第三信号。其中，该测距请求消息可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第三信号还可以携带有用于指示第一UE的第一标识。
可选地，第三信号可以为广播信号、组播信号或单播信号。即第一UE可以广播第三信号、组播第三信号或单播第三信号。
需要说明的是，在第一信号携带有测距消息的情况下，第一时间具体可以为该测距消息从第一UE发出的时间。
此外，本公开实施例对第一UE发送第一信号、发送第三信号的时间顺序不作限定，具体可以根据实际使用需求确定。
示例性的，结合图2，如图3所示，第一UE可以先发送携带有测距请求消息的第三信号，再发送携带有测距消息的第一信号，即第一UE可以先执行S206，再执行S201A。相应的，第二UE可以先接收该第三信号，再接收该第一信号，即第二UE可以先执行S207，再执行S202。
示例性的，结合图2，如图4所示，第一UE可以先发送携带有测距消息的第一信号，再发送携带有测距请求消息的第三信号，即第一UE可以先执行S201A，再执行S206。相应的，第二UE可以先接收该第一信号，再接收该第三信号，即第二UE可以先执行S202，再执行S207。
可选地，测距消息可以是用于测距的物理测量信号或高层信号数据块。其中，物理测量信号可以是用于测距的参考信号(reference signal，RS)、sidelink中的RS、同步信号、前导序列(preamble)等，高层信号数据块可以是无线资源控制(radio resource  control，RRC)信令、媒体接入控制控制单元(medium access control control element，MAC CE)信令等。可选地，UE1或控制节点还可以指示发送给UE2测距消息中是否包含参考信号。该指示可以承载在RRC信令、MAC CE信令、下行控制信息(downlink control information，DCI)信令、旁链路控制信令(sidelink control indication，SCI)信令中，或者可以由控制节点预配置。
可选地，第一信号可以携带有指示第一UE的第一标识。
可选地，第一标识可以包括以下至少一项：第一UE的标识、第一资源标识。
可选地，第一标识可以作为扰码标识(scrambling ID)或序列标识(sequence ID)，或由数据块携带。
示例性的，第一标识可以携带在测距消息S1的序列中，即测距消息S1的序列可以由第一标识加扰，或者说第一标识可以作为测距消息S1的队列标识。
可选地，第一标识可以为以下任意一项：控制节点为第一UE配置的、第二UE通过信令为第一UE配置的、协议或厂商预配置的、第一UE从信息集合中选择的、第一UE根据高层信息生成的、第一UE根据控制节点指示或协议规则生成的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
需要说明的是，本公开实施例中，第一信号可以携带有测距消息；或者，第一信号可以携带有测距消息和第一UE的第一标识。
S202、第二UE接收该第一信号。
其中，第一信号到达第二UE的时间可以为第四时间，即第二UE接收到第一信号的时间可以为第四时间。
需要说明的是，在第一信号携带有测距消息的情况下，第四时间具体可以为该测距消息到达第二UE的时间。
本公开实施例中，第二UE可以根据测量或解调结果，获取第一信号到达第二UE的时间，即第四时间。并且，在下述任意一种情形下，第二UE可以继续执行下述的S203。
情形一、第二UE从第一UE发送的第一信号中获取了测距请求消息。
情形二、若用于传输测距消息的资源为专用的资源，则在第二UE接收到第一UE发送的测距消息之后，第二UE可以验证出用于传输测距消息的时域资源为专用的时域资源，并认为接收到了测距请求消息。
情形三、在接收第一UE发送的第一信号之前，第二UE从第一UE发送的第三信号中获取了测距请求消息。
情形四、在接收第一UE发送的第一信号之后，第二UE从第一UE发送的第三信号中获取了测距请求消息。
可选地，若用于指示第一UE的第一标识携带在第一UE发送的测距消息S1的序列中，则第二UE可以通过处理测距消息S1的序列，获取第一标识。S203、第二UE发送第二信号。
其中，第二信号从第二UE发出的时间为第三时间。第三时间与第四时间之间的差值为第一时间差值。
可选地，第二信号可以为广播信号、组播信号或单播信号。即第二UE可以广播第一信号、组播第一信号或单播第一信号。
可选地，第二信号可以为下述方式一或方式二：
方式一，第二信号携带有测距响应消息和第一时间差值。其中，该测距响应消息可以用于第一UE获取第二信号到达第一UE的时间，即第二时间。
可选地，第二信号可以直接携带第一时间差值；或者，第二信号可以携带第三时间和第四时间，从而第一UE可以根据第三时间和第四时间，获取第一时间差值。
可选地，第一时间差值可以包含在测距响应消息的数据块或负载(payload)中。
方式二，第二信号携带有测距响应消息。其中，该测距响应消息可以用于第一UE获取第二信号到达第一UE的时间，即第二时间。
可选地，对于方式二，在第二UE发送第二信号之前，或在第二UE发送第二信号之后，本公开实施例提供的测距方法还可以包括：第二UE可以发送携带有第一时间差值的第四信号。相应的，在接收第二UE发送的第二信号之后，或在接收第二UE发送的第二信号之前，本公开实施例提供的测距方法还可以包括：第一UE可以接收第二UE发送的携带有第一时间差值的第四信号。
可选地，第四信号还可以携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第四信号可以直接携带第一时间差值；或者，第四信号可以携带第三时间和第四时间，从而第一UE可以根据第三时间和第四时间，获取第一时间差值。
可选地，第四信号可以为广播信号、组播信号或单播信号。即第二UE可以广播第四信号、组播第四信号或单播第四信号。
需要说明的是，在第二信号携带有测距响应消息的情况下，第三时间具体可以为该测距响应消息从第二UE发出的时间。
对于方式二，本公开实施例对第二UE发送第二信号和发送第四信号的时间顺序不作限定，具体可以根据实际使用需求确定。
示例性的，结合图2，如图5所示，第二UE可以先发送携带有测距响应消息的第二信号，再发送携带有第一时间差值的第四信号，即第二UE可以先执行S203A，再执行S208。相应的，第一UE可以先接收该第二信号，再接收该第四信号，即第一UE可以先执行S204，再执行S209。
示例性的，结合图2，如图6所示，第二UE可以先发送携带有第一时间差值的第四信号，再发送携带有测距响应消息的第二信号，即第二UE可以先执行S208，再执行S203A。相应的，第一UE可以先接收该第四信号，再接收该第二信号，即第一UE可以先执行S209，再执行S204。
可选地，测距响应消息可以用于指示测距的物理测量信号或高层信号数据块。其中，物理测量信号可以是用于测距的RS、sidelink中的RS、同步信号、前导码序列等，高层信号数据块可以是RRC信令、MAC CE信令等。
UE2或控制节点还可以指示发送给UE1测距响应消息中是否包含参考信号。该指示可以承载在RRC信令、MAC CE信令、下行控制信息(downlink control information，DCI)信令、旁链路控制信令(sidelink control indication，SCI)信令中，或者可以由 控制节点预配置。
可选地，第二信号可以携带有指示第二UE的第二标识，或携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第二标识可以包括以下至少一项：第二UE的标识、第二资源标识。
可选地，第二标识可以作为scrambling ID或sequence ID，或由数据块携带。
示例性的，第二标识可以携带在测距响应消息S2的序列中，即测距响应消息S2的序列可以由第二标识加扰，或者说第二标识可以作为测距响应消息S2的队列标识。
可选地，第二标识可以为以下任意一项：控制节点为第二UE配置的、第一UE通过信令为第二UE配置的、协议或厂商预配置的、第二UE从信息集合中选择的、第二UE根据高层信息生成的、第二UE根据控制节点指示或协议规则生成的。其中，信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
需要说明的是，本公开实施例中，第二信号可以携带有测距响应消息；或者，第二信号可以携带有测距响应消息、第二UE的第一标识；或者，第二信号可以携带有测距响应消息、第一UE的第一标识、第二UE的第一标识。
S204、第一UE接收该第二信号。
其中，第二信号到达第一UE的时间为第二时间，即第一UE接收到第二信号的时间可以为第二时间。
需要说明的是，在第二信号携带有测距响应消息的情况下，第二时间具体可以为该测距消息到达第一UE的时间。本公开实施例中，第一UE可以根据测量或解调结果，获取该第二信号到达第一UE的时间，即第二时间。并且，在下述任意一种场景下，第一UE可以继续执行下述的S205。
场景一、第一UE从第二UE发送的第二信号中获取了第一时间差值。
场景二、在接收第二UE发送的第二信号之前，第一UE接收第二UE发送的携带有第一时间差值的第四信号，即从第二UE发送的第四信号中获取了第一时间差值。
场景三、在接收第二UE发送的第二信号之后，第一UE接收第二UE发送的携带有第一时间差值的第四信号，即从第二UE发送的第四信号中获取了第一时间差值。
S205、第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
可选地，上述S205具体可以包括：第一UE根据第一时间差值和第二时间差值，确定第一UE与第二UE之间的距离。其中，第二时间差值为第二时间与第一时间之间的差值。
示例性的，假设第一时间用t 0表示，第二时间用t 3表示，第三时间用t 2表示，第四时间用t 1表示，光速用c表示，那么第一UE与第二UE之间的距离可以为：[(t 3-t 0)-(t 2-t 1)]÷2×c。可以理解，由于t 3和t 0只需要参考第一UE的同步源，t 2和t 1只需要参考第二UE的同步源，因此采用这种方式无需第一UE和第二UE绝对同步。
可选地，第一时间差值的单位/粒度、第二时间差值的单位/粒度可以为以下任一项：第一信号中测距消息的时域采样粒度，第二信号中测距响应消息的时域采样粒度，当前时刻正交频分复用(orthogonal frequency-division multiplexing，OFDM)符号的时域 采样粒度，其他网络配置或协议约定的粒度等。
需要说明的是，本公开实施例上述S201至S205中是以第一UE和第二UE为例进行示例性说明的，其并不形成任何限定。可以理解，参与测距/定位的UE可以为多个，第一UE和第二UE可以为多个UE中的任意两个UE，具体可以根据实际使用需求确定。
此外，本公开实施例是以第一UE发送第一消息，第二UE接收第一消息，第二UE发送第二消息，第一UE接收第二消息为例进行示例性说明的，其并不形成任何限定。可以理解，实际实现时，也可以是第二UE发送第一消息，第一UE接收第一消息，第一UE发送第二消息，第二UE接收第二消息，具体可以根据实际使用需求确定。
本公开实施例提供的测距方法，第一UE通过向第二UE发送第一信号，并接收第二UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
可选地，结合图2，如图7所示，在第二UE的数量为至少一个的情况下，在上述S205之后，本公开实施例提供的测距方法还可以包括下述的S210和S211。
S210、第一UE发送第五信号。
S211、第二UE接收该第五信号。
其中，第五信号可以携带有至少一组信息。每组信息可以包括目标距离信息和标识信息中的至少一项。该标识信息可以包含第一标识和第二标识。每组信息中的目标距离信息可以用于指示第一UE与第二UE之间的距离。
可选地，第五信号可以为广播信号、组播信号或单播信号。即第一UE可以广播第一信号、组播第一信号或单播第五信号。
示例性的，以第五信号为广播信号、第二UE的数量为M(M为正整数)个为例进行示例性说明。第一UE可以获取M组信息，并广播该M组信息。由于每组信息均可以包括目标距离信息、第一标识和一个第二标识，因此接收到该广播信息的第二UE可以根据第一标识和第二标识，判断与之对应的目标距离信息是否为该第二UE对应的目标距离信息。若目标距离信息为该第二UE对应的目标距离信息，该第二UE可以确定该第二UE与第一UE之间的距离。
本公开实施例提供的测距方法，第一UE通过广播/组播/单播携带有至少一组信息的第五信号，可以使接收到第五信号的第二UE，确定第二UE与第一UE之间的距离。
可选地，上述S201具体可以通过S201a实现，上述S202具体可以通过S202a实现，上述S203具体可以通过S203a实现，并且上述S204具体可以通过S204a实现。
S201a、第一UE根据第一信息，发送第一信号。
其中，第一信息可以为第一UE对应的配置信息。
可选地，第一UE可以根据第一信息和预设规则，生成第一信号，并发送第一信号。其中，该预设规则可以为协议预定义或控制节点指示的规则。
可选地，第一信息可以包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识。
示例性的，以第一信息为第一序列信息为例进行示例性说明。第一UE可以根据第一序列信息和协议预定义的映射方式，生成用于测距的第一信号。
示例性的，以第一信息为第一资源标识为例进行示例性说明。第一UE可以根据第一资源标识以及协议预定义的序列生成方式，生成一个RS序列；并根据协议预定义的映射方式，对RS序列进行映射，从而可以生成用于测距的第一信号。
示例性的，以第一信息为第一资源标识和第一时频资源信息为例进行示例性说明。第一UE可以根据第一资源标识和协议预定义的序列生成方式，生成一个RS序列；并根据RS序列和第一时频资源信息，生成用于测距的第一信号。
示例性的，以第一信息为第一序列信息和第一时频资源信息为例进行示例性说明。第一UE可以第一序列信息，生成一个序列；并根据序列和第一时频资源信息，生成用于测距的第一信号。
可选地，第一信息可以为以下任意一项：控制节点通过信令为第一UE配置的、第一UE从信息集合中选择的、第二UE通过信令为第一UE配置的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
示例性的，在第一UE与第二UE已建立sidelink连接的情况下，控制节点可以通过信令为第一UE配置第一信息。
示例性的，在第一UE与第二UE未建立sidelink连接，且第一UE与控制节点建立连接的情况下，控制节点可以通过信令为第一UE配置第一信息。具体的，控制节点可以通过信令为第一UE配置信息集合，该信息集合可以包括多个UE的配置信息，该多个UE的配置信息包括第一信息；或者，控制节点可以通过信令为第一UE配置第一信息。
示例性的，在第一UE与第二UE未建立sidelink连接，第一UE与控制节点未建立连接，且第一UE在控制节点的覆盖内的情况下，第一UE可以从信息集合中选择的第一信息。该信息集合可以为控制节点广播或组播的、控制节点预配置的或协议预定义的。
示例性的，在第一UE与第二UE未建立sidelink连接，第一UE与控制节点未建立连接，且第一UE不在控制节点的覆盖内的情况下，第一信息可以为第一UE从信息集合中选择的信息。该信息集合可以为控制节点预配置的或协议预定义的。
可选地，第一信息对应的定位资源可以为以下任一项：在授权频段上的Uu资源、在授权频段上的sidelink资源(例如sidelink资源池内的资源)、在ITS频段上的资源(例如sidelink资源池内的资源)、在非授权频段上的资源。
需要说明的是，上述信息集合也可称为信息组、信息池、信息簇或多个信息等。与信息结合对应的定位资源集合也可称为资源组、资源池、资源簇或多个资源等。资源集合还可以表示为资源配置、资源配置集合、多个资源配置、资源配置组等。
可选地，信息集合可以包括以下至少一项：时域上相互正交的多个资源、频域上相互正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
可选地，目标时频资源可以为目标信号与其他信号或信道共享的时频资源；或者， 目标时频资源可以为目标信号专用的时频资源。其中，该目标时频资源可以为传输目标信号的时频资源，该目标信号可以为第一信号、第二信号或其他可能的测距信号等。
示例性的，第一信号可以与数据信道、控制信道或其他RS共享时频资源网格。其中，控制信号可以为物理旁链路共享信道(pysical sidelink share channel，PSSCH)或物理旁链路控制信道(pysical sidelink control channel，PSCCH)。
需要说明的是，当目标时频资源为目标信号专用的时频资源时，该目标时频资源只用于发送用于测距的信号，而不能发送数据信道、控制信道或其他RS等。
可选地，在第一UE发送第一信号之前，本公开实施例提供的测距方法还可以包括：发送第一信息，该第一信息用于其他UE接收第一信号。其中，该第一信息可以包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识。UE1发送该第一信息的方式可以为广播、组播或单播。
S202a、第二UE根据第一信息，接收该第一信号。
可选地，第一信息为第一UE对应的配置信息或多个UE对应的配置信息，该多个UE可以包括第一UE。
可选地，第二UE可以根据第一信息和预设规则，接收第一信号。其中，该预设规则为协议预定义或控制节点指示的规则。
可选地，在第二UE根据第一信息，接收该第一信号之前，本公开实施例提供的测距方法还可以包括：获取第一信息。
可选地，第二UE可以通过下述任意一种方式，测量或解调第一信号：
1)根据第一UE发送的第一信息，测量第一信号。
2)根据控制节点配置的多个信息，盲检第一信号，该多个信息包括第一信息。
3)根据控制节点广播的多个信息，盲检第一信号，该多个信息包括第一信息。
4)根据协议预定义的多个信息，盲检第一信号，该多个信息包括第一信息。
5)根据厂商预配置的多个信息，盲检第一信号，该多个信息包括第一信息。
6)通过其他方式盲检盲检第一信号。
可选地，若第一UE在发送携带有测距消息的第一信号之前，第一UE发送了第一信息，则第二UE可以先获取第一信息，再获取第一信号。
S203a、第二UE根据第二信息，发送第二信号。
其中，第二信息可以为第二UE对应的配置信息。
可选地，第二UE可以根据第二信息和预设规则，生成第二信号，并发送第二信号。其中，该预设规则为协议预定义或控制节点指示的规则。
可选地，第二信息可以包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。
示例性的，以第二信息为第二序列信息为例进行示例性说明。第二UE可以根据第二序列信息和协议预定义的映射方式，生成用于测距的第二信号。
示例性的，以第二信息为第二资源标识为例进行示例性说明。第二UE可以根据第二资源标识以及协议预定义的序列生成方式，生成一个RS序列；并根据协议预定义的映射方式，对RS序列进行映射，从而可以生成用于测距的第二信号。
示例性的，以第二信息为第二资源标识和第二时频资源信息为例进行示例性说明。 第二UE可以根据第二资源标识和协议预定义的序列生成方式，生成一个RS序列；并根据RS序列和第二时频资源信息，生成用于测距的第二信号。
示例性的，以第二信息为第二序列信息和第二时频资源信息为例进行示例性说明。第二UE可以第二序列信息，生成一个序列；并根据序列和第二时频资源信息，生成用于测距的第一信号。
可选地，第二信息可以为以下任意一项：控制节点通过信令为第二UE配置的、第二UE从信息集合中选择的、第一UE通过信令为第二UE配置的。其中，该信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
示例性的，在第一UE与第二UE已建立sidelink连接的情况下，控制节点可以通过信令为第二UE配置第二信息。
示例性的，在第一UE与第二UE未建立sidelink连接，且第二UE与控制节点建立连接的情况下，控制节点可以通过信令为第二UE配置第二信息。具体的，控制节点可以通过信令为第二UE配置信息集合，该信息集合包括多个UE的配置信息，该多个UE的配置信息包括第二信息；或者，控制节点可以通过信令为第二UE配置第二信息。
示例性的，在第一UE与第二UE未建立sidelink连接，第二UE与控制节点未建立连接，且第二UE在控制节点的覆盖内的情况下，第二UE可以从信息集合中选择第二信息。该信息集合可以为控制节点广播或组播的、控制节点预配置的或协议预定义的。
示例性的，在第一UE与第二UE未建立sidelink连接，第二UE与控制节点未建立连接，且第二UE不在控制节点的覆盖内的情况下，第二UE可以从信息集合中选择第二信息。该信息集合可以为控制节点预配置的或协议预定义的。
可选地，第二信息对应的定位资源可以为以下任一项：在授权频段上的Uu资源、在授权频段上的sidelink资源(例如sidelink资源池内的资源)、在ITS频段上的资源(例如sidelink资源池内的资源)、在非授权频段上的资源。
需要说明的是，上述信息集合也可称为信息组、信息池、信息簇或多个信息等。与信息结合对应的定位资源集合也可称为资源组、资源池、资源簇或多个资源等。资源集合还可以表示为资源配置、资源配置集合、多个资源配置、资源配置组等。
此外，如果参与定位的多个UE和控制节点未建立连接，那么多个UE可以从控制节点预配置的资源池或广播的资源池中，随机选择定位资源。由于是随机选择定位资源，因此多个UE选择的定位资源可能相同。为了避免多个UE选择的相同的定位资源，接收端UE无法区分，发送UE可以在发送sidelink定位信号时将UE唯一的ID映射在该定位信号携带的数据块中。其中，UE唯一的ID可以为以下任一项：全球唯一的ID、一定范围内唯一的ID、由厂商预定义的ID、由控制节点预配置的ID。
可选地，在第二UE发送第二信号之前，本公开实施例提供的测距方法还可以包括：第二UE发送第二信息，该第二信息可以用于其他UE接收第二信号。其中，该第二信息可以包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。UE1发送该第二信息的方式可以为广播、组播或单播。
S204a、第一UE根据第二信息，接收该第二信号。
可选地，第二信息为第二UE对应的配置信息或多个UE对应的配置信息，该多个UE可以包括第二UE。
可选地，第一UE可以根据第二信息和预设规则，接收第二信号。其中，该预设规则为协议预定义或控制节点指示的规则。
可选地，在第一UE根据第二信息，接收第二UE发送的第二信号之前，本公开实施例提供的测距方法还可以包括：第一UE获取第二信息。
可选地，第一UE获取第二信息的具体方式可以为以下任意一种：接收控制节点发送的第二信息；接收第二UE发送的第二信息；从信息集合中选择第二信息。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
示例性的，控制节点可以广播第二信息，或组播第二信息，或向第二UE单播第二信息，从而第一UE可以获取第二信息。
示例性的，第二UE可以广播第二信息，或组播第二信息，或向第二UE单播第二信息，从而第一UE可以获取第二信息。
示例性的，第一UE可以根据某种预定义的方式，从控制节点广播或组播的信息集合、控制节点预配置的信息集合或协议预定义的信息集合中选择第二信息。
可选地，在第二信息为第二UE从信息集合中选择的信息的情况下，在S204a之前，本公开实施例提供的测距方法还可以包括：第一UE接收第二UE发送的第二信息。
可选地，在第二信息为控制节点通过信令为第二UE配置的情况下，在S204a之前，本公开实施例提供的测距方法还可以包括：第一UE接收控制节点或第二UE发送的信令。其中，该信令可以用于指示第二信息。
本公开实施例提供的测距方法，通过配置第一信息、第二信息，可以使得UE生成用于测距的信号，或者接收用于测距的信号。如此UE之间可以通过发送第一信号、接收第一信号、发送第二信号、接收第二信号，获取四个收发时间，从而可以根据这四个收发时间，确定UE之间的距离，即实现UE定位。
可选地，本公开实施例还提供一种信息配置方法。该方法可以应用于控制节点。如果控制节点与参与定位的多个UE已建立连接，那么该方法包括下述的S301和S302；如果控制节点与参与定位的多个UE未建立连接，那么该方法包括下述的S303。
S301、在控制节点与参与定位的多个UE已建立连接的情况下，控制节点为参与定位的多个UE配置多个信息。
其中，一个UE配置一个信息，每个信息用于UE广播测距信号。
可选地，对于每个信息，控制节点为其配置一个唯一的标识。
可选地，每个信息包括以下至少一项：序列信息、时频资源信息、资源标识。
S302、控制节点将多个信息发送至多个UE中的每个UE。
可选地，多个信息可以用于UE接收其他UE广播的测距信号。
S303、在控制节点与参与定位的多个UE未建立连接的情况下，控制节点广播信息集合，该信息集合包括多个信息。
其中，信息集合中包括以下至少一项：时域上相互正交的多个资源、频域上相互 正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
可选地，信息集合用于参与定位的多个UE选择特定的测距资源/定位资源。
本公开实施例提供的信息配置方法，控制节点通过配置测距资源，使得参与定位的多个UE可以广播测距信号或接收测距信号，从而可以实现UE之间的测距/定位。
为了更清楚地示意本公开，下面将通过实施例一、实施例二和实施例三分别对广播方式、单播方式、组播方式这三种测距信号的传输方式进行示例性说明。
实施例一：广播方式
本公开实施例提供一种测距方法。该方法可以应用于第一UE和第二UE。该测距方法可以包括下述的S401至S405。
S401、第一UE广播第一信号。
其中，第一信号从第一UE发出的时间为第一时间。
对于第一信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S402、第二UE接收该第一信号。
其中，第一信号到达第二UE的时间可以为第四时间，即第二UE接收到第一信号的时间可以为第四时间。
S403、第二UE广播第二信号。
其中，第二信号从第二UE发出的时间为第三时间。第三时间与第四时间之间的差值为第一时间差值。
对于第二信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S404、第一UE接收该第二信号。
其中，第二信号到达第一UE的时间可以为第二时间，即第一UE接收到第二信号的时间可以为第二时间。
S405、第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
本公开实施例提供的测距方法，第一UE通过广播第一信号，并接收第二UE广播的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
可选地，在上述S405之后，本公开实施例提供的测距方法还可以包括下述的S406和S407。
S406、第一UE广播第五信号。
S407、第二UE接收该第五信号。
其中，第五信号可以携带有目标距离信息和标识信息中的至少一项。该标识信息可以包含第一标识和第二标识。该目标距离信息可以用于指示第一UE与第二UE之间的距离。
可选地，第一UE可以通过波束扫描(beam sweeping)的方式广播第五信号。
本公开实施例提供的测距方法，第一UE通过广播第五信号，可以使接收到第五 信号的第二UE，获取第二UE与第一UE之间的距离。
可选地，上述S401具体可以通过S401a实现，上述S402具体可以通过S402a实现，上述S403具体可以通过S403a实现，并且上述S404具体可以通过S404a实现。
S401a、第一UE根据第一信息，广播第一信号。
其中，第一信息可以为第一UE对应的配置信息。
对于第一信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S402a、第二UE根据第一信息，接收该第一信号。
S403a、第二UE根据第二信息，广播第二信号。
其中，第二信息为第二UE对应的配置信息。
对于第二信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S404a、第一UE根据第二信息，接收该第二信号。
本公开实施例提供的测距方法，通过配置第一信息、第二信息，可以使得UE生成用于测距的信号，或者接收用于测距的信号。如此UE之间可以通过广播第一信号、接收第一信号、广播第二信号、接收第二信号，获取四个收发时间，从而可以根据这四个收发时间，确定UE之间的距离，即实现UE定位。
实施例二：单播方式
本公开实施例提供一种测距方法。该方法可以应用于已建立sidelink连接的第一UE和第二UE。该测距方法可以包括下述的S501至S505。
S501、第一UE向第二UE发送第一信号。
其中，第一信号从第一UE发出的时间可以为第一时间。
对于第一信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S502、第二UE接收该第一信号。
其中，第一信号到达第二UE的时间可以为第四时间，即第二UE接收到第一信号的时间可以为第四时间。
S503、第二UE向第一UE发送第二信号。
其中，第二信号从第二UE发出的时间可以为第三时间。第三时间与第四时间之间的差值可以为第一时间差值。
对于第二信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S504、第一UE接收该第二信号。
其中，第二信号到达第一UE的时间为第二时间，即第一UE接收到第二信号的时间可以为第二时间。
S505、第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
本公开实施例提供的测距方法，第一UE通过向第二UE发送第一信号，并接收第二UE向第一UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
可选地，在上述S505之后，本公开实施例提供的测距方法还可以包括下述的S506和S507。
S506、第一UE向第二UE发送第五信号。
S507、第二UE接收该第五信号。
其中，第五信号可以携带有目标距离信息、第一标识和第二标识。该目标距离信息可以用于指示第一UE与第二UE之间的距离。
本公开实施例提供的测距方法，第一UE通过向第二UE发送第五信号，可以使接收到第五信号的第二UE，获取第二UE与第一UE之间的距离。
可选地，上述S501具体可以通过S501a实现，上述S502具体可以通过S502a实现，上述S503具体可以通过S503a实现，并且上述S504具体可以通过S504a实现。
S501a、第一UE根据第一信息，向第二UE发送第一信号。
其中，第一信息可以为第一UE对应的配置信息。
对于第一信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S502a、第二UE根据第一信息，接收该第一信号。
S503a、第二UE根据第二信息，向第一UE发送第二信号。
其中，第二信息可以为第二UE对应的配置信息。
对于第二信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S504a、第一UE根据第二信息，接收该第二信号。
本公开实施例提供的测距方法，通过配置第一信息、第二信息，可以使得UE生成用于测距的信号，或者接收用于测距的信号。如此UE之间可以通过向第二UE发送第一信号、接收第一信号、向第一UE发送第二信号、接收第二信号，获取四个收发时间，从而可以根据这四个收发时间，确定UE之间的距离，即实现UE定位。
实施例三：组播方式
本公开实施例提供一种测距方法。该方法可以应用于第一UE和第二UE。该测距方法可以包括下述的S601至S605。
S601、第一UE组播第一信号。
其中，第一信号从第一UE发出的时间可以为第一时间。
可选地，第一信号还可以携带有组播标识(group ID)。
可选地，上述实施例中的“第一UE发送携带有测距请求消息的第三信号”，具体可以包括：第一UE组播携带有测距请求消息的第三信号。其中，第三信号还可以携带有group ID。
对于第一信号、第三信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S602、第二UE接收该第一信号。
其中，第一信号到达第二UE的时间可以为第四时间，即第二UE接收到第一信号的时间可以为第四时间。
本公开实施例中，第二UE可以根据测量或解调结果，获取第一信号到达第二UE的时间，即第四时间。如果第二UE与group ID，满足上述实施例中的情形一至情形四中的任意一项，那么第二UE可以继续执行下述的S603。
S603、第二UE组播第二信号。
其中，第二信号从第二UE发出的时间可以为第三时间。第三时间与第四时间之间的差值可以为第一时间差值。
可选地，第二信号还可以携带有group ID。
可选地，上述实施例中的“第二UE发送携带有第一时间差值的第四信号”，具体可以包括：第二UE组播携带有第一时间差值的第四信号。其中，第五信号还可以携带有group ID。
对于第二信号、第四信号的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S604、第一UE接收该第二信号。
其中，第二信号到达第一UE的时间可以为第二时间，即第一UE接收到第二信号的时间可以为第二时间。
S605、第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
本公开实施例提供的测距方法，第一UE通过组播第一信号，并接收第二UE组播的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
可选地，在第二UE的数量为至少一个的情况下，在上述S605之后，本公开实施例提供的测距方法还可以包括下述的S606和S607。
S606、第一UE组播第五信号。
S607、第二UE接收该第五信号。
其中，第五信号可以携带有至少一组信息。每组信息可以包括目标距离信息和标识信息中的至少一项，该标识信息可以包括第一标识和第二标识。每组信息中的目标距离信息可以用于指示第一UE与第二UE之间的距离。
可选地，第五信号还可以携带用group ID。
可选地，第一UE可以通过波束扫描(beam sweeping)的方式组播第五信号。
本公开实施例提供的测距方法，第一UE通过组播携带有至少一组信息的第五信号，可以使接收到第五信号的第二UE，获取第二UE与第一UE之间的距离。
可选地，上述S601具体可以通过S601a实现，上述S602具体可以通过S602a实现，上述S603具体可以通过S603a实现，并且上述S604具体可以通过S604a实现。
S601a、第一UE根据第一信息，组播第一信号。
其中，第一信息可以为第一UE对应的配置信息。
对于第一信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S602a、第二UE根据第一信息，接收该第一信号。
S603a、第二UE根据第二信息，组播第二信号。
其中，第二信息为第二UE对应的配置信息。
对于第二信息的描述，可以参照上述实施例中的相关描述，此处不再赘述。
S604a、第一UE根据第二信息，接收该第二信号。
本公开实施例提供的测距方法，通过配置第一信息、第二信息，可以使得UE生成用于测距的信号，或者接收用于测距的信号。如此UE之间可以通过组播第一信号、接收第一信号、组播第二信号、接收第二信号，获取四个收发时间，从而可以根据这四个收发时间，确定UE之间的距离，即实现UE定位。
需要说明的是，本公开实施例中，上述各个附图所示的测距方法均是以结合本公开实施例中的一个附图为例示例性的说明的。具体实现时，上述各个附图所示的测距方法还可以结合上述实施例中示意的其它可以结合的任意附图实现，此处不再赘述。
如图8所示，本公开实施例提供一种UE 800。该UE可以为第一UE。第一UE可以包括发送模块801、接收模块802和确定模块803。发送模块801，用于发送第一信号，该第一信号从第一UE发出的时间可以为第一时间。接收模块802，用于接收第二UE发送的第二信号，该第二信号到达第一UE的时间可以为第二时间。确定模块803，用于根据该第一时间、该第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
其中，第一时间差可以为第二UE发送第二信号的第三时间与接收到第一信号的第四时间之间的差值。第一时间差值可以为第二UE发送给第一UE的。
可选地，第一信号可以携带有测距消息。该测距消息可以用于第二UE获取第四时间，以及请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第一信号可以携带有测距消息和测距请求消息。该测距消息可以用于第二UE获取第四时间。该测距请求消息可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第一信号可以携带有测距消息。该测距消息可以用于第二UE获取第四时间。发送模块801，还可以用于在发送第一信号之后或之前，发送携带有测距请求消息的第三信号。其中，该测距请求消息可以用于请求第二UE在接收到该第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第二信号可以携带有测距响应消息和第一时间差值。其中，该测距响应消息可以用于第一UE获取第二时间。
可选地，第二信号携带有测距响应消息，该测距响应消息可以用于第一UE获取第二时间。接收模块，还可以用于在接收第二UE发送的第二信号之前，或在接收第二UE发送的第二信号之后，接收第二UE发送的携带有第一时间差值的第四信号。
可选地，第三信号还可以携带有指示第一UE的第一标识。
可选地，第四信号还可以携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第一信号可以携带有指示第一UE的第一标识。
可选地，第二信号可以携带有指示第二UE的第二标识，或携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第二UE的数量可以为至少一个。发送模块801，还可以用于在确定模块 803确定第一UE与第二UE之间的距离之后，发送第五信号。其中，该第五信号可以携带有至少一组信息，每组信息可以包括目标距离信息和标识信息中的至少一项，该标识信息可以包含第一标识和第二标识，每组信息中的目标距离信息可以用于指示第一UE与一个第二UE之间的距离。
可选地，第一标识可以包括以下至少一项：第一UE的标识、第一资源标识。
可选地，第二标识可以包括以下至少一项：第二UE的标识、第二资源标识。
可选地，第一标识可以为以下任意一项：控制节点为第一UE配置的、第二UE通过信令为第一UE配置的、协议或厂商预配置的、第一UE从信息集合中选择的、第一UE根据高层信息生成的、第一UE根据控制节点指示或协议规则生成的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，第二标识可以为以下任意一项：控制节点为第二UE配置的、第一UE通过信令为第二UE配置的、协议或厂商预配置的、第二UE从信息集合中选择的、第二UE根据高层信息生成的、第二UE根据控制节点指示或协议规则生成的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，发送模块801，具体可以用于根据第一信息，发送第一信号，该第一信息可以为第一UE对应的配置信息。接收模块802，具体可以用于根据第二信息，接收第二UE发送的第二信号，该第二信息为第二UE对应的配置信息。
可选地，第一信息可以包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识。
可选地，第二信息可以包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。
可选地，第一信息可以为以下任意一项：控制节点通过信令为第一UE配置的、第一UE从信息集合中选择的、第二UE通过信令为第一UE配置的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，第二信息可以为以下任意一项：控制节点通过信令为第二UE配置的、第二UE从信息集合中选择的、第一UE通过信令为第二UE配置的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，信息集合可以包括以下至少一项：时域上相互正交的多个资源、频域上相互正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
可选地，接收模块802，还可以用于在接收第二UE发送的第二信号之前，接收控制节点发送的第二信息；或者，接收第二UE发送的第二信息；或者，从信息集合中选择第二信息。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，目标时频资源可以为目标信号与其他信号或信道共享的时频资源；或者，目标时频资源为目标信号专用的时频资源。其中，该目标时频资源可以为传输该目标信号的时频资源，该目标信号可以为第一信号或第二信号。
可选地，第一信号可以为广播信号、组播信号或单播信号，第二信号可以为广播 信号、组播信号或单播信号。
本公开实施例提供的UE能够实现上述方法实施例中第一UE实现的各个过程，为避免重复，这里不再赘述。
本公开实施例提供一种UE，该UE可以为第一UE，第一UE通过向第二UE发送第一信号，并接收第二UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
如图9所示，本公开实施例提供一种UE 900。该UE可以为第二UE。第二UE可以包括接收模块901和发送模块902。接收模块901，可以用于接收第一UE发送的第一信号，该第一信号到达第二UE的时间可以为第四时间；发送模块902，可以用于发送第二信号，该第二信号从第二UE发出的时间可以为第三时间，该第三时间与该第四时间之间的差值可以为第一时间差值。
其中，第二信号可以用于第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。第一时间可以为第一信号从第一UE发出的时间。第二时间可以为第二信号到达第一UE的时间。第一时间差值可以为第二UE发送给第一UE的。
可选地，第一信号可以携带有测距消息。该测距消息可以用于第二UE获取第四时间，以及请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第一信号可以携带有测距消息和测距请求消息。该测距消息可以用于第二UE获取第四时间。该测距请求消息可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第一信号可以携带有测距消息，该测距消息可以用于第二UE获取第四时间。接收模块901，还可以用于在接收第一UE发送的第一信号之后，接收携带有测距请求消息的第三信号。其中，该测距请求消息可以用于请求第二UE在接收到第一信号之后发送第二信号或发送第二信号和第一时间差值。
可选地，第二信号可以携带有测距响应消息和第一时间差值。其中，该测距响应消息可以用于第一UE获取第二时间。
可选地，第二信号可以携带有测距响应消息，该测距响应消息可以用于第一UE获取第二时间。发送模块902，还可以用于在发送第二信号之前，或在发送第二信号之后，发送携带有第一时间差值的第四信号。
可选地，第三信号还可以携带有指示第一UE的第一标识。
可选地，第四信号还可以携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第一信号可以携带有指示第一UE的第一标识。
可选地，第二信号可以携带有指示第二UE的第二标识，或携带有指示第一UE的第一标识和指示第二UE的第二标识。
可选地，第二UE的数量为至少一个。接收模块901，还可以用于在发送模块902发送第二信号之后，接收第一UE发送的第五信号。其中，该第五信号可以包括至少一组信息，每组信息可以包括目标距离信息和标识信息中的至少一项，该标识信息可以包含第一标识和第二标识，每组信息中的目标距离信息可以用于指示第一UE与一个第二UE之间的距离。
可选地，第一标识可以包括以下至少一项：第一UE的标识、第一资源标识。
可选地，第二标识可以包括以下至少一项：第二UE的标识、第二资源标识。
可选地，第一标识可以为以下任意一项：控制节点为第一UE配置的、第二UE通过信令为第一UE配置的、协议或厂商预配置的、第一UE从信息集合中选择的、第一UE根据高层信息生成的、第一UE根据控制节点指示或协议规则生成的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，第二标识可以为以下任意一项：控制节点为第二UE配置的、第一UE通过信令为第二UE配置的、协议或厂商预配置的、第二UE从信息集合中选择的、第二UE根据高层信息生成的、第二UE根据控制节点指示或协议规则生成的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，接收模块901，具体可以用于根据第一信息，接收第一UE发送的第一信号。其中，该第一信息可以为第一UE对应的配置信息或多个UE对应的配置信息，该多个UE可以包括第一UE。
可选地，发送模块902，具体可以用于根据第二信息，发送第二信号。其中，该第二信息可以为第二UE对应的配置信息。
可选地，第一信息可以包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识。
可选地，第二信息可以包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。
可选地，第一信息可以为以下任意一项：控制节点通过信令为第一UE配置的、第一UE从信息集合中选择的、第二UE通过信令为第一UE配置的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，第二信息可以为以下任意一项：控制节点通过信令为第二UE配置的、第二UE从信息集合中选择的、第一UE通过信令为第二UE配置的。其中，该信息集合可以为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
可选地，信息集合可以包括以下至少一项：时域上相互正交的多个资源、频域上相互正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
可选地，发送模块902，还可以用于在发送第二信号之前，向第一UE发送第二信息。
可选地，目标时频资源可以为目标信号与其他信号或信道共享的时频资源；或者，目标时频资源可以为目标信号专用的时频资源。其中，该目标时频资源可以为传输该目标信号的时频资源，该目标信号可以为第一信号或第二信号。
可选地，第一信号可以为广播信号、组播信号或单播信号。
可选地，第二信号可以为广播信号、组播信号或单播信号。
本公开实施例提供的UE能够实现上述方法实施例中第二UE实现的各个过程，为避免重复，这里不再赘述。
本公开实施例提供一种UE，该UE可以为第二UE，由于第二UE可以获取第一信号到达第二UE的时间、第二UE发送第二信号的时间，因此第二UE可以获取这两个时间的差值，并将该差值发送至第一UE，从而使得第一UE可以根据该差值、第一信号从第一UE发出的时间和第二信号到达第一UE的时间，测量出第一UE与第二UE之间的距离。
图10为实现本公开各个实施例的一种UE的硬件结构示意图。如图10所示，UE100包括但不限于：射频单元101、网络模块102、音频输出单元103、输入单元104、传感器105、显示单元106、用户输入单元107、接口单元108、存储器109、处理器110、以及电源111等部件。本领域技术人员可以理解，图10中示出的UE结构并不构成对UE的限定，UE可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。在本公开实施例中，UE包括但不限于手机、平板电脑、笔记本电脑、掌上电脑、可穿戴设备以及计步器等。
第一种可能的实现方式，如图10所示的UE 100为第一UE。
射频单元101，可以用于发送第一信号，该第一信号从第一UE发出的时间可以为第一时间；并接收第二UE发送的第二信号，该第二信号到达第一UE的时间可以为第二时间。
处理器110，可以用于根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。
其中，第二信号可以用于第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。第一时间可以为第一信号从第一UE发出的时间。第二时间可以为第二信号到达第一UE的时间。第一时间差值可以为第二UE发送给第一UE的。
本公开实施例提供一种UE，该UE可以为第一UE，第一UE通过向第二UE发送第一信号，并接收第二UE发送的第二信号，第一UE可以获取第一信号从第一UE发出的时间、第一信号到达第二UE的时间、第二信号从第二UE发出的时间、第二信号到达第一UE的时间。如此，第一UE可以根据这四个时间，测量出第一UE与第二UE之间的距离，例如可以测量出车与车之间、车与人之间、车与其他对象之间的距离，从而可以防止交通意外事故的发生等。
第二种可能的实现方式，如图10所示的UE 100为第二UE。
射频单元101，可以用于接收第一UE发送的第一信号，该第一信号到达第二UE的时间可以为第四时间；并发送第二信号，该第二信号从第二UE发出的时间可以为第三时间，该第三时间与该第四时间之间的差值可以为第一时间差值。
其中，第二信号可以用于第一UE根据第一时间、第二时间和第一时间差值，确定第一UE与第二UE之间的距离。第一时间可以为第一信号从第一UE发出的时间。第二时间可以为第二信号到达第一UE的时间。第一时间差值可以为第二UE发送给 第一UE的。
本公开实施例提供一种UE，该UE可以为第二UE，由于第二UE可以获取第一信号到达第二UE的时间、第二UE发送第二信号的时间，因此第二UE可以获取这两个时间的差值，并将该差值发送至第一UE，从而使得第一UE可以根据该差值、第一信号从第一UE发出的时间和第二信号到达第一UE的时间，测量出第一UE与第二UE之间的距离。
应理解的是，本公开实施例中，射频单元101可用于收发信息或通话过程中，信号的接收和发送，具体的，将来自基站的下行数据接收后，给处理器110处理；另外，将上行的数据发送给基站。通常，射频单元101包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。此外，射频单元101还可以通过无线通信系统与网络和其他设备通信。
UE 100通过网络模块102为用户提供了无线的宽带互联网访问，如帮助用户收发电子邮件、浏览网页和访问流式媒体等。
音频输出单元103可以将射频单元101或网络模块102接收的或者在存储器109中存储的音频数据转换成音频信号并且输出为声音。而且，音频输出单元103还可以提供与UE 100执行的特定功能相关的音频输出(例如，呼叫信号接收声音、消息接收声音等等)。音频输出单元103包括扬声器、蜂鸣器以及受话器等。
输入单元104用于接收音频或视频信号。输入单元104可以包括图形处理器(graphics processing unit，GPU)1041和麦克风1042，图形处理器1041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。处理后的图像帧可以显示在显示单元106上。经图形处理器1041处理后的图像帧可以存储在存储器109(或其它存储介质)中或者经由射频单元101或网络模块102进行发送。麦克风1042可以接收声音，并且能够将这样的声音处理为音频数据。处理后的音频数据可以在电话通话模式的情况下转换为可经由射频单元101发送到移动通信基站的格式输出。
UE 100还包括至少一种传感器105，比如光传感器、运动传感器以及其他传感器。具体地，光传感器包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示面板1061的亮度，接近传感器可在UE 100移动到耳边时，关闭显示面板1061和/或背光。作为运动传感器的一种，加速计传感器可检测各个方向上(一般为三轴)加速度的大小，静止时可检测出重力的大小及方向，可用于识别移动终端姿态(比如横竖屏切换、相关游戏、磁力计姿态校准)、振动识别相关功能(比如计步器、敲击)等；传感器105还可以包括指纹传感器、压力传感器、虹膜传感器、分子传感器、陀螺仪、气压计、湿度计、温度计、红外线传感器等，在此不再赘述。
显示单元106用于显示由用户输入的信息或提供给用户的信息。显示单元106可包括显示面板1061，可以采用液晶显示器(liquid crystal display，LCD)、有机发光二极管(organic light-emitting diode，OLED)等形式来配置显示面板1061。
用户输入单元107可用于接收输入的数字或字符信息，以及产生与UE 100的用户设置以及功能控制有关的键信号输入。具体地，用户输入单元107包括触控面板1071以及其他输入设备1072。触控面板1071，也称为触摸屏，可收集用户在其上或附近的 触摸操作(比如用户使用手指、触笔等任何适合的物体在触控面板1071上或在触控面板1071附近的操作)。触控面板1071可包括触摸检测装置和触摸控制器两个部分。其中，触摸检测装置检测用户的触摸方位，并检测触摸操作带来的信号，将信号传送给触摸控制器；触摸控制器从触摸检测装置上接收触摸信息，并将它转换成触点坐标，再送给处理器110，接收处理器110发来的命令并加以执行。此外，可以采用电阻式、电容式、红外线以及表面声波等多种类型实现触控面板1071。除了触控面板1071，用户输入单元107还可以包括其他输入设备1072。具体地，其他输入设备1072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
可选地，触控面板1071可覆盖在显示面板1061上，当触控面板1071检测到在其上或附近的触摸操作后，传送给处理器110以确定触摸事件的类型，随后处理器110根据触摸事件的类型在显示面板1061上提供相应的视觉输出。虽然在图10中，触控面板1071与显示面板1061是作为两个独立的部件来实现UE 100的输入和输出功能，但是在某些实施例中，可以将触控面板1071与显示面板1061集成而实现UE 100的输入和输出功能，具体此处不做限定。
接口单元108为外部装置与UE 100连接的接口。例如，外部装置可以包括有线或无线头戴式耳机端口、外部电源(或电池充电器)端口、有线或无线数据端口、存储卡端口、用于连接具有识别模块的装置的端口、音频输入/输出(I/O)端口、视频I/O端口、耳机端口等。接口单元108可以用于接收来自外部装置的输入(例如数据信息、电力等)并将接收到的输入传输到UE 100内的一个或多个元件或者可以用于在UE 100和外部装置之间传输数据。
存储器109可用于存储软件程序以及各种数据。存储器109可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器109可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
处理器110是UE 100的控制中心，利用各种接口和线路连接整个UE 100的各个部分，通过运行或执行存储在存储器109内的软件程序和/或模块，以及调用存储在存储器109内的数据，执行UE 100的各种功能和处理数据，从而对UE 100进行整体监控。处理器110可包括一个或多个处理单元；可选地，处理器110可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器110中。
UE 100还可以包括给各个部件供电的电源111(比如电池)，可选地，电源111可以通过电源管理系统与处理器110逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。另外，UE 100包括一些未示出的功能模块，在此不再赘述。
可选地，本公开实施例还提供一种UE，包括如图10所示的处理器110，存储器 109，存储在存储器109上并可在处理器110上运行的计算机程序，该计算机程序被处理器110执行时实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本公开实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被如图10所示的处理器110执行时实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，计算机可读存储介质，如只读存储器(read-only memory，简称ROM)、随机存取存储器(random access memory，简称RAM)、磁碟或者光盘等。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开的技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本公开各个实施例描述的方法。
上面结合附图对本公开的实施例进行了描述，但是本公开并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本公开的启示下，在不脱离本公开宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本公开的保护之内。

Claims (42)

  1. 一种测距方法，应用于第一用户设备UE，所述方法包括：
    发送第一信号，所述第一信号从所述第一UE发出的时间为第一时间；
    接收第二UE发送的第二信号，所述第二信号到达所述第一UE的时间为第二时间；
    根据所述第一时间、所述第二时间和第一时间差值，确定所述第一UE与所述第二UE之间的距离；
    其中，所述第一时间差为所述第二UE发送所述第二信号的第三时间与接收到所述第一信号的第四时间之间的差值，所述第一时间差值为所述第二UE发送给所述第一UE的。
  2. 根据权利要求1所述的方法，其中，所述第一信号携带有测距消息；所述测距消息用于所述第二UE获取所述第四时间，以及请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  3. 根据权利要求1所述的方法，其中，所述第一信号携带有测距消息和测距请求消息，所述测距消息用于所述第二UE获取所述第四时间，所述测距请求消息用于请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  4. 根据权利要求1所述的方法，其中，所述第一信号携带有测距消息，所述测距消息用于所述第二UE获取所述第四时间；
    所述发送第一信号之后，或所述发送第一信号之前，所述方法还包括：
    发送携带有测距请求消息的第三信号，所述测距请求消息用于请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  5. 根据权利要求1至4中任一项所述的方法，其中，所述第二信号携带有测距响应消息和所述第一时间差值，所述测距响应消息用于所述第一UE获取所述第二时间。
  6. 根据权利要求1至4中任一项所述的方法，其中，所述第二信号携带有测距响应消息，所述测距响应消息用于所述第一UE获取所述第二时间；
    所述接收第二UE发送的第二信号之前，或所述接收第二UE发送的第二信号之后，所述方法还包括：
    接收所述第二UE发送的携带有所述第一时间差值的第四信号。
  7. 根据权利要求4所述的方法，其中，所述第三信号还携带有指示所述第一UE的第一标识。
  8. 根据权利要求6所述的方法，其中，所述第四信号还携带有指示所述第一UE的第一标识和指示所述第二UE的第二标识。
  9. 根据权利要求1所述的方法，其中，所述第一信号携带有指示所述第一UE的第一标识；
    所述第二信号携带有指示所述第二UE的第二标识，或携带有指示所述第一UE的第一标识和指示所述第二UE的第二标识。
  10. 根据权利要求9所述的方法，其中，所述第二UE的数量为至少一个；
    所述确定所述第一UE与所述第二UE之间的距离之后，所述方法还包括：
    发送第五信号，所述第五信号携带有至少一组信息，每组信息至少包括目标距离信息和标识信息中的至少一项，所述标识信息包含所述第一标识和第二标识，每组信息中的目标距离信息用于指示所述第一UE与一个第二UE之间的距离。
  11. 根据权利要求9所述的方法，其中，所述第一标识包括以下至少一项：所述第一UE的标识、第一资源标识；
    所述第二标识包括以下至少一项：所述第二UE的标识、第二资源标识。
  12. 根据权利要求9所述的方法，其中，所述第一标识为以下任意一项：控制节点为所述第一UE配置的、所述第二UE通过信令为所述第一UE配置的、协议或厂商预配置的、所述第一UE从信息集合中选择的、所述第一UE根据高层信息生成的、所述第一UE根据控制节点指示或协议规则生成的；
    所述第二标识为以下任意一项：控制节点为所述第二UE配置的、所述第一UE通过信令为所述第二UE配置的、协议或厂商预配置的、所述第二UE从信息集合中选择的、所述第二UE根据高层信息生成的、所述第二UE根据控制节点指示或协议规则生成的；
    其中，所述信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
  13. 根据权利要求1至4中任一项所述的方法，其中，所述发送第一信号，包括：
    根据第一信息，发送所述第一信号，所述第一信息为所述第一UE对应的配置信息；
    所述接收第二UE发送的第二信号，包括：
    根据第二信息，接收所述第二UE发送的所述第二信号，所述第二信息为所述第二UE对应的配置信息。
  14. 根据权利要求13所述的方法，其中，所述第一信息包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识；
    所述第二信息包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。
  15. 根据权利要求13所述的方法，其中，所述第一信息为以下任意一项：控制节点通过信令为所述第一UE配置的、所述第一UE从信息集合中选择的、所述第二UE通过信令为所述第一UE配置的；
    所述第二信息为以下任意一项：控制节点通过信令为所述第二UE配置的、所述第二UE从信息集合中选择的、所述第一UE通过信令为所述第二UE配置的；
    其中，所述信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
  16. 根据权利要求15所述的方法，其中，所述信息集合包括以下至少一项：时域上相互正交的多个资源、频域上相互正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
  17. 根据权利要求13所述的方法，其中，所述根据第二信息，接收所述第二UE发送的所述第二信号之前，所述方法还包括：
    接收控制节点发送的所述第二信息；或者，
    接收所述第二UE发送的所述第二信息；或者，
    从信息集合中选择所述第二信息；
    其中，所述信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
  18. 根据权利要求1至4中任一项所述的方法，其中，目标时频资源为目标信号与其他信号或信道共享的时频资源；或者，目标时频资源为目标信号专用的时频资源；
    其中，所述目标时频资源为传输所述目标信号的时频资源，所述目标信号为所述第一信号或所述第二信号。
  19. 根据权利要求1至4中任一项所述的方法，其中，所述第一信号为广播信号、组播信号或单播信号，所述第二信号为广播信号、组播信号或单播信号。
  20. 一种测距方法，应用于第二用户设备UE，所述方法包括：
    接收第一UE发送的第一信号，所述第一信号到达所述第二UE的时间为第四时间；
    发送第二信号，所述第二信号从所述第二UE发出的时间为第三时间，所述第三时间与所述第四时间之间的差值为第一时间差值；
    其中，所述第二信号用于所述第一UE根据第一时间、第二时间和所述第一时间差值，确定所述第一UE与所述第二UE之间的距离；
    所述第一时间为所述第一信号从所述第一UE发出的时间，所述第二时间为所述第二信号到达所述第一UE的时间，所述第一时间差值为所述第二UE发送给所述第一UE的。
  21. 根据权利要求20所述的方法，所述第一信号携带有测距消息；所述测距消息用于所述第二UE获取所述第四时间，以及请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  22. 根据权利要求20所述的方法，其中，所述第一信号携带有测距消息和测距请求消息，所述测距消息用于所述第二UE获取所述第四时间，所述测距请求消息用于请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  23. 根据权利要求20所述的方法，其中，所述第一信号携带有测距消息，所述测距消息用于所述第二UE获取所述第四时间；
    所述接收第一UE发送的第一信号之后，所述方法还包括：
    接收携带有测距请求消息的第三信号，所述测距请求消息用于请求所述第二UE在接收到所述第一信号之后发送所述第二信号或发送所述第二信号和第一时间差值。
  24. 根据权利要求20至23中任一项所述的方法，其中，所述第二信号携带有测距响应消息和所述第一时间差值，所述测距响应消息用于所述第一UE获取所述第二时间。
  25. 根据权利要求20至23中任一项所述的方法，其中，所述第二信号携带有测距响应消息，所述测距响应消息用于所述第一UE获取所述第二时间；
    所述发送第二信号之前，或所述发送第二信号之后，所述方法还包括：
    发送携带有所述第一时间差值的第四信号。
  26. 根据权利要求23所述的方法，其中，所述第三信号还携带有指示所述第一UE的第一标识。
  27. 根据权利要求25所述的方法，其中，所述第四信号还携带有指示所述第一UE的第一标识和指示所述第二UE的第二标识。
  28. 根据权利要求20所述的方法，其中，所述第一信号携带有指示所述第一UE的第一标识；
    所述第二信号携带有指示所述第二UE的第二标识，或携带有指示所述第一UE的第一标识和指示所述第二UE的第二标识。
  29. 根据权利要求28所述的方法，其中，所述第二UE的数量为至少一个；
    所述发送第二信号之后，所述方法还包括：
    接收所述第一UE发送的第五信号，所述第五信号包括至少一组信息，每组信息包括目标距离信息和标识信息中的至少一项，所述标识信息包含所述第一标识和第二标识，每组信息中的目标距离信息用于指示所述第一UE与一个第二UE之间的距离。
  30. 根据权利要求28所述的方法，其中，所述第一标识包括以下至少一项：所述第一UE的标识、第一资源标识；
    所述第二标识包括以下至少一项：所述第二UE的标识、第二资源标识。
  31. 根据权利要求28所述的方法，其中，所述第一标识为以下任意一项：控制节点为所述第一UE配置的、所述第二UE通过信令为所述第一UE配置的、协议或厂商预配置的、所述第一UE从信息集合中选择的、所述第一UE根据高层信息生成的、所述第一UE根据控制节点指示或协议规则生成的；
    所述第二标识为以下任意一项：控制节点为所述第二UE配置的、所述第一UE通过信令为所述第二UE配置的、协议或厂商预配置的、所述第二UE从信息集合中选择的、所述第二UE根据高层信息生成的、所述第二UE根据控制节点指示或协议规则生成的；
    其中，所述信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
  32. 根据权利要求20至23中任一项所述的方法，其中，所述接收第一UE发送的第一信号，包括：
    根据第一信息，接收所述第一UE发送的第一信号，所述第一信息为所述第一UE对应的配置信息或多个UE对应的配置信息，所述多个UE包括所述第一UE；
    所述发送第二信号，包括：
    根据第二信息，发送所述第二信号，所述第二信息为所述第二UE对应的配置信息。
  33. 根据权利要求32所述的方法，其中，所述第一信息包括以下至少一项：第一序列信息、第一时频资源信息、第一资源标识；
    所述第二信息包括以下至少一项：第二序列信息、第二时频资源信息、第二资源标识。
  34. 根据权利要求32所述的方法，其中，所述第一信息为以下任意一项：控制节点通过信令为所述第一UE配置的、所述第一UE从信息集合中选择的、第二UE通过 信令为所述第一UE配置的；
    所述第二信息为以下任意一项：控制节点通过信令为所述第二UE配置的、所述第二UE从信息集合中选择的、所述第一UE通过信令为所述第二UE配置的；
    其中，所述信息集合为以下至少一项：控制节点广播或组播的、控制节点预配置的、协议预定义的。
  35. 根据权利要求34所述的方法，其中，所述信息集合包括以下至少一项：时域上相互正交的多个资源、频域上相互正交的多个资源、码域上相互正交的多个资源、空域上相互正交的多个资源。
  36. 根据权利要求32所述的方法，其中，所述发送第二信号之前，所述方法还包括：
    向所述第一UE发送所述第二信息。
  37. 根据权利要求20所述的方法，其中，目标时频资源为目标信号与其他信号或信道共享的时频资源；或者，目标时频资源为目标信号专用的时频资源；
    其中，所述目标时频资源为传输所述目标信号的时频资源，所述目标信号为所述第一信号或所述第二信号。
  38. 根据权利要求20至23中任一项所述的方法，其中，所述第一信号为广播信号、组播信号或单播信号，所述第二信号为广播信号、组播信号或单播信号。
  39. 一种用户设备UE，所述UE为第一UE，所述第一UE包括发送模块、接收模块和确定模块；
    所述发送模块，用于发送第一信号，所述第一信号从所述第一UE发出的时间为第一时间；
    所述接收模块，用于接收第二UE发送的第二信号，所述第二信号到达所述第一UE的时间为第二时间；
    所述确定模块，用于根据所述第一时间、所述第二时间和第一时间差值，确定所述第一UE与所述第二UE之间的距离；
    其中，所述第一时间差为所述第二UE发送所述第二信号的第三时间与接收到所述第一信号的第四时间之间的差值，所述第一时间差值为所述第二UE发送给所述第一UE的。
  40. 一种用户设备UE，所述UE为第二UE，所述第二UE包括接收模块和发送模块；
    所述接收模块，用于接收第一UE发送的第一信号，所述第一信号到达所述第二UE的时间为第四时间；
    所述发送模块，用于发送第二信号，所述第二信号从所述第二UE发出的时间为第三时间，所述第三时间与所述第四时间之间的差值为第一时间差值；
    其中，所述第二信号用于所述第一UE根据第一时间、第二时间和所述第一时间差值，确定所述第一UE与所述第二UE之间的距离；
    所述第一时间为所述第一信号从所述第一UE发出的时间，所述第二时间为所述第二信号到达所述第一UE的时间，所述第一时间差值为所述第二UE发送给所述第一UE的。
  41. 一种用户设备UE，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至38中任一项所述的测距方法的步骤。
  42. 一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求1至38中任一项所述的测距方法的步骤。
PCT/CN2020/103573 2019-08-12 2020-07-22 测距方法及设备 Ceased WO2021027515A1 (zh)

Priority Applications (5)

Application Number Priority Date Filing Date Title
ES20852192T ES2987025T3 (es) 2019-08-12 2020-07-22 Método y equipo de medición de distancia
JP2022506289A JP2022543005A (ja) 2019-08-12 2020-07-22 距離測定方法、ユーザ機器およびコンピュータ可読記憶媒体
KR1020227006035A KR20220038133A (ko) 2019-08-12 2020-07-22 레인징 방법 및 장비
EP20852192.2A EP4016125B1 (en) 2019-08-12 2020-07-22 Distance measurement method and equipment
US17/668,882 US12372632B2 (en) 2019-08-12 2022-02-10 Ranging method and device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910741403.4 2019-08-12
CN201910741403.4A CN111796260B (zh) 2019-08-12 2019-08-12 一种测距方法及设备

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/668,882 Continuation US12372632B2 (en) 2019-08-12 2022-02-10 Ranging method and device

Publications (1)

Publication Number Publication Date
WO2021027515A1 true WO2021027515A1 (zh) 2021-02-18

Family

ID=72805788

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/103573 Ceased WO2021027515A1 (zh) 2019-08-12 2020-07-22 测距方法及设备

Country Status (7)

Country Link
US (1) US12372632B2 (zh)
EP (1) EP4016125B1 (zh)
JP (1) JP2022543005A (zh)
KR (1) KR20220038133A (zh)
CN (1) CN111796260B (zh)
ES (1) ES2987025T3 (zh)
WO (1) WO2021027515A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115460533A (zh) * 2021-05-19 2022-12-09 华为技术有限公司 侧行链路的定位方法及相关装置
US12372632B2 (en) 2019-08-12 2025-07-29 Vivo Mobile Communication Co., Ltd. Ranging method and device

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11463984B2 (en) * 2020-10-23 2022-10-04 Qualcomm Incorporated Position estimation using inter-PUE signaling
CN114982313A (zh) * 2020-12-21 2022-08-30 北京小米移动软件有限公司 信息发送方法和装置、关系确定方法和装置
CN112835021B (zh) * 2020-12-31 2023-11-14 杭州海康威视数字技术股份有限公司 定位方法、装置、系统及计算机可读存储介质
US11722874B2 (en) * 2021-01-27 2023-08-08 Qualcomm Incorporated Timing determination for signals in sidelink positioning
CN113422704A (zh) * 2021-02-05 2021-09-21 阿里巴巴集团控股有限公司 数据测量方法、装置、电子设备及计算机存储介质
WO2022178866A1 (zh) * 2021-02-26 2022-09-01 北京小米移动软件有限公司 测距方法、装置、终端设备及存储介质
CN113009461B (zh) * 2021-05-26 2021-09-07 杭州优智联科技有限公司 基于uwb的改进的单边双向测距方法、设备、系统及介质
WO2023025111A1 (zh) * 2021-08-26 2023-03-02 华为技术有限公司 一种测距方法及装置
CN113776491B (zh) * 2021-09-26 2023-06-02 中国联合网络通信集团有限公司 基于b-m2m的多维测距方法、mec及测距单元
CN117014114A (zh) * 2022-04-27 2023-11-07 北京三星通信技术研究有限公司 一种基于旁路的定位方法和设备
CN119853875A (zh) * 2022-07-22 2025-04-18 华为技术有限公司 一种信号传输方法和装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030174086A1 (en) * 2001-12-21 2003-09-18 International Business Machines Corporation Determining a time of arrival of a sent signal
CN1717593A (zh) * 2002-11-26 2006-01-04 皇家飞利浦电子股份有限公司 用于获得定时信息和测距的位置、系统和方法
CN103675800A (zh) * 2013-12-05 2014-03-26 惠州Tcl移动通信有限公司 一种测量距离的方法及实现距离测量的电子设备
CN103703386A (zh) * 2011-04-29 2014-04-02 Orthotron株式会社 距离测量方法、距离测量装置及定位方法
CN105683774A (zh) * 2014-07-22 2016-06-15 华为技术有限公司 接入点、终端及无线保真WiFi室内定位方法
CN106375950A (zh) * 2015-07-24 2017-02-01 华为技术有限公司 通信方法、车载设备和终端设备

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006013894A (ja) * 2004-06-25 2006-01-12 Advanced Telecommunication Research Institute International 通信システム
JP2007142668A (ja) * 2005-11-16 2007-06-07 Fujitsu Ltd 無線通信システム及び通信装置
KR101365871B1 (ko) * 2007-07-06 2014-02-21 엘지전자 주식회사 레인징 과정을 수행하는 방법
US7969963B2 (en) 2007-12-19 2011-06-28 Mitsubishi Electric Research Laboratories, Inc. Method for estimating relative clock frequency offsets to improve radio ranging errors
EP2861023A4 (en) * 2012-06-06 2016-01-13 Kyocera Corp COMMUNICATION CONTROL PROCEDURE, USER DEVICE, PROCESSOR AND STORAGE MEDIUM
JP6197697B2 (ja) * 2014-03-03 2017-09-20 富士通株式会社 通信品質測定方法、通信品質測定プログラム、および、通信装置
US10568057B2 (en) * 2015-04-01 2020-02-18 Lg Electronics Inc. Method for performing ranging related operation in wireless communication system
US11197252B2 (en) * 2015-09-28 2021-12-07 Qualcomm Incorporated Methods and systems for representing errors
EP3349522B1 (en) * 2015-09-30 2021-09-22 Huawei Technologies Co., Ltd. Radio access method, ue, and base station
MX2018006208A (es) 2015-11-23 2018-08-01 Koninklijke Philips Nv Sistema para verificar mediciones de distancia.
CN110932832B (zh) * 2016-05-01 2022-06-21 上海朗帛通信技术有限公司 一种无线通信中的方法和装置
WO2018090181A1 (zh) * 2016-11-15 2018-05-24 深圳市大疆创新科技有限公司 超宽带测距方法和设备、避障方法以及避障设备
CN108989004B (zh) * 2017-06-02 2021-01-08 维沃移动通信有限公司 非授权频段下的信息传输方法、网络设备及终端
CN109217998B (zh) 2017-07-07 2021-05-14 华为技术有限公司 数据传输方法、发送设备和接收设备
DE102017222216B3 (de) * 2017-12-07 2019-05-29 Volkswagen Aktiengesellschaft Verfahren zur Durchführung von Abstandsmessungen zwischen den Fahrzeugen einer Fahrzeugkolonne sowie Fahrzeugmodul zur Verwendung bei dem Verfahren sowie Fahrzeug
CN109565647B (zh) * 2018-07-27 2021-10-15 北京小米移动软件有限公司 车联网设备之间的信息传输方法、装置及系统
CN109151796B (zh) * 2018-08-10 2021-06-04 Oppo广东移动通信有限公司 Nan设备寻找方法、相关设备以及计算机可读存储介质
CN108964867B (zh) * 2018-09-28 2021-11-02 四川中电昆辰科技有限公司 一种测距方法及测距系统
CN111796260B (zh) 2019-08-12 2023-09-12 维沃移动通信有限公司 一种测距方法及设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030174086A1 (en) * 2001-12-21 2003-09-18 International Business Machines Corporation Determining a time of arrival of a sent signal
CN1717593A (zh) * 2002-11-26 2006-01-04 皇家飞利浦电子股份有限公司 用于获得定时信息和测距的位置、系统和方法
CN103703386A (zh) * 2011-04-29 2014-04-02 Orthotron株式会社 距离测量方法、距离测量装置及定位方法
CN103675800A (zh) * 2013-12-05 2014-03-26 惠州Tcl移动通信有限公司 一种测量距离的方法及实现距离测量的电子设备
CN105683774A (zh) * 2014-07-22 2016-06-15 华为技术有限公司 接入点、终端及无线保真WiFi室内定位方法
CN106375950A (zh) * 2015-07-24 2017-02-01 华为技术有限公司 通信方法、车载设备和终端设备

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12372632B2 (en) 2019-08-12 2025-07-29 Vivo Mobile Communication Co., Ltd. Ranging method and device
CN115460533A (zh) * 2021-05-19 2022-12-09 华为技术有限公司 侧行链路的定位方法及相关装置
CN115460533B (zh) * 2021-05-19 2025-07-11 华为技术有限公司 侧行链路的定位方法及相关装置

Also Published As

Publication number Publication date
US20220163647A1 (en) 2022-05-26
JP2022543005A (ja) 2022-10-07
EP4016125B1 (en) 2024-06-26
EP4016125A4 (en) 2022-09-07
CN111796260B (zh) 2023-09-12
EP4016125A1 (en) 2022-06-22
CN111796260A (zh) 2020-10-20
ES2987025T3 (es) 2024-11-13
KR20220038133A (ko) 2022-03-25
US12372632B2 (en) 2025-07-29

Similar Documents

Publication Publication Date Title
EP4016125B1 (en) Distance measurement method and equipment
KR102562700B1 (ko) 리소스 지시 방법, 장치 및 시스템
CN113141635B (zh) 资源选择方法及终端
CN110809289B (zh) 多模通信方法、终端和网络侧设备
EP3952606A1 (en) Indication method, terminal device and network side device
CN110958706A (zh) 一种缓存报告传输方法、终端及调度设备
EP3965524B1 (en) Pc5 link establishment methods, devices and system
CN109803437B (zh) 一种随机接入方法、终端及网络设备
CN113438627A (zh) 一种中继ue确定方法及设备
WO2020063327A1 (zh) 副链路传输资源的选择方法、配置方法及设备
CN112788783A (zh) 一种中继连接建立方法及设备
CN109756942B (zh) 一种切换方法、终端及网络设备
WO2020088585A1 (zh) 副链路连接建立、资源分配方法、终端及网络侧设备
CN111800794A (zh) 解调参考信号位置的确定方法及设备
CN112566249B (zh) 一种信息指示方法、设备及系统
WO2021218857A1 (zh) 非周期定位报告的传输方法及设备
WO2020029760A1 (zh) 资源配置方法和装置
CN111615085B (zh) 资源获取方法、第一终端和第二终端
CN111107563B (zh) 一种数据处理方法及设备
CN113543043B (zh) 多播广播业务的传输方法、终端和网络侧设备
WO2019242464A1 (zh) 一种资源指示方法、装置及系统
CN111800821B (zh) 一种数据传输方法及设备
US20250294641A1 (en) Method for system message processing, communication device, and non-transitory computer-readable storage medium
WO2021027732A1 (zh) 数据接收方法及设备
HK40061256B (zh) Pc5链路建立方法、设备及系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20852192

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022506289

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20227006035

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2020852192

Country of ref document: EP

Effective date: 20220314

WWG Wipo information: grant in national office

Ref document number: 202247009256

Country of ref document: IN