A communication method, device and system

Abstract

The present application relates to a communication method, device and system, which are applicable to the fields of vehicle networking, intelligent driving, assisted driving, intelligent networked vehicles, etc. The first terminal device detects side control information from at least one second terminal device to determine a first time-frequency resource. The first terminal device sends a first information to a third terminal device to trigger the determination of a second information. The first terminal device receives the second information from the third terminal device, indicating a second time-frequency resource, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the third terminal device. The first terminal device determines a third time-frequency resource based on the second time-frequency resource and the first time-frequency resource, and sends the first data to the third terminal device through the third time-frequency resource. The first terminal device can take both the listening results of the first terminal device and the listening results of the third terminal device into consideration to select a resource for sending data, so as to improve the signal reception quality.

Description

Technical Field

[0001] The present application relates to the field of mobile communication technology, and in particular to a communication method, device and system. Background Art

[0002] In the sidelink communication process, the terminal device as the transmitter (referred to as the transmitter terminal device) can send sidelink control information (SCI) and sidelink data to the terminal device as the receiver (referred to as the receiver terminal device) in a time slot, and the receiver terminal device receives and decodes the sidelink data by receiving the SCI. In the new radio (NR)-vehicle to everything (V2X) system, there are two resource allocation modes for the transmitter terminal device, one of which is mode-1, in which the base station allocates resources to the transmitter terminal device; the other resource allocation mode is mode-2, in which the transmitter terminal device selects resources by itself.

[0003] In mode-2, the transmitting terminal device triggers resource selection in time slot n and obtains the sensing result in the resource sensing window defined by the time slot range. Based on the sensing result, the transmitting terminal device excludes unavailable time-frequency resources in the resource selection window defined by the time slot range, obtains available time-frequency resources in the resource selection window, and then determines the time-frequency resources belonging to the sidelink (SL) from these available time-frequency resources, and then selects the time-frequency resources from these time-frequency resources belonging to the sidelink to send data.

[0004] It can be seen that at present, the transmitting terminal device only sends data according to the monitoring result of the transmitting terminal device, but the transmitting terminal device does not know the channel conditions around the receiving terminal device. If there are other terminal devices communicating around the receiving terminal device, but the transmitting terminal device does not monitor them, then for the receiving terminal device, when it receives data from the transmitting terminal device, it may be strongly interfered by the side communication of other terminal devices, resulting in poor signal reception quality of the receiving terminal device, or even reception failure. Summary of the invention

[0005] The embodiments of the present application provide a communication method, device and system for improving the signal reception quality of a receiving end during side communication.

[0006] In a first aspect, a first communication method is provided, the method comprising: detecting side control information from at least one second terminal device to determine a first time-frequency resource, the at least one second terminal device comprising a third terminal device, the first time-frequency resource comprising a time-frequency resource that cannot be used to send data to the third terminal device; sending first information to the third terminal device, the first information being used to trigger determination of second information; receiving the second information from the third terminal device, the second information being used to indicate a second time-frequency resource, the second time-frequency resource being used to determine a time-frequency resource for sending data to the third terminal device; determining a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource; and sending first data to the third terminal device via the third time-frequency resource.

[0007] The method may be performed by a first communication device, which may be a communication device or a communication device capable of supporting the communication device to implement the functions required by the method, such as a chip. Exemplarily, the first communication device is a terminal device, which is a terminal device, or a chip provided in the terminal device for implementing the functions of the terminal device, or other components for implementing the functions of the terminal device. In the following introduction, it is taken as an example that the first communication device is a first terminal device.

[0008] In an embodiment of the present application, a first terminal device as a data transmitting end can send first information to a third terminal device, so that the third terminal device can send second information to the first terminal device, and the second information can include a second time-frequency resource. The first terminal device can use the second time-frequency resource as a reference factor when selecting a time-frequency resource. For example, the second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resource, the possibility of the third terminal device being interfered with when receiving the data is relatively small, then the first terminal device can give priority to the second time-frequency resource to send data to the third terminal device, which can improve the signal reception quality and try to avoid reception failure. Alternatively, the second time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resource, the possibility of the third terminal device being interfered with when receiving the data is relatively large, then the first terminal device may not select the second time-frequency resource to send data to the third terminal device. It can be seen that in an embodiment of the present application, when the first terminal device selects resources for sending data, it can not only take the listening results of the first terminal device into consideration, but also take the listening results of the third terminal device into consideration, so that the selected resources take into account both the channel conditions around the first terminal device and the channel conditions around the third terminal device, so as to improve the signal reception quality.

[0009] In an optional implementation manner, sending the first information to the third terminal device includes:

[0010] First control information is sent to the third terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0011] When a terminal device sends side information, it generally sends the first-stage SCI (1st-stage SCI) and the second-stage SCI (2nd-stage SCI), and may also send data. It can be understood that when sending side information, the terminal device can only send control information (first-stage SCI and second-stage SCI), or only send data, or can also send first-stage SCI, second-stage SCI and data. Among them, the first-stage SCI is sent on the control channel, for example, and the second-stage SCI is sent on the data channel, for example. In addition, the first-stage SCI can indicate the time-frequency resources used to send the second-stage SCI. Then, the first terminal device can include the first information in one of the SCIs and send it to the third terminal device. The first-stage SCI is generally broadcast information, and the second-stage SCI is generally unicast information sent to one terminal device. The first information only needs to be sent to the third terminal device to receive the first data, and does not need to be sent to other terminal devices. Therefore, the first terminal device does not need to include the first information in the first-stage SCI, but can include the first information in the second-stage SCI. Through this unicast transmission mode, the third terminal device can receive the first information, and other terminal devices will not receive the first information, thereby increasing the success rate of the third terminal device receiving the first information and reducing interference with other terminal devices. In addition, if the first information is included in the first-level SCI, the terminal devices with older versions cannot recognize the first information, and these terminal devices cannot exclude the time-frequency resources to be reserved by the first terminal device, and may occupy the time-frequency resources to be reserved by the first terminal device. When excluding time-frequency resources, the terminal devices generally exclude them according to the first-level SCI. Therefore, if the first information is included in the second-level SCI, it will have no effect on the terminal devices with older versions. Both the old version terminal devices and the new version terminal devices can exclude resources normally, and the old version terminal devices will not occupy these time-frequency resources because they cannot exclude the time-frequency resources to be reserved by the first terminal device, which can reduce the probability of resource conflicts.

[0012] In an optional implementation, the first information is further used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0013] For example, the fourth time-frequency resource is an available time-frequency resource determined by the first terminal device according to the listening result. At this time, the fourth time-frequency resource can be understood as a recommended resource, indicating that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource can meet the receiving condition, that is, it does not affect the reception reliability. In other words, it indicates that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource is small. Therefore, the first terminal device recommends that the third terminal device use the fourth time-frequency resource to send the second information to the first terminal device. Alternatively, the fourth time-frequency resource is an unavailable time-frequency resource determined by the first terminal device according to the listening result, indicating that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource cannot meet the receiving condition, that is, it will affect the reception reliability. In other words, it indicates that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource is large. In this case, the first information indicates the fourth time-frequency resource, which can be considered as an instruction to the third terminal device to try not to use the fourth time-frequency resource to send the second information. Indicating the fourth time-frequency resource by the first information can assist the third terminal device in quickly determining the time-frequency resource for sending the second information, thereby improving the efficiency of determining the time-frequency resource for sending the second information and improving the success rate of the first terminal device in receiving the second information.

[0014] In an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0015] The fifth time-frequency resource is an available time-frequency resource determined by the first terminal device according to the listening result, indicating that the interference from other terminal devices when the first terminal device receives data on the fifth time-frequency resource can meet the reception condition, that is, it does not affect the reception reliability. In other words, it indicates that the interference from other terminal devices when the first terminal device receives data on the fifth time-frequency resource is small. Therefore, the first terminal device instructs the third terminal device to use the fifth time-frequency resource to send the second information to the first terminal device. In this case, the third terminal device does not need to determine the time-frequency resource for sending the second information based on other factors (such as the listening result of the third terminal device, etc.), and can directly determine the fifth time-frequency resource as the time-frequency resource for sending the second information. By indicating the fifth time-frequency resource, it helps to reduce the burden on the third terminal device, improve the efficiency of determining the time-frequency resource for sending the second information, and also improve the success rate of the first terminal device receiving the second information.

[0016] In an optional implementation, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0017] The first field can reuse an existing field in the first SCI, or can also be a newly added field in the first SCI. The first SCI is a first-level SCI, which is sent by broadcasting. If the terminal device receiving the first SCI can identify the first field, it can be determined that the second SCI includes the first information. For example, if a third terminal device receives the first SCI and the second SCI and can identify the first field, the third terminal device can clearly see that the second SCI includes the first information, and the third terminal device will obtain the first information when parsing the second SCI. In this way, the third terminal device can identify the format of the second SCI, so that it can correctly obtain the first information.

[0018] In an optional embodiment, the method further includes:

[0019] The first information is retransmitted to the third terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

[0020] In order to improve the success rate of sending the first information, as an optional implementation, the first information can also be sent repeatedly. If the first terminal device will repeatedly send the first information, the time-frequency resources used to repeatedly send the first information can be indicated by the first SCI, so that the third terminal device can correctly receive the repeatedly sent first information. For example, after the first terminal device sends the first information to the third terminal device on the seventh time-frequency resource, it can also retransmit the first information to the third terminal device on the sixth time-frequency resource, and the first SCI can indicate the sixth time-frequency resource. Therefore, the third terminal device can receive the retransmitted first information from the first terminal device on the sixth time-frequency resource according to the indication of the first SCI.

[0021] In an optional implementation manner, receiving the second information from the third terminal device includes:

[0022] Second control information is received from the third terminal device, wherein the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0023] Because the second information only needs to be sent to the first terminal device to send the first data, and does not need to be sent to other terminal devices, the third terminal device does not need to include the second information in the first-level SCI, but only needs to include the second information in the second-level SCI. Therefore, as an optional implementation method of sending the second information, the third terminal device can include the second information in the second-level SCI and send it. For example, the third terminal device sends the second control information to the first terminal device, and the first terminal device receives the second control information from the third terminal device. The second control information may include the third SCI and the fourth SCI, the third SCI is the first-level SCI, and the fourth SCI is the second-level SCI. The fourth SCI can include the second information. Through this unicast transmission mode, the first terminal device can receive the second information, and other terminal devices will not receive the first information, thereby improving the success rate of the first terminal device receiving the first information and reducing interference to other terminal devices. In addition, if the second information is included in the first-level SCI, the terminal devices with older versions cannot recognize the second information, and these terminal devices cannot exclude the time-frequency resources to be reserved by the first terminal device, and may occupy the time-frequency resources to be reserved by the first terminal device. When a terminal device excludes time-frequency resources, it generally excludes them based on the first-level SCI. Therefore, if the second information is included in the second-level SCI, it will have no impact on terminal devices with older versions. Both old and new versions of terminal devices can exclude resources normally. Old version terminal devices will not occupy these time-frequency resources because they cannot exclude the time-frequency resources that the first terminal device wants to reserve, thereby reducing the probability of resource conflicts.

[0024] In an optional implementation, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0025] The second field can reuse an existing field in the third SCI, or can also be a newly added field in the third SCI. The third SCI is a first-level SCI, which is sent by broadcasting. If the terminal device receiving the third SCI can identify the second field, it can be determined that the fourth SCI includes the second information. For example, if the third terminal device receives the third SCI and the fourth SCI and can identify the second field, the third terminal device can clearly see that the fourth SCI includes the second information, and the third terminal device will obtain the second information when parsing the second SCI. In this way, the third terminal device can identify the format of the fourth SCI, so that the second information can be correctly obtained.

[0026] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the data packet size of the first data is used to determine the second time-frequency resources.

[0027] Because the second information can be used to determine the time-frequency resources for sending data to the third terminal device, that is, the second information can indicate the corresponding time-frequency resources, then the third terminal device can also determine the second information based on the monitoring result of the third terminal device. When the third terminal device excludes resources based on the monitoring result, it can be based on the data packet size of the first data. Therefore, the first terminal device can inform the third terminal device of the information of the data packet size of the first data so that the third terminal device can exclude resources. For example, the data packet size of the first data may include the size of the subchannel occupied by the first data, that is, how many subchannels the first data occupies, or the data packet size of the first data may include the transmission block size corresponding to the first data, or the data packet size of the first data may also include other information.

[0028] In an optional implementation, the third time-frequency resource is the second time-frequency resource, and sending the first data to the third terminal device through the third time-frequency resource includes:

[0029] The first data is sent to the third terminal device through the second time-frequency resource.

[0030] For example, the first terminal device determines, based on the detection of SCI from at least one second terminal device, that the second time-frequency resource is not excluded from use, that is, the second time-frequency resource is also an available time-frequency resource for the first terminal device. The first terminal device can determine to send data through the second time-frequency resource. At this time, the second time-frequency resource and the third time-frequency resource are the same time-frequency resource.

[0031] In an optional embodiment,

[0032] Detecting side control information from at least one second terminal device to determine a first time-frequency resource also includes:

[0033] Detecting the side control information from the at least one second terminal device to determine a seventh time-frequency resource, where the seventh time-frequency resource is the earliest time-frequency resource in the time domain among the available time-frequency resources determined according to the detected side control information;

[0034] Sending first information to the third terminal device includes:

[0035] The first information is sent to the third terminal device through the seventh time-frequency resource.

[0036] The seventh time-frequency resource is used to send the first information to the third terminal device,

[0037] The first terminal device must first send the first information to the third terminal device, and then receive the second information from the third terminal device, and then it can send the first data to the third terminal device. According to current regulations, when a terminal device sends data to another terminal device, it is necessary to ensure that the data is sent within the remaining packet delay budget, otherwise it will be regarded as a sending failure. Therefore, it can be understood that in order to ensure that the transmission of the first data is within the remaining packet delay budget, the time domain position of the seventh time-frequency resource should be as early as possible. For example, the first terminal device determines one or more available time-frequency resources based on the listening results, and the seventh time-frequency resource may be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, or the seventh time-frequency resource may not be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, as long as t1≤t a_1 <t2, t a_1 Indicates the time domain position of the seventh time-frequency resource.

[0038] In an optional embodiment,

[0039] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or,

[0040] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

[0041] For example, the second time-frequency resources include time-frequency resources that can be used to send data to a third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resources, the third terminal device is less likely to be interfered with when receiving the data. In this case, the first terminal device can give priority to the second time-frequency resources to send data to the third terminal device, which can improve the signal reception quality and avoid reception failure as much as possible. Alternatively, the second time-frequency resources include time-frequency resources that cannot be used to send data to the third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resources, the third terminal device is more likely to be interfered with when receiving the data. In this case, the first terminal device may not select the second time-frequency resources to send data to the third terminal device.

[0042] In a second aspect, a second communication method is provided, the method comprising: receiving first information from a first terminal device, the first information being used to trigger determination of second information; detecting side control information from at least one fourth terminal device to determine a second time-frequency resource, the at least one fourth terminal device including the first terminal device, the second time-frequency resource being used to determine a time-frequency resource for the first terminal device to send data; sending the second information to the first terminal device, the second information being used to indicate the second time-frequency resource; and receiving first data from the first terminal device.

[0043] The method may be performed by a second communication device, which may be a communication device or a communication device capable of supporting the communication device to implement the functions required by the method, such as a chip. Exemplarily, the second communication device is a terminal device, which is a terminal device, or a chip provided in the terminal device for implementing the functions of the terminal device, or other components for implementing the functions of the terminal device. In the following introduction, the second communication device is taken as an example that the third terminal device is used as the second communication device.

[0044] In an optional implementation manner, receiving first information from a first terminal device includes:

[0045] First control information is received from the first terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0046] In an optional implementation, the second SCI is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0047] In an optional embodiment, the method further includes:

[0048] Determining, based on detection of side control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, and determining to send the second information through the fourth time-frequency resource; or,

[0049] According to the detection of the side control information from the at least one fourth terminal device, it is determined that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority threshold, it is determined to send the second information through the time-frequency resource that is not excluded from use, otherwise, it is determined to send the second information through the fourth time-frequency resource; or,

[0050] Determining, based on detection of the side control information from the at least one fourth terminal device, that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority of the first data, determining to send the second information through the time-frequency resource that is not excluded from use, otherwise, determining to send the second information through the fourth time-frequency resource;

[0051] The second data is data to be sent by a fourth terminal device that reserves the fourth time-frequency resource through the fourth time-frequency resource.

[0052] If the third terminal device determines, based on the detection of side control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, that is, the fourth time-frequency resource is an available time-frequency resource for the third terminal device, the third terminal device can determine to send the second information through the fourth time-frequency resource.

[0053] Alternatively, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of the side control information from at least one fourth terminal device, that is, the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device can determine whether the priority of the second data is higher than the first priority threshold. If the priority of the second data is higher than the first priority threshold, the third terminal device can select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined according to the listening result of the third terminal device; or, if the priority of the second data is lower than or equal to the first priority threshold, the third terminal device can determine to send the second information through the fourth time-frequency resource. Among them, the second data is the data to be sent by the fourth terminal device that has reserved the fourth time-frequency resource through the fourth time-frequency resource, and the priority of the second data can be indicated by the first-level SCI received by the third terminal device from the fourth terminal device. That is, since the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, it means that the third terminal device has determined through listening that the fourth time-frequency resource has been reserved by other terminal devices, and the second data is the data to be sent by the other terminal device that has reserved the fourth time-frequency resource. The first priority threshold may be determined by the third terminal device, or determined by negotiation between the first terminal device and the third terminal device, or may be configured by a network device, or may be stipulated by a protocol.

[0054] Alternatively, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of the side control information from at least one fourth terminal device, that is, the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device can determine whether the priority of the second data is higher than the priority of the first data. If the priority of the second data is higher than the priority of the first data, the third terminal device can select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined according to the listening result of the third terminal device; or, if the priority of the second data is lower than or equal to the priority of the first data, the third terminal device can determine to send the second information through the fourth time-frequency resource. For explanations on the second data and the priority of the second data, etc., please refer to the previous paragraph.

[0055] The fourth time-frequency resource may also be a time-frequency resource that the first terminal device considers to be unavailable, that is, the first terminal device instructs the third terminal device to try not to use the fourth time-frequency resource to send the second information. If this is the case, when the third terminal device determines the time-frequency resource for sending the second information, if it is determined based on the detection of SCI from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, the third terminal device may select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined based on the listening result of the third terminal device; and if it is determined based on the detection of the side control information from at least one fourth terminal device that the fourth time-frequency resource is not excluded from use, the third terminal device may select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined based on the listening result of the third terminal device, and not select the fourth time-frequency resource.

[0056] In an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0057] In an optional implementation, the method further includes: determining to send the second information via the fifth time-frequency resource.

[0058] In an optional implementation, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0059] In an optional implementation, the method further includes: receiving the first information retransmitted from the first terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

[0060] In an optional implementation manner, sending the second information to the first terminal device includes:

[0061] Second control information is sent to the first terminal device, the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0062] In an optional implementation, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0063] In an optional implementation manner, the first information further includes information indicating a data packet size of the first data, and detecting sideline control information from at least one first terminal device to determine the second time-frequency resource includes:

[0064] The second time-frequency resource is determined according to the detection result and the data packet size of the first data.

[0065] In an optional embodiment,

[0066] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or,

[0067] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

[0068] In an optional implementation manner, receiving first data from the first terminal device includes:

[0069] The first data is received from the first terminal device via a third time-frequency resource, wherein the third time-frequency resource is determined based on the first time-frequency resource and the second time-frequency resource, and the first time-frequency resource is determined by the first terminal device detecting side control information from at least one second terminal device.

[0070] Regarding the technical effects brought about by the second aspect or some optional implementation methods of the second aspect, reference may be made to the introduction to the technical effects of the first aspect or corresponding implementation methods.

[0071] In a third aspect, a communication device is provided, for example, the communication device is the first communication device as described above. The first communication device is used to execute the method in the first aspect or any possible implementation mode. Specifically, the first communication device may include a module for executing the method in the first aspect or any possible implementation mode, for example, a processing module and a transceiver module. Exemplarily, the transceiver module may include a sending module and a receiving module, and the sending module and the receiving module may be different functional modules, or may be the same functional module, but can implement different functions. Exemplarily, the first communication device is a communication device, or a chip or other component provided in a communication device. Exemplarily, the communication device is a terminal device. Below, the first communication device is taken as an example that the first terminal device is a terminal device, and the first terminal device may be a terminal device, or may be a chip or other component provided in a terminal device. For example, the transceiver module may also be implemented by a transceiver, and the processing module may also be implemented by a processor. Alternatively, the sending module may be implemented by a transmitter, and the receiving module may be implemented by a receiver, and the transmitter and the receiver may be different functional modules, or may be the same functional module, but can implement different functions. If the first communication device is a communication device, the transceiver is implemented, for example, by an antenna, a feeder, and a codec in the communication device. Alternatively, if the first communication device is a chip provided in a communication device, then the transceiver (or, transmitter and receiver) is, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information through the radio frequency transceiver component. In the introduction of the third aspect, the first communication device is still described as a first terminal device, and the processing module and the transceiver module are used as examples. Among them,

[0072] The processing module is configured to detect side control information from at least one second terminal device to determine a first time-frequency resource, wherein the at least one second terminal device includes a third terminal device, and the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device;

[0073] The transceiver module is used to send first information to the third terminal device, where the first information is used to trigger the determination of second information;

[0074] The transceiver module is further used to receive the second information from the third terminal device, where the second information is used to indicate a second time-frequency resource, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the third terminal device;

[0075] The processing module is further configured to determine a third time-frequency resource according to the first time-frequency resource and the second time-frequency resource;

[0076] The transceiver module is further configured to send the first data to the third terminal device via the third time-frequency resource.

[0077] In an optional implementation, the transceiver module is used to send the first information to the third terminal device in the following manner:

[0078] First control information is sent to the third terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0079] In an optional implementation, the first information is further used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0080] In an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0081] In an optional implementation, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0082] In an optional implementation, the transceiver module is further used to retransmit the first information to the third terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

[0083] In an optional implementation manner, the transceiver module is used to receive the second information from the third terminal device in the following manner:

[0084] Second control information is received from the third terminal device, wherein the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0085] In an optional implementation, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0086] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the data packet size of the first data is used to determine the second time-frequency resources.

[0087] In an optional implementation, the third time-frequency resource is the second time-frequency resource, and the transceiver module is used to send the first data to the third terminal device through the third time-frequency resource in the following manner:

[0088] The first data is sent to the third terminal device through the second time-frequency resource.

[0089] In an optional embodiment,

[0090] The processing module is used to detect the side control information from at least one second terminal device to determine the first time-frequency resource, and is also used to detect the side control information from the at least one second terminal device to determine the seventh time-frequency resource, wherein the seventh time-frequency resource is the earliest time-frequency resource in the time domain among the available time-frequency resources determined according to the detected side control information;

[0091] The transceiver module is configured to send the first information to the third terminal device in the following manner: sending the first information to the third terminal device by using the seventh time-frequency resource.

[0092] In an optional embodiment,

[0093] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or,

[0094] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

[0095] Regarding the technical effects brought about by the third aspect or various optional implementations, reference may be made to the introduction to the technical effects of the first aspect or corresponding implementations.

[0096] In a fourth aspect, a communication device is provided, for example, the communication device is the second communication device as described above. The second communication device is used to execute the method in the second aspect or any possible implementation manner. Specifically, the second communication device may include a module for executing the method in the second aspect or any possible implementation manner, for example, including a processing module and a transceiver module. Exemplarily, the transceiver module may include a sending module and a receiving module, and the sending module and the receiving module may be different functional modules, or may also be the same functional module, but can implement different functions. Exemplarily, the second communication device is a communication device, or a chip or other component provided in a communication device. Exemplarily, the communication device is a terminal device. Below, taking the second communication device as a third terminal device as an example, the first terminal device may be a terminal device, or may be a chip or other component provided in a terminal device. For example, the transceiver module may also be implemented by a transceiver, and the processing module may also be implemented by a processor. Alternatively, the sending module may be implemented by a transmitter, and the receiving module may be implemented by a receiver, and the transmitter and the receiver may be different functional modules, or may also be the same functional module, but can implement different functions. If the second communication device is a communication device, the transceiver is implemented, for example, by an antenna, a feeder, and a codec in the communication device. Alternatively, if the second communication device is a chip provided in a communication device, then the transceiver (or, transmitter and receiver) is, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information through the radio frequency transceiver component. In the introduction of the fourth aspect, the second communication device is still described as a third terminal device, and the processing module and the transceiver module are used as examples. Among them,

[0097] The transceiver module is used to receive first information from a first terminal device, where the first information is used to trigger the determination of second information;

[0098] The processing module is configured to detect side control information from at least one fourth terminal device to determine a second time-frequency resource, wherein the at least one fourth terminal device includes the first terminal device, and the second time-frequency resource is used to determine a time-frequency resource for the first terminal device to send data;

[0099] The transceiver module is further used to send the second information to the first terminal device, where the second information is used to indicate the second time-frequency resource;

[0100] The transceiver module is further configured to receive first data from the first terminal device.

[0101] In an optional implementation manner, the transceiver module is used to receive the first information from the first terminal device in the following manner:

[0102] First control information is received from the first terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0103] In an optional implementation, the first information is further used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0104] In an optional implementation, the processing module is further used for:

[0105] Determining, based on detection of side control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, and determining to send the second information through the fourth time-frequency resource; or,

[0106] According to the detection of the side control information from the at least one fourth terminal device, it is determined that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority threshold, it is determined to send the second information through the time-frequency resource that is not excluded from use, otherwise, it is determined to send the second information through the fourth time-frequency resource; or,

[0107] Determining, based on detection of the side control information from the at least one fourth terminal device, that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority of the first data, determining to send the second information through the time-frequency resource that is not excluded from use, otherwise, determining to send the second information through the fourth time-frequency resource;

[0108] The second data is data to be sent by a fourth terminal device that reserves the fourth time-frequency resource through the fourth time-frequency resource.

[0109] In an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0110] In an optional implementation, the processing module is further used to determine whether to send the second information via the fifth time-frequency resource.

[0111] In an optional implementation, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0112] In an optional implementation, the transceiver module is further used to receive the first information retransmitted from the first terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

[0113] In an optional implementation, the transceiver module is used to send the second information to the first terminal device in the following manner:

[0114] Second control information is sent to the first terminal device, the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0115] In an optional implementation, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0116] In an optional implementation manner, the first information further includes information indicating a data packet size of the first data, and the processing module is configured to detect sideline control information from at least one first terminal device to determine the second time-frequency resource in the following manner:

[0117] The second time-frequency resource is determined according to the detection result and the data packet size of the first data.

[0118] In an optional embodiment,

[0119] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or,

[0120] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

[0121] In an optional implementation manner, the transceiver module is used to receive the first data from the first terminal device in the following manner:

[0122] The first data is received from the first terminal device via a third time-frequency resource, wherein the third time-frequency resource is determined based on the first time-frequency resource and the second time-frequency resource, and the first time-frequency resource is determined by the first terminal device detecting side control information from at least one second terminal device.

[0123] Regarding the technical effects brought about by the fourth aspect or various optional implementations, reference may be made to the introduction to the technical effects of the second aspect or corresponding implementations.

[0124] In a fifth aspect, a communication device is provided, which is, for example, the first communication device as described above. The communication device includes a processor and a communication interface, and the communication interface can be used to communicate with other devices or equipment. Optionally, it can also include a memory for storing computer instructions. The processor and the memory are coupled to each other to implement the method described in the first aspect or various possible implementations. Alternatively, the first communication device may not include a memory, and the memory may be located outside the first communication device. The processor, the memory and the communication interface are coupled to each other to implement the method described in the first aspect or various possible implementations. For example, when the processor executes the computer instructions stored in the memory, the first communication device executes the method in the first aspect or any possible implementation. Exemplarily, the first communication device is a communication device, or a chip or other component provided in the communication device. Exemplarily, the communication device is a terminal device. For example, the first communication device is a first terminal device, the first terminal device is a terminal device, or a chip or other component provided in the terminal device.

[0125] Wherein, if the first communication device is a communication device, the communication interface is implemented, for example, by a transceiver (or a transmitter and a receiver) in the communication device, for example, the transceiver is implemented by an antenna, a feeder, and a codec, etc. in the communication device. Alternatively, if the first communication device is a chip provided in the communication device, the communication interface is, for example, an input / output interface of the chip, such as an input / output pin, etc., and the communication interface is connected to a radio frequency transceiver component in the communication device to implement information transmission and reception through the radio frequency transceiver component.

[0126] In a sixth aspect, a communication device is provided, which is, for example, the second communication device as described above. The communication device includes a processor and a communication interface, and the communication interface can be used to communicate with other devices or equipment. Optionally, it can also include a memory for storing computer instructions. The processor and the memory are coupled to each other to implement the method described in the second aspect or various possible implementations. Alternatively, the second communication device may not include a memory, and the memory may be located outside the second communication device. The processor, the memory and the communication interface are coupled to each other to implement the method described in the second aspect or various possible implementations. For example, when the processor executes the computer instructions stored in the memory, the second communication device executes the method in the second aspect or any one of the possible implementations. Exemplarily, the second communication device is a communication device, or a chip or other component provided in the communication device. Exemplarily, the communication device is a terminal device. For example, the second communication device is a third terminal device, and the third terminal device is a terminal device, or a chip or other component provided in the terminal device.

[0127] Wherein, if the second communication device is a communication device, the communication interface is implemented, for example, by a transceiver (or a transmitter and a receiver) in the communication device, for example, the transceiver is implemented by an antenna, a feeder, and a codec, etc. in the communication device. Alternatively, if the second communication device is a chip provided in the communication device, the communication interface is, for example, an input / output interface of the chip, such as an input / output pin, etc., and the communication interface is connected to a radio frequency transceiver component in the communication device to implement information transmission and reception through the radio frequency transceiver component.

[0128] In a seventh aspect, a chip is provided, comprising a processor and a communication interface, wherein the processor is coupled to the communication interface and is used to implement the method provided in the first aspect or any optional implementation manner.

[0129] Optionally, the chip may further include a memory, for example, the processor may read and execute a software program stored in the memory to implement the method provided in the first aspect or any one of the optional implementations. Alternatively, the memory may not be included in the chip, but may be located outside the chip, which is equivalent to the processor reading and executing a software program stored in an external memory to implement the method provided in the first aspect or any one of the optional implementations.

[0130] In an eighth aspect, a chip is provided, comprising a processor and a communication interface, wherein the processor is coupled to the communication interface and is used to implement the method provided in the second aspect or any optional implementation manner.

[0131] Optionally, the chip may further include a memory, for example, the processor may read and execute a software program stored in the memory to implement the method provided in the second aspect or any one of the optional implementations. Alternatively, the memory may not be included in the chip, but may be located outside the chip, which is equivalent to the processor reading and executing a software program stored in an external memory to implement the method provided in the second aspect or any one of the optional implementations.

[0132] In a ninth aspect, a first communication system is provided, which includes the communication device described in the third aspect, the communication device described in the fifth aspect, or the communication device described in the seventh aspect.

[0133] In a tenth aspect, a second communication system is provided, which includes the communication device described in the fourth aspect, the communication device described in the sixth aspect, or the communication device described in the eighth aspect.

[0134] In an eleventh aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program. When the computer program runs on a computer, the computer executes the method described in the first aspect or any possible implementation manner.

[0135] In a twelfth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program. When the computer program runs on a computer, the computer executes the method described in the above second aspect or any possible implementation manner.

[0136] In a thirteenth aspect, a computer program product comprising instructions is provided, wherein the computer program product is used to store a computer program, and when the computer program is run on a computer, the computer executes the method described in the first aspect or any possible implementation manner.

[0137] In a fourteenth aspect, a computer program product comprising instructions is provided, wherein the computer program product is used to store a computer program, and when the computer program is run on a computer, the computer executes the method described in the above second aspect or any possible implementation manner.

[0138] In an embodiment of the present application, when the first terminal device selects resources for sending data, it can not only take the listening results of the first terminal device into consideration, but also take the listening results of the third terminal device into consideration, so that the selected resources take into account both the channel conditions around the first terminal device and the channel conditions around the third terminal device to improve the signal reception quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0139] Figure 1 Schematic diagram of several application scenarios of V2X;

[0140] Figure 2 A schematic diagram of a resource listening window and a resource selection window when a terminal device is performing resource selection;

[0141] Figure 3 A schematic diagram of a receiving failure caused by a transmitting terminal device not considering the situation of a receiving terminal device when sending data;

[0142] Figure 4 A schematic diagram of excessive resource exclusion caused by a transmitting terminal device not considering the situation of a receiving terminal device when transmitting data;

[0143] Figure 5 A schematic diagram of an application scenario of an embodiment of the present application;

[0144] Figure 6A flow chart of a communication method provided in an embodiment of the present application;

[0145] Figure 7 A schematic diagram of repeatedly sending first information in an embodiment of the present application;

[0146] Figure 8 A schematic diagram of time-frequency resources for sending second information through a first-level SCI indication in an embodiment of the present application;

[0147] Fig. 9 A schematic diagram showing that the time slot where the time-frequency resource used to send the second information in the embodiment of the present application is located needs to be before the time slot n+t2;

[0148] Fig.10 A schematic diagram of a first terminal device sending first data to a third terminal device in an embodiment of the present application;

[0149] Fig.11 A schematic block diagram of a first terminal device provided in an embodiment of the present application;

[0150] Fig.12 A schematic block diagram of a third terminal device provided in an embodiment of the present application;

[0151] Fig.13 A schematic block diagram of a communication device provided in an embodiment of the present application;

[0152] Fig.14 Another schematic block diagram of a communication device provided in an embodiment of the present application;

[0153] Fig.15 Another schematic block diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0154] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0155] Below, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0156] 1) Terminal device, such as a terminal device, or a module for realizing the functions of the terminal device, such as a chip system, which can be set in the terminal device. The terminal device includes a device that provides voice and / or data connectivity to the user, specifically, a device that provides voice to the user, or a device that provides data connectivity to the user, or a device that provides voice and data connectivity to the user. For example, it may include a handheld device with a wireless connection function, or a processing device connected to a wireless modem. The terminal device can communicate with the core network via a radio access network (RAN), exchange voice or data with the RAN, or exchange voice and data with the RAN. The terminal device may include user equipment (UE), wireless terminal equipment, mobile terminal equipment, device-to-device (D2D) terminal equipment, vehicle to everything (V2X) terminal equipment, machine-to-machine / machine-type communications (M2M / MTC) terminal equipment, Internet of Things (IoT) terminal equipment, light terminal equipment (light UE), subscriber unit, subscriber station, mobile station, remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, or user equipment, etc. For example, it may include a mobile phone (or "cellular" phone), a computer with a mobile terminal device, a portable, pocket-sized, handheld, or computer-built-in mobile device, etc. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), etc. It also includes limited devices, such as devices with low power consumption, or devices with limited storage capacity, or devices with limited computing power, etc.For example, it includes information sensing devices such as barcodes, radio frequency identification (RFID), sensors, global positioning systems (GPS), laser scanners, etc.

[0157] As an example but not limitation, in the embodiments of the present application, the terminal device may also be a wearable device. Wearable devices may also be referred to as wearable smart devices or smart wearable devices, etc., which are a general term for the application of wearable technology to intelligently design and develop wearable devices for daily wear, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also powerful functions achieved through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include full-featured, large-size, and independent of smartphones to achieve complete or partial functions, such as smart watches or smart glasses, etc., as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various types of smart bracelets, smart helmets, and smart jewelry for vital sign monitoring.

[0158] The various terminal devices introduced above, if located on a vehicle (eg, placed in or installed in a vehicle), can be considered as vehicle-mounted terminal devices, which are also called on-board units (OBU).

[0159] In the embodiment of the present application, the terminal device may also include a relay. Alternatively, it can be understood that anything that can communicate data with the base station can be regarded as a terminal device.

[0160] In the embodiment of the present application, the device for realizing the function of the terminal device may be a terminal device, or a device capable of supporting the terminal device to realize the function, such as a chip system, which may be installed in the terminal device. In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the terminal device as an example in which the device for realizing the function of the terminal is a terminal device.

[0161] 2) Network equipment, for example, including access network (AN) equipment, such as base stations (e.g., access points), which can refer to equipment in the access network that communicates with wireless terminal devices over the air interface through one or more cells, or, for example, a network device in a vehicle-to-everything (V2X) technology is a roadside unit (RSU). The base station can be used to convert received air frames to and from IP packets, acting as a router between the terminal device and the rest of the access network, where the rest of the access network may include an IP network. The RSU can be a fixed infrastructure entity that supports V2X applications and can exchange messages with other entities that support V2X applications. The network equipment can also coordinate the attribute management of the air interface. For example, the network device may include a next generation node B (gNB) in a fifth generation mobile communication technology (5G) new radio (NR) system (also referred to as an NR system), or may also include a centralized unit (CU) and a distributed unit (DU) in a cloud access network (Cloud RAN) system, but the embodiments of the present application are not limited thereto.

[0162] The network device may further include a core network device, which may include, for example, an access and mobility management function (AMF) or a user plane function (UPF).

[0163] Because the embodiments of the present application mainly relate to access network devices, in the following text, unless otherwise specified, the network devices mentioned refer to access network devices.

[0164] In the embodiment of the present application, the device for realizing the function of the network device may be a network device, or may be a device capable of supporting the network device to realize the function, such as a chip system, which may be installed in the network device. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the device for realizing the function of the network device as an example that the network device is used as the device.

[0165] 3) V2X, which is the interconnection between vehicles and the outside world, is the foundation and key technology for future smart cars, autonomous driving, and intelligent transportation systems. V2X will optimize the specific application requirements of V2X based on the existing device-to-device (D2D) technology, and needs to further reduce the access delay of V2X devices and solve resource conflicts.

[0166] V2X specifically includes several application requirements, including direct communication between vehicles (vehicle-to-vehicle, V2V), vehicles and roadside infrastructure (vehicle-to-infrastructure, V2I), vehicles and pedestrians (vehicle-to-pedestrian, V2P), and vehicle-to-network (vehicle-to-network, V2N) communication interactions. Figure 1 As shown. V2V refers to the communication between vehicles; V2P refers to the communication between vehicles and people (including pedestrians, cyclists, drivers, or passengers); V2I refers to the communication between vehicles and network devices, such as RSU. There is also a V2N that can be included in V2I. V2N refers to the communication between vehicles and base stations / networks.

[0167] Among them, V2P can be used to give safety warnings to pedestrians or non-motor vehicles on the road. Through V2I, vehicles can communicate with roads and even other infrastructure, such as traffic lights and roadblocks, to obtain road management information such as traffic light signal timing. V2V can be used for information exchange and reminders between vehicles. The most typical application is for anti-collision safety systems between vehicles. V2N is the most widely used form of vehicle networking at present. Its main function is to enable vehicles to connect to cloud servers through mobile networks and use navigation, entertainment, or anti-theft application functions provided by cloud servers.

[0168] In V2X, the communication is mainly between terminal devices. For the transmission mode between terminal devices, the current standard protocol supports broadcast mode, multicast mode, and unicast mode.

[0169] Broadcast mode: The broadcast mode means that the terminal device as the transmitter uses the broadcast mode to send data, and multiple terminal devices can receive the sidelink control information (SCI) or sidelink shared channel (SSCH) from the transmitter.

[0170] In the sidelink, the way to ensure that all terminal devices parse the control information from the transmitter is that the transmitter does not scramble the control information, or the transmitter scrambles the control information using a scrambling code known to all terminal devices.

[0171] Multicast mode: The multicast mode is similar to broadcast transmission. The terminal device as the transmitter uses the broadcast mode to send data. A group of terminal devices can parse SCI or SSCH.

[0172] Unicast mode: Unicast mode is a terminal device sending data to another terminal device, and the other terminal devices do not need or cannot parse the data.

[0173] 4) The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "At least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0174] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects. For example, the second time-frequency resource and the first time-frequency resource are only used to distinguish different time-frequency resources, and do not indicate the difference in size, priority or importance of the two time-frequency resources.

[0175] The foregoing introduces some terminology concepts involved in the embodiments of the present application. The following introduces the technical features involved in the embodiments of the present application.

[0176] With the development of wireless communication technology, people's demand for high data rates and user experience is growing. At the same time, people's demand for proximity services that understand and communicate with people or things around them is gradually increasing. Therefore, device-to-device D2D technology came into being. The application of D2D technology can reduce the burden on cellular networks, reduce the battery power consumption of user devices, increase data rates, and well meet the needs of proximity services. D2D technology allows multiple terminal devices that support D2D functions to directly discover and communicate with or without network infrastructure. In view of the characteristics and advantages of D2D technology, the application scenario of the Internet of Vehicles based on D2D technology has been proposed, but due to security considerations, the latency requirements in this scenario are very high, which cannot be achieved with existing D2D technology.

[0177] Therefore, under the LTE technology network proposed by the 3rd generation partnership project (3GPP), V2X vehicle networking technology was proposed. V2X communication refers to the communication between vehicles and anything outside, including V2V, V2P, V2I, and V2N. Figure 1 .

[0178] V2X communication is aimed at high-speed equipment represented by vehicles. It is the basic technology and key technology for applications in scenarios with very high communication latency requirements in the future, such as smart cars, autonomous driving, and intelligent transportation systems. LTE V2X communication can support communication scenarios with and without network coverage, and its resource allocation method can adopt the network equipment scheduling mode, such as the Evolved Universal Terrestrial Radio Access Network Node B (E-UTRAN Node B, eNB) scheduling mode and UE self-selection mode. Based on V2X technology, vehicle user equipment (Vehicle UE, V-UE) can send some of its own information, such as location information, speed information, or intention information (turning, merging, reversing), to the surrounding V-UE periodically or through some non-periodic events. Similarly, V-UE will also receive information from other surrounding V-UEs in real time.

[0179] Long term evolution (LTE)-V2X solves some basic requirements in V2X scenarios, but LTE-V2X cannot effectively support future application scenarios such as fully intelligent driving and autonomous driving. Therefore, 5G NR technology has made further developments in V2X. NR-V2X can support lower transmission latency, more reliable communication transmission, higher throughput, better user experience, and meet the needs of a wider range of application scenarios.

[0180] In the V2X communication process, the terminal device as the transmitter (also called the transmitter terminal device) sends SCI and side data to the terminal device as the receiver (also called the receiver terminal device) in a time slot, and the receiver terminal device receives and decodes the side data by receiving SCI. In NR-V2X, there are two resource allocation modes for the transmitter terminal device, one of which is mode 1 (mode-1), in which the base station allocates resources to the transmitter terminal device; the other resource allocation mode is mode-2, in which the transmitter terminal device selects resources by itself.

[0181] Among them, mode-1 is mainly used for V2X communication in the case of network coverage, and the base station allocates resources. Specifically, mode-1 can include dynamic grant (DG) mode and configured grant (CG) mode. In the DG mode of mode-1, the base station will schedule the transmitting terminal device to send side data to the receiving terminal device through downlink control information (DCI). In the CG mode of mode-1, the base station will configure the relevant side frequency resources through high-level signaling, such as radio resource control (RRC) signaling. The CG mode includes CG type 1 (CG type 1) and CG type 2 (CG type 2). CG type 1 means that the transmitting terminal device directly sends side data on the side frequency resources configured by the base station; CG type 2 means that the base station will send DCI to activate the side frequency resources configured by the base station, and the transmitting terminal device will send side data on the side frequency resources configured by the base station after receiving the DCI.

[0182] In mode-2, the selection of sidelink time and frequency resources by the transmitting terminal device does not depend on the base station. This mode is not limited by network coverage, and the transmitting terminal device can also communicate in this mode when there is no network coverage.

[0183] In Mode-2, the transmitting terminal device triggers resource selection at time slot n, and the resource listening window [n-t0, nt proc，0 ) to obtain the listening results, please refer to Figure 2 . t0 is the boundary value of the resource listening window, for example, t0 can be 1100ms or 100ms, or can also be other values. Taking 15kHz subcarrier spacing as an example, t0 = 1100 time slots or 100 time slots; or, if taking 60kHz subcarrier spacing as an example, t0 = 4400 time slots or 400 time slots. t proc，0It is the time it takes for the sending terminal device to process the interception result. Depending on the capabilities of the terminal device, t proc，0 The value of t will be different. proc，0 ≥0.

[0184] According to the monitoring result, the transmitting terminal device excludes unavailable time-frequency resources in the resource selection window [n+t1, n+t2] defined by the time slot range, and then the transmitting terminal device obtains available time-frequency resources for sending sideline data. For this, please continue to refer to Figure 2 . Where 0≤t1≤t proc，1 , t proc，1 It is the time for the terminal device to process the interception result. The value varies according to the capabilities of the terminal device. proc，1 The value of t will be different. 2_min <t2≤ remaining packet delay budget (PDB). PDB is the maximum delay time required for a data packet from being generated at the service layer to being successfully sent. For example, at time n, the remaining PDB is the remaining delay time from the data packet being generated at the service layer to time n. The unit of PDB can be time slot, subframe or frame, or it can also be an absolute time, such as milliseconds or seconds.

[0185] The specific resource selection method of the sending terminal device is introduced as follows:

[0186] 1. The sending terminal device is in the resource listening window [n-t0, nt proc，0 ) receives SCI from other terminal devices in a resource pool within the UE, wherein the SCI includes monitoring information of other terminal devices. Further, the SCI is a first-stage SCI (1st-stage SCI) sent on a physical sidelink control channel (PSCCH).

[0187] Among them, one SCI can schedule three transmissions, for example, the first transmission of the three transmissions is the initial transmission, and the next two transmissions are retransmissions, or all three transmissions are retransmissions. The monitoring information included in the SCI includes the time-frequency resource information of the scheduling data of the second and third retransmissions, the periodic time-frequency resource information reflecting the data service cycle, and the data priority information (priority of PSSCH). It can be understood that at a given moment, a terminal device reserves the resources (including time-frequency resources) after the moment for the retransmission of data and the transmission of new periodic data by sending an SCI.

[0188] 2. If the transmitting terminal device learns from the listening information of the SCI received from the terminal device 1 that the time-frequency resource reserved by the terminal device 1 is within the resource selection window [n+t1, n+t2] of the transmitting terminal device, the transmitting terminal device measures the demodulation reference signal (DMRS) of the data or control channel that the terminal device 1 needs to send on the time-frequency resource according to the listening information to obtain the reference signal received power (RSRP). If the RSRP is greater than the preset RSRP threshold Th RSRP , the transmitting terminal device excludes the time-frequency resource from the resource selection window.

[0189] 3. After excluding unavailable time-frequency resources in the resource selection window, the transmitting terminal device can determine available time-frequency resources among the remaining resources in the resource selection window, so that the transmitting terminal device selects time-frequency resources from the available time-frequency resources to send data.

[0190] In the existing mechanism, the time-frequency resources used by the transmitting terminal device when sending data are based on the time-frequency resources used by the transmitting terminal device in the resource listening window [n-t0, nt proc，0 ). In the technical solution provided in the embodiment of the present application, unless otherwise specified, the listening result refers to the result determined by the above three steps 1, 2 and 3. However, the transmitting terminal device is not aware of the channel conditions around the receiving terminal device. If there are other terminal devices communicating around the receiving terminal device, but the transmitting terminal device has not heard them, then for the receiving terminal device, when it receives data from the transmitting terminal device, it is possible to be subject to strong interference caused by the side communication of other terminal devices, resulting in poor signal reception quality of the receiving terminal device, or even reception failure.

[0191] For example, you can refer to Figure 3 . UE1 selects time-frequency resources to send data to UE2 based on the listening result of UE1. Since UE3 and UE4 are far away from UE1, UE1 will judge that there are no other terminal devices around UE1 for side communication when listening, so UE1 sends data to UE2. But in fact, UE3 is sending data to UE4. Since UE3 and UE2 are close to each other, UE3 sending data to UE4 causes strong interference to UE2 receiving data from UE1, resulting in UE2 being unable to correctly decode the data from UE1.

[0192] For another example, refer to Figure 4UE1 monitors and can hear UE3 sending data to UE4. The RSRP measured by UE1 is higher than the preset RSRP threshold Th RSRP , UE1 believes that it cannot send data to UE2 through the time-frequency resources used by UE3, and will consider the time-frequency resources to be unavailable time-frequency resources. However, in reality, since UE1 and UE4 are far apart, UE1's interference to UE4 is small, and UE1 sending data to UE2 will not affect UE4's reception of data from UE3. Similarly, UE3 sending data to UE4 will not affect UE2's reception of data from UE1. This is a case of excessive resource exclusion for UE1, which will consider some resources that should have been available as unavailable time-frequency resources, resulting in a reduction in the time-frequency resources available to UE1.

[0193] In view of this, a technical solution of an embodiment of the present application is provided. In an embodiment of the present application, a first terminal device as a data sending end can send first information to a third terminal device, so that the third terminal device can send second information to the first terminal device, and the second information can include a second time-frequency resource. The first terminal device can use the second time-frequency resource as a reference factor when selecting a time-frequency resource. For example, the second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resource, the possibility of the third terminal device being interfered when receiving the data is relatively small, then the first terminal device can give priority to the second time-frequency resource to send data to the third terminal device, which can improve the signal reception quality and try to avoid the situation of reception failure. Alternatively, the second time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device, indicating that if the first terminal device sends data to the third terminal device on the second time-frequency resource, the possibility of the third terminal device being interfered when receiving the data is relatively large, then the first terminal device may not select the second time-frequency resource to send data to the third terminal device. It can be seen that in an embodiment of the present application, when the first terminal device selects resources for sending data, it can not only take the listening results of the first terminal device into consideration, but also take the listening results of the third terminal device into consideration, so that the selected resources take into account both the channel conditions around the first terminal device and the channel conditions around the third terminal device, so as to improve the signal reception quality.

[0194] The technical solution provided in the embodiments of the present application can be applied to D2D scenarios, such as NR-D2D scenarios, etc., or can be applied to V2X scenarios, such as NR-V2X scenarios, etc., for example, it can be applied to vehicle networks, such as V2X, V2V, etc., or can be used in the fields of intelligent driving, assisted driving, or intelligent networked vehicles. Or it can also be applied to other scenarios or other communication systems, for example, it can also be used for resource selection of the Uu interface of the NR system or the next generation mobile communication system, without specific limitation.

[0195] The following describes the network architecture used in the embodiments of this application. Figure 5 , which is a network architecture used in the embodiments of the present application.

[0196] Figure 5 It includes a network device and two terminal devices, namely terminal device 1 and terminal device 2. Both of the two terminal devices can be within the coverage of the network device; or only terminal device 1 of the two terminal devices can be within the coverage of the network device, while terminal device 2 is not within the coverage of the network device; or both of the two terminal devices are not within the coverage of the network device. The two terminal devices can communicate with each other through sidelink. Figure 5 For example, terminal device 1 is within the coverage of the network device, and terminal device 2 is not within the coverage of the network device. Figure 5 The number of terminal devices is only an example. In actual applications, the network device can provide services for multiple terminal devices.

[0197] Figure 5 The network device in the communication system is, for example, an access network device, such as a base station. The access network device corresponds to different devices in different systems. For example, in a 5G system, it corresponds to an access network device in 5G, such as a gNB, or is an access network device in a subsequently evolved communication system.

[0198] in, Figure 5 The terminal device in the example is a vehicle-mounted terminal device or a vehicle, but the terminal device in the embodiments of the present application is not limited thereto.

[0199] Next, the technical solution provided by the embodiments of the present application will be described in conjunction with the accompanying drawings.

[0200] This application embodiment provides a communication method, see Figure 6 , which is a flowchart of the method. In the following introduction, the method is applied to Figure 5 The network architecture shown is taken as an example.

[0201] For the sake of convenience, the following takes the method executed by the first terminal device and the third terminal device as an example. Figure 5 The network architecture shown in FIG. 1 is taken as an example, therefore, the first terminal device described below may be Figure 5 The terminal device 1 in the network architecture shown in the figure may be a chip system set in the terminal device 1; the third terminal device described below may be Figure 5 The terminal device 2 in the network architecture shown, or it may be a chip system set in the terminal device 2.

[0202] S61. The first terminal device detects (or listens to) sideline control information from at least one second terminal device to determine a first time-frequency resource.

[0203] Under network coverage, the network equipment configures the sidelink (SL) resource pool information of the terminal device in the cell through the system information block (SIB), cell-specific RRC signaling or user-specific (UE-specific) RRC signaling. In non-network coverage, the terminal device uses the SL resource pool information pre-configured when the device leaves the factory to select time-frequency resources. The SL resource pool information is used to indicate the SL resource pool. The terminal device selects time-frequency resources in the SL resource pool to perform SL communication with other terminal devices, and the communication process includes one or more of unicast communication, multicast communication or broadcast communication. In the time domain of the SL resource pool, it includes one or more time units, and a time unit can be a symbol, several symbols, a time slot, or a subframe. The one or more time units included in the time domain of an SL resource pool can be continuous in physical time or discrete. In the frequency domain of the SL resource pool, one or more frequency domain units are included. A frequency domain unit may be a resource block (RB), several RBs or a sub channel, etc. A sub channel may include one or more RBs.

[0204] For example, if the first terminal device wants to send data to the third terminal device, for example, the data is the first data, the first terminal device listens in time slot n; or, if the first terminal device wants to send control information to the third terminal device, the first terminal device listens in time slot n; or, if the first terminal device wants to send control information and data to the third terminal device, the first terminal device listens in time slot n to select resources. The embodiment of the present application takes the example of the first terminal device sending the first data to the third terminal device, but what is actually sent may be control information and / or data. Among them, at least one second terminal device may include a third terminal device, and at least one second terminal device may include a third terminal device to emphasize other terminal devices, so the third terminal device may not be included here.

[0205] The first terminal device listens in time slot n, that is, the first terminal device detects SCI from at least one second terminal device in time slot n. The first terminal device detects SCI from at least one second terminal device in a listening window [n-t0, nt proc，0), selects available time-frequency resources in the resource selection window [n+t1, n+t2] defined by the time slot range, and the specific process of resource selection by the first terminal device can refer to the previous description. Among them, when the first terminal device excludes resources, it can exclude time-frequency resources reserved by other terminal devices for sending data, or exclude time-frequency resources reserved by other terminal devices for sending control information, or exclude time-frequency resources reserved by other terminal devices for sending data and time-frequency resources reserved by other terminal devices for sending control information. In an embodiment of the present application, before the first terminal device sends data, it can first trigger the third terminal device to perform a resource assistance process. Therefore, before the first terminal device sends data to the third terminal device, it can first send the first information to the third terminal device to trigger the third terminal device to send the second information to the first terminal device. For example, the first terminal device can select the available seventh time-frequency resource according to the listening result, so that the first terminal device can send the first information to the third terminal device through the seventh time-frequency resource.

[0206] For example, the time domain position of the seventh time-frequency resource is n+t a_1 , where t1≤t a_1 <t2. The first terminal device must first send the first information to the third terminal device, and then receive the second information from the third terminal device, and then send the first data to the third terminal device, that is, t a_1 Before the moment of sending the first data, according to current regulations, when a terminal device sends data to another terminal device, it is necessary to ensure that the data is sent within the remaining packet delay budget, otherwise it will be regarded as a sending failure. Therefore, it can be understood that in order to ensure that the sending of the first data is within the remaining packet delay budget, t a_1 For example, the first terminal device determines one or more available time-frequency resources according to the listening result, and the seventh time-frequency resource may be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, or the seventh time-frequency resource may not be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, as long as t1≤t a_1 <t2.

[0207] In addition, the first terminal device may determine the time-frequency resources for sending data to the third terminal device only based on the second information of the third terminal device, or the first terminal device may also determine the time-frequency resources for sending data to the third terminal device based on the listening result of the first terminal device and the second information of the third terminal device. If the first terminal device determines the time-frequency resources for sending data to the third terminal device based on the listening result of the first terminal device and the second information of the third terminal device, then the first terminal device may also determine the first time-frequency resources based on the listening result, and the first time-frequency resources may include time-frequency resources that cannot be used to send data to the third terminal device, or include time-frequency resources that can be used to send data to the third terminal device. Thus, the first terminal device can subsequently determine the time-frequency resources for sending data to the third terminal device based on the first time-frequency resources and the second information.

[0208] S62: The first terminal device sends the first information to the third terminal device, and the third terminal device receives the first information from the first terminal device. The first information is used to trigger the determination of the second information, wherein the first information can be used as trigger information to trigger the third terminal device to determine the second information. Therefore, the first information can also be called trigger information, or request information, etc., and there is no restriction on the name of the information. The second information can be used by the first terminal device to determine the time-frequency resources for sending data to the third terminal device.

[0209] In the embodiment of the present application, before the first terminal device sends data to the third terminal device, the third terminal device may be triggered to perform a resource assistance process, and then the time-frequency resource for sending data to the third terminal device is selected according to the second information fed back by the third terminal device. In order to obtain the second information from the third terminal device, the first terminal device may first send the first information to the third terminal device to trigger the third terminal device to determine the second information.

[0210] As introduced in the previous article, for example, the first terminal device selects the seventh time-frequency resource to send the first information. Then in S62, the first terminal device can send the first information to the third terminal device through the seventh time-frequency resource, and the third terminal device can also receive the first information from the first terminal device in the seventh time-frequency resource.

[0211] When a terminal device sends sidelink information, it generally sends a first-stage SCI (1st-stage SCI) and a second-stage SCI (2nd-stage SCI), and may also send data. It can be understood that when sending sidelink information, the terminal device may only send control information (first-stage SCI and second-stage SCI), or only send data, or may also send first-stage SCI, second-stage SCI and data. Among them, the first-stage SCI is sent on a control channel, for example, and the second-stage SCI is sent on a data channel, for example. The first-stage SCI is used to schedule the second-stage SCI and the data. The second-stage SCI is also used to schedule the data, for example, the second-stage SCI includes at least a source address (source ID), the control channel is, for example, a physical sidelink control channel (physical sidelink control channel, PSCCH), and the data channel is, for example, a physical sidelink shared channel (physical sidelink shared channel, PSSCH). In addition, the first-stage SCI may indicate the time-frequency resources used to send the second-stage SCI, including indicating the code rate information used to determine the second-stage SCI. Then, the first terminal device can include the first information in one of the SCIs and send it to the third terminal device. The first-level SCI is generally broadcast information, and all terminal devices need to receive and decode the first-level SCI. Specifically, for terminal devices that need to perform monitoring and user autonomous resource selection, the first-level SCI includes control information for monitoring and user autonomous resource selection, such as time-frequency resource information, priority information, or periodic time-frequency resource information reflecting the data service cycle and other information. One or more of the above. The second-level SCI can have different formats, for example, containing different control information fields for different transmissions, such as for multicast based on geographic location. Therefore, the control information required for terminal devices of different standard versions or terminal devices supporting different functions is only carried in the second-level SCI, while the first-level SCI is the public information required by all terminal devices (for example, terminal devices of different standard versions (such as the third generation partnership project (3GPP) version Rel-16 terminal devices, 3GPP Rel-17 terminal devices), terminal devices supporting geographic location-based multicast, or one or more terminal devices supporting resource assistance), including control information for listening and user-autonomous resource selection. Then, all the terminal devices can coexist in a resource pool, because the exclusion of time-frequency resources is based on the first-level SCI, and all the terminal devices can exclude unavailable resources from each other by detecting the first-level SCI, thereby reducing the probability of resource conflicts and improving resource utilization.

[0212] Therefore, as an optional implementation of sending the first information, the first terminal device may include the first information in the second-level SCI and send it. For example, the first terminal device sends the first control information to the third terminal device, and the third terminal device receives the first control information from the first terminal device. The first control information may include the first SCI and the second SCI, the first SCI is the first-level SCI, and the second SCI is the second-level SCI. The second SCI may include the first information.

[0213] Optionally, the first SCI may include a first field, and the first field may indicate that the second-level SCI scheduled by the first SCI includes the first information. The second-level SCI scheduled by the first SCI is the second SCI. That is to say, the first field may indicate that the second SCI includes the first information. The first SCI is a first-level SCI, which is sent by broadcasting. If the terminal device receiving the first SCI can identify the first field, it can be determined that the second SCI includes the first information. For example, if a third terminal device receives the first SCI and the second SCI and can identify the first field, the third terminal device can clearly see that the second SCI includes the first information, and the third terminal device will obtain the first information when parsing the second SCI. In this way, the third terminal device can identify the format of the second SCI, so that the first information can be correctly obtained. Optionally, the priority information in the first SCI can be the priority information of the data to be sent to the third terminal device, or it can be the priority of the data corresponding to / scheduled by the first SCI.

[0214] Optionally, the second SCI may also include one or more of the following information: a layer 1 (L1) source ID, an L1 destination ID, geographic location information of the first terminal device, or communication range information. For example, the second SCI includes the L1 source ID; or, the second SCI includes the L1 destination ID; or, the second SCI includes the geographic location information of the first terminal device; or, the second SCI includes the communication range information; or, the second SCI includes the L1 source ID and the L1 destination ID; or, the second SCI includes the L1 source ID, the L1 destination ID, and the geographic location information of the first terminal device; or, the second SCI includes the L1 source ID, the L1 destination ID, the geographic location information of the first terminal device, and the communication range information, and so on.

[0215] The L1 source identifier is used to indicate the first terminal device, and the L1 target identifier is used to indicate the third terminal device. Alternatively, the L1 source identifier and the L1 target identifier can be used to indicate data (including but not limited to the service to which the data belongs) sent by the first terminal device to the third terminal device, and the first terminal device and the third terminal device can determine whether the current communication is related to themselves according to the L1 source identifier and the L1 target identifier.

[0216] The geographic location information of the first terminal device may be zone identification information (Zone ID) or other geographic location related information, used to identify the geographic location of the first terminal device; the communication range information is used to indicate the communication range required for the control and / or data sent by the first terminal device.

[0217] Then, after receiving and decoding the second SCI, the third terminal device can determine whether to respond to the control information or data from the first terminal device according to the geographical location information and communication range information of the first terminal device. For example, if the third terminal device determines that the control information and / or data from the first terminal device does not meet the requirements of the communication range information included in the second SCI (for example, the communication range is 100m), then the third terminal device may not respond to the information (control information and / or data) from the first terminal device, for example, not send the second information to the first terminal device; conversely, the third terminal device may respond to the information (control information and / or data) from the first terminal device, for example, send the second information to the first terminal device. If the information from the first terminal device does not meet the requirements of the communication range information, it indicates that the first terminal device and the third terminal device are far apart. In this case, even if the third terminal device sends the second information to the first terminal device, it may not be of much help to the sending process of the first terminal device, so the third terminal device may not need to send the second information to the first terminal device. In this way, the signaling overhead can be reduced.

[0218] In order to improve the success rate of sending the first information, as an optional implementation, the first information can also be sent repeatedly, that is, at n+t a_1 The first information can be sent again in the subsequent time slot. If the first terminal device repeatedly sends the first information, the time-frequency resources used to repeatedly send the first information can be indicated by the first SCI, so that the third terminal device can correctly receive the repeatedly sent first information. For example, after the first terminal device sends the first information to the third terminal device on the seventh time-frequency resource, it can also retransmit the first information to the third terminal device on the sixth time-frequency resource, and the first SCI can indicate the sixth time-frequency resource. Therefore, the third terminal device can receive the retransmitted first information from the first terminal device on the sixth time-frequency resource according to the indication of the first SCI. In addition, the embodiment of the present application does not limit the number of times the first information is repeatedly sent. Please refer to Figure 7, is a schematic diagram of repeated transmission of the first information. For example, the first terminal device triggers resource selection in time slot n, and the first terminal device selects resources according to the listening window [n-t0, nt proc，0 ) in the resource selection window [n+t1, n+t2], the time slot n+t a_1 Pass the second level SCI ( Figure 7 The first SCI-2 from left to right in the figure sends the first information to the third terminal device, for example, in the time slot n+t a_1 The first level SCI sent Figure 7 The first SCI-1 from left to right in the figure also indicates the time-frequency resource for repeatedly sending the first information, and the time domain position of the time-frequency resource is time slot n+t a_2 , then the first terminal device is in time slot n+t a_2 Pass the second level SCI ( Figure 7 The second SCI-2 from left to right in the figure repeats sending the first information to the third terminal device. Figure 7 Time slot n+t a , for example, is the time domain location where the third terminal device sends the second information to the first terminal device. In addition, Figure 7 The data in the message may or may not be sent.

[0219] The first information can be used to trigger the third terminal device to determine the second information. After determining the second information, the third terminal device can send the second information to the first terminal device, which involves the need for the third terminal device to determine the time-frequency resources for sending the second information. As an optional implementation, the first information can also indicate the fourth time-frequency resource. The fourth time-frequency resource can be determined by the first terminal device according to the listening result of the first terminal device. The fourth time-frequency resource can be used by the third terminal device to determine the time-frequency resource for sending the second information. For example, the fourth time-frequency resource is an available time-frequency resource determined by the first terminal device according to the listening result. At this time, the fourth time-frequency resource can be understood as a recommended resource, indicating that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource can meet the reception condition, that is, it does not affect the reception reliability. Or, it indicates that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource is small. Therefore, the first terminal device recommends that the third terminal device use the fourth time-frequency resource to send the second information to the first terminal device. Alternatively, the fourth time-frequency resource is an unavailable time-frequency resource determined by the first terminal device according to the monitoring result, indicating that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource cannot meet the reception condition, that is, it will affect the reception reliability. In other words, it indicates that the interference from other terminal devices when the first terminal device receives data on the fourth time-frequency resource is relatively large. In this case, the first information indicates the fourth time-frequency resource, which can be considered as an instruction to the third terminal device to try not to use the fourth time-frequency resource to send the second information.

[0220] For example, the fourth time-frequency resource may include a time domain resource, or a frequency domain resource, or a time domain resource and a frequency domain resource, wherein the time domain resource may include one or more time slots, and the frequency domain resource may include one or more subchannels.

[0221] Alternatively, as another optional implementation, the first information may not indicate the fourth time-frequency resource, but the first SCI may indicate the time-frequency resource used to send the second information. For example, the first SCI may indicate the fifth time-frequency resource, and the fifth time-frequency resource may be determined by the first terminal device according to the listening result of the first terminal device, and the fifth time-frequency resource may be used to send the second information. The fifth time-frequency resource is an available time-frequency resource determined by the first terminal device according to the listening result, indicating that the interference from other terminal devices when the first terminal device receives data on the fifth time-frequency resource can meet the reception condition, that is, it does not affect the reception reliability. In other words, it indicates that the interference from other terminal devices when the first terminal device receives data on the fifth time-frequency resource is small. Therefore, the first terminal device instructs the third terminal device to use the fifth time-frequency resource to send the second information to the first terminal device. In this case, the third terminal device does not need to determine the time-frequency resource for sending the second information based on other factors (such as the listening result of the third terminal device, etc.), and directly determines the fifth time-frequency resource as the time-frequency resource for sending the second information. In other words, the first terminal device reserves the time-frequency resource for the third terminal device to send the second information through the first-level SCI. For reference Figure 8 , the first terminal device in time slot n+t a_1 Sending a first SCI (ie Figure 8 The first SCI includes information about the fifth time-frequency resource, for example, the time domain position of the fifth time-frequency resource is time slot n+t a . Figure 8 The data in the message may or may not be sent.

[0222] If the first information indicates the fourth time-frequency resource, the third terminal device can also jointly determine the time-frequency resource for sending the second information based on the monitoring result of the third terminal device and the fourth time-frequency resource. In this case, the selection of the time-frequency resource for sending the second information by the third terminal device takes into account both the reception situation of the third terminal device and the monitoring situation of the resource by the third terminal device, so that the selected time-frequency resource is more appropriate. If the first SCI indicates the fifth time-frequency resource, the fifth time-frequency resource is the time-frequency resource that the first terminal device has reserved for the third terminal device to send the second information. In this case, the third terminal device can directly send the second information on the fifth time-frequency resource, without determining the time-frequency resource for sending the second information based on other factors. This method can simplify the operation process of the third terminal device and speed up the process of the third terminal device sending the second information, thereby reducing the delay of the first data.

[0223] In addition, optionally, the first information may also include information for indicating the data packet size of the first data. Because the second information can be used to determine the time-frequency resources for sending data to the third terminal device, that is, the second information can indicate the corresponding time-frequency resources, then the third terminal device can also determine the second information based on the listening result of the third terminal device. When the third terminal device excludes resources based on the listening result, it can be based on the data packet size of the first data, so the first terminal device can inform the third terminal device of the information of the data packet size of the first data so that the third terminal device can exclude resources. For example, the data packet size of the first data may include the size of the subchannel occupied by the first data, that is, how many subchannels the first data occupies. For example, the number of all subchannels occupied by the first data is recorded as Lsub. For example, when the third terminal device excludes resources based on the listening result, it can be based on the size of the subchannel occupied by the PSSCH carrying the first data, so the first terminal device can inform the third terminal device of the information of the size of the subchannel occupied by the first data. For example, if the PSSCH carrying the first data occupies two sub-channels, then when the third terminal device excludes resources based on the listening result, it can exclude resources based on the size of the two sub-channels, without excluding resources based on other sizes (such as 1 sub-channel or 3 sub-channels, etc.). For another example, the data packet size of the first data may include the transport block (TB) size corresponding to the first data, and the third terminal device may exclude resources based on the TB size. Alternatively, the data packet size of the first data may also include other information.

[0224] In S62, the first terminal device sends the first information to the third terminal device to trigger the third terminal device to perform a resource assistance process. In this way, the first terminal device can trigger the third terminal device to perform a resource assistance process when needed, which can reduce the redundant information received by the first terminal device, and the method is more flexible. In addition, the first terminal device can also inform the third terminal device of the data packet size of the first data, so that the second time-frequency resource indicated by the third terminal device through the second information is more consistent with the first data, and the resource assistance process can be more accurate. The resource assistance process can be a process in which the third terminal device recorded in steps S63 to S64 listens to the terminal devices around it, that is, detects the side control information of the surrounding terminal devices, and determines the second information based on the detection results.

[0225] Alternatively, in the embodiment of the present application, the third terminal device may also actively perform the resource assistance process without being triggered by the first terminal device, that is, the resource assistance process may be performed without receiving the first information from the first terminal device. In this case, S62 may not be executed, that is, the first terminal device does not need to send the first information to the third terminal device, and the third terminal device may actively send the second information. Therefore, S62 is an optional step and is not necessarily executed. Figure 6 Indicated by dotted lines. For example, the third terminal device can periodically send the second information. The third terminal device sends the second information in a broadcast or multicast manner, for example. One or more terminal devices around the third terminal device can receive the second information from the third terminal device. If there is a terminal device (such as a first terminal device) that needs to send data to a third terminal device, after receiving the second information, it can determine the resources for sending data to the third terminal device based on the second information. In this way, the first terminal device does not need to send information to trigger the third terminal device. The third terminal device can actively perform a resource assistance process, which helps to save signaling overhead between the first terminal device and the third terminal device.

[0226] As described above, if the first terminal device sends the first information to the third terminal device, the first information may include information indicating the data packet size of the first data. When the third terminal device performs resource exclusion according to the listening result, it may be performed according to the data packet size of the first data. If the first terminal device does not send the first information to the third terminal device, the third terminal device cannot know which terminal device will send data to the third terminal device, nor can it know the data packet size of the data to be sent. Then the third terminal device may perform resource exclusion according to one or more data packet sizes. For example, the data packet size of a data includes the size of the subchannel occupied by the data, that is, how many subchannels the data occupies. Then the third terminal device may perform resource exclusion according to the listening result according to the size of one or more subchannels. For example, the size of one or more subchannels may be preconfigured in the third terminal device, or the third terminal device may determine the size of one or more subchannels occupied by the data historically received or sent by the third terminal device, so that the third terminal device may perform resource exclusion according to the size of one or more subchannels. For example, the sizes of three subchannels are preconfigured in the third terminal device, which are 1 subchannel, 2 subchannels and 3 subchannels respectively. Then, when the third terminal device performs resource exclusion according to the listening result, it may perform resource exclusion according to the size of 1 subchannel to obtain resource exclusion result 1, perform resource exclusion according to the size of 2 subchannels to obtain resource exclusion result 2, and perform resource exclusion according to the size of 3 subchannels to obtain resource exclusion result 3. If this is the case, the second time-frequency resource that may be determined by the third terminal device may include at least one time-frequency resource, and the at least one time-frequency resource may include one or more of the first part of time-frequency resources, the second part of time-frequency resources or the third part of time-frequency resources. The first part of time-frequency resources includes all or part of the time-frequency resources determined by the third terminal device according to the resource exclusion result 1, the second part of time-frequency resources includes all or part of the time-frequency resources determined by the third terminal device according to the resource exclusion result 2, and the third part of time-frequency resources includes all or part of the time-frequency resources determined by the third terminal device according to the resource exclusion result 3.

[0227] S63: The third terminal device detects the side control information from at least one fourth terminal device to determine a second time-frequency resource, where the second time-frequency resource can be used to determine a time-frequency resource for sending data to the third terminal device. The at least one fourth terminal device may include the first terminal device or may not include the first terminal device.

[0228] For example, the third terminal device is in time slot n+t a_1After receiving the first information, the third terminal device may perform monitoring (or detection), that is, the third terminal device detects the SCI from at least one fourth terminal device. a_1 -t0,n+t a_1 -t proc，0 ) detects SCI from at least one fourth terminal device, obtains a listening result, and selects a resource selection window according to the listening result Select a time-frequency resource within, where t2≤t′2<remaining PDB. If the first information received by the third terminal device indicates the fourth time-frequency resource, the third terminal device can determine the time-frequency resource for sending the first information based on the listening result of the third terminal device and the fourth time-frequency resource, and can also determine the time-frequency resource indicated by the second information, that is, the second time-frequency resource, based on the listening result; or, if the first information received by the third terminal device does not indicate the fourth time-frequency resource, but the first SCI received by the third terminal device indicates the fifth time-frequency resource, the third terminal device can determine to send the second information through the fifth time-frequency resource, and the third terminal device can determine the second time-frequency resource based on the listening result of the third terminal device.

[0229] The following briefly introduces the way in which the third terminal device determines the time-frequency resources for sending the second information based on the listening results of the third terminal device and the fourth time-frequency resources. First, the situation in which the fourth time-frequency resources are time-frequency resources considered by the first terminal device to be available is introduced, that is, the first terminal device recommends that the third terminal device use the fourth time-frequency resources to send the second information.

[0230] If the third terminal device determines, based on the detection of side control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, that is, the fourth time-frequency resource is an available time-frequency resource for the third terminal device, the third terminal device can determine to send the second information through the fourth time-frequency resource.

[0231] Alternatively, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of the side control information from at least one fourth terminal device, that is, the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device can determine whether the priority of the second data is higher than the first priority threshold. If the priority of the second data is higher than the first priority threshold, the third terminal device can select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined according to the listening result of the third terminal device; or, if the priority of the second data is lower than or equal to the first priority threshold, the third terminal device can determine to send the second information through the fourth time-frequency resource. Among them, the second data is the data to be sent by the fourth terminal device that has reserved the fourth time-frequency resource through the fourth time-frequency resource, and the priority of the second data can be indicated by the first-level SCI received by the third terminal device from the fourth terminal device. That is, since the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, it means that the third terminal device has determined through listening that the fourth time-frequency resource has been reserved by other terminal devices, and the second data is the data to be sent by the other terminal device that has reserved the fourth time-frequency resource. The first priority threshold may be determined by the third terminal device, or determined by negotiation between the first terminal device and the third terminal device, or may be configured by a network device, or may be stipulated by a protocol.

[0232] Alternatively, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of the side control information from at least one fourth terminal device, that is, the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device can determine whether the priority of the second data is higher than the priority of the first data. If the priority of the second data is higher than the priority of the first data, the third terminal device can select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined according to the listening result of the third terminal device; or, if the priority of the second data is lower than or equal to the priority of the first data, the third terminal device can determine to send the second information through the fourth time-frequency resource. For explanations on the second data and the priority of the second data, etc., please refer to the previous paragraph.

[0233] The fourth time-frequency resource may also be a time-frequency resource that the first terminal device considers to be unavailable, that is, the first terminal device instructs the third terminal device to try not to use the fourth time-frequency resource to send the second information. If this is the case, when the third terminal device determines the time-frequency resource for sending the second information, if it is determined based on the detection of SCI from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, the third terminal device may select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined based on the listening result of the third terminal device; and if it is determined based on the detection of the side control information from at least one fourth terminal device that the fourth time-frequency resource is not excluded from use, the third terminal device may select the time-frequency resource for sending the second information from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined based on the listening result of the third terminal device, and not select the fourth time-frequency resource.

[0234] Here are just a few examples of ways in which the third terminal device selects time-frequency resources for sending the second information. The embodiments of the present application do not limit the third terminal device and may also use other ways to select time-frequency resources for sending the second information.

[0235] The second information may indicate the second time-frequency resource. For example, the second time-frequency resource is an available time-frequency resource determined by the third terminal device by detecting the SCI from at least one fourth terminal device, that is, the second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device. In this case, the second time-frequency resource can be understood as a recommended resource, indicating that the interference from other terminal devices when the third terminal device receives data on the second time-frequency resource can meet the receiving condition, that is, it does not affect the reception reliability, or it indicates that the interference from other terminal devices when the third terminal device receives data on the second time-frequency resource is small. Therefore, the third terminal device recommends the first terminal device to use the second time-frequency resource to send data to the third terminal device. Alternatively, the second time-frequency resource is an unavailable time-frequency resource determined by the third terminal device by detecting the SCI from at least one fourth terminal device, that is, the second time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device, indicating that the interference from other terminal devices when the third terminal device receives data on the second time-frequency resource cannot meet the receiving condition, that is, it affects the reception reliability, or it indicates that the interference from other terminal devices when the third terminal device receives data on the second time-frequency resource is large. Therefore, the third terminal device instructs the first terminal device to try not to use the second time-frequency resources to send data to the third terminal device.

[0236] For example, the second time-frequency resource may include a time domain resource, or a frequency domain resource, or a time domain resource and a frequency domain resource, wherein the time domain resource may include one or more time slots, and the frequency domain resource may include one or more subchannels.

[0237] S64, the third terminal device sends the second information to the first terminal device, and the first terminal device receives the second information from the third terminal device. In the embodiment of the present application, the second information is used as a resource auxiliary process, so the second information can also be called auxiliary information, or the second information can also have other names, and the name does not constitute a limitation on the technical features.

[0238] The third terminal device determines the time-frequency resource for sending the second information and the second time-frequency resource indicated by the second information, and can send the second information to the first terminal device. The second information can indicate the second time-frequency resource, and the second time-frequency resource is used to determine the time-frequency resource for sending data to the third terminal device.

[0239] In order to ensure the delay requirement of the first data sent by the first terminal device to the third terminal device, the time slot where the time-frequency resource selected by the third terminal device for sending the second information is located needs to be before the time slot n+t2. Fig. 9 . Fig. 9 In the time slot n+t, the third terminal device a_1 The third terminal device receives the first information from the first terminal device, thereby being triggered to select resources, and then performs resource monitoring, that is, detects the SCI from at least one fourth terminal device. When the third terminal device excludes resources, it can exclude the time-frequency resources reserved by other terminal devices for sending data, or exclude the time-frequency resources reserved by other terminal devices for sending control information, or exclude the time-frequency resources reserved by other terminal devices for sending data and the time-frequency resources reserved by other terminal devices for sending control information. Among them, if the third terminal device is in time slot n+t a_1 If the reception of the first information fails, the third terminal device may a_2 The third terminal device receives the retransmitted first information from the first terminal device at time slot n+t. a_2 It will also be triggered to perform resource monitoring, that is, each time the third terminal device receives the first information, it can trigger resource monitoring. If the third terminal device monitors multiple times and the monitoring results are consistent, it can exclude resources according to the monitoring results; or, if the third terminal device monitors multiple times and the monitoring results are inconsistent, the third terminal device can exclude resources according to the resource monitoring process triggered by the most recently received first information. Fig. 9 The retransmission of the first information is not shown, that is, Fig. 9Time slot n+t is not indicated a_2 . Fig. 9 n+t a_2 is a time domain position indicating that the third terminal device sends the second information to the first terminal device. The third terminal device is in the resource listening window [n+t a_1 -t0,n+t a_1 -t proc，0 ), the frequency domain size of the number of subchannels occupied by the first information is used for listening (the number of subchannels occupied by the first information may be configured, preconfigured or predefined, for example, the number of subchannels occupied by the first information is 1). For example, if the first information also indicates a fourth time-frequency resource, the third terminal device selects the fourth time-frequency resource in the resource selection window [n+t a_1 +t1, n+t′2] to determine the time-frequency resources for sending the second information. For example, the third terminal device selects the time slot n+t a_2 Sending second information, the second information indicating a second time-frequency resource, the second time-frequency resource being, for example, a resource listening time [n+t a_1 -t0,n+t a_1 -t proc，0 ) sub The available time-frequency resources determined by monitoring the frequency domain size of the second time-frequency resource are, for example, the time domain position of the second time-frequency resource is time slot n+t a , the starting subchannel position and length in the frequency domain are L sub .

[0240] As mentioned above, the first-level SCI is generally broadcast information, and all terminal devices need to receive and decode the first-level SCI. Specifically, for terminal devices that need to perform monitoring and user-autonomous resource selection, the first-level SCI includes control information for monitoring and user-autonomous resource selection, such as time-frequency resource information, priority information, or periodic time-frequency resource information reflecting the data service cycle. One or more of the information. The second-level SCI can have different formats, for example, containing different control information fields for different transmissions, such as for multicast based on geographic location. Therefore, the control information required for terminal devices of different standard versions or terminal devices supporting different functions is only carried in the second-level SCI, while the first-level SCI is the public information required by all terminal devices (for example, including terminal devices of different standard versions (such as 3GPP Rel-16 terminal devices, 3GPP Rel-17 terminal devices), terminal devices supporting geographic location-based multicast, or one or more terminal devices supporting resource assistance), including control information for listening and user-autonomous resource selection. In this case, all the terminal devices can coexist in a resource pool, because the exclusion of time-frequency resources is based on the first-level SCI, and all the terminal devices can exclude unavailable resources from each other by detecting the first-level SCI, thereby reducing the probability of resource conflicts and improving resource utilization.

[0241] Therefore, as an optional implementation of sending the second information, the third terminal device may include the second information in the second-level SCI and send it. For example, the third terminal device sends the second control information to the first terminal device, and the first terminal device receives the second control information from the third terminal device. The second control information may include the third SCI and the fourth SCI, the third SCI is the first-level SCI, and the fourth SCI is the second-level SCI. The fourth SCI may include the second information.

[0242] Optionally, the third SCI may include a second field, and the second field may indicate that the second-level SCI scheduled by the third SCI includes the second information. The second-level SCI scheduled by the third SCI is the fourth SCI. In other words, the second field may indicate that the fourth SCI includes the second information. The third SCI is a first-level SCI, which is sent by broadcasting. If the terminal device receiving the third SCI can identify the second field, it can be determined that the fourth SCI includes the second information. For example, if the third terminal device receives the third SCI and the fourth SCI and can identify the second field, the third terminal device can clearly see that the fourth SCI includes the second information, and the third terminal device will obtain the second information when parsing the second SCI. In this way, the third terminal device can identify the format of the fourth SCI, so that the second information can be correctly obtained.

[0243] S65. The first terminal device determines a third time-frequency resource based on the second time-frequency resource and the first time-frequency resource. Alternatively, the first terminal device determines that the second time-frequency resource is a third time-frequency resource. The third time-frequency resource is a time-frequency resource used by the first terminal device to send data to the third terminal device.

[0244] As an optional implementation, if the second time-frequency resource indicated by the second information includes a time-frequency resource that can be used to send data to a third terminal device, then the first terminal device can directly determine to send data to the third terminal device through the second time-frequency resource, that is, the first terminal device does not need to consider other factors (such as the monitoring result of the first terminal device, etc.) when determining the time-frequency resource for sending data to the third terminal device, but determines that the second time-frequency resource is the third time-frequency resource. For the first terminal device, the implementation is relatively simple, the operation process is simplified, and the sending of the first data can be accelerated and the delay of the first data can be reduced.

[0245] Alternatively, if the second time-frequency resources indicated by the second information include time-frequency resources that can be used to send data to the third terminal device, the first terminal device can determine the third time-frequency resources based on the second time-frequency resources and the first time-frequency resources.

[0246] Alternatively, as another optional implementation, regardless of whether the second time-frequency resources indicated by the second information include time-frequency resources that can be used to send data to a third terminal device or time-frequency resources that cannot be used to send data to a third terminal device, the first terminal device determines the third time-frequency resource based on the second time-frequency resource and the first time-frequency resource, rather than directly determining the second time-frequency resource as the third time-frequency resource.

[0247] The following briefly introduces the manner in which the first terminal device determines the third time-frequency resource based on the second time-frequency resource and the first time-frequency resource. First, the case in which the second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device is introduced.

[0248] If the first terminal device determines, based on the detection of SCI from at least one second terminal device, that the second time-frequency resource is not excluded from use, that is, the second time-frequency resource is also an available time-frequency resource for the first terminal device, then the first terminal device can determine to send data through the second time-frequency resource. At this time, the second time-frequency resource and the third time-frequency resource are the same time-frequency resource.

[0249] Alternatively, if the first terminal device determines, based on the detection of SCI from at least one second terminal device, that the second time-frequency resource is excluded from use, that is, the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, the first terminal device may determine whether the priority of the third data is higher than the second priority threshold. If the priority of the third data is higher than the second priority threshold, then, if the first time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device, the first terminal device may determine that the first time-frequency resource is the third time-frequency resource, or, if the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device, the first terminal device may select the third time-frequency resource from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use as determined based on the detection of SCI from at least one second terminal device; or, if the priority of the third data is lower than or equal to the second priority threshold, the first terminal device may determine to send data through the second time-frequency resource, in which case the second time-frequency resource and the third time-frequency resource are the same time-frequency resource. Among them, the third data is the data to be sent by the second terminal device that has reserved the second time-frequency resource through the second time-frequency resource, and the priority of the third data can be indicated by the first-level SCI received by the first terminal device from the second terminal device. That is, since the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, it indicates that the first terminal device has determined through listening that the second time-frequency resource has been reserved by other terminal devices, then the third data is the data to be sent by the other terminal device that has reserved the second time-frequency resource. The second priority threshold can be determined by the first terminal device, or determined by negotiation between the first terminal device and the third terminal device, or can be configured by the network device, or can also be stipulated by the protocol.

[0250] Alternatively, if the first terminal device determines that the second time-frequency resource is excluded from use based on the detection of SCI from at least one second terminal device, that is, the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, the first terminal device can determine whether the priority of the third data is higher than the priority of the first data. If the priority of the third data is higher than the priority of the first data, then, if the first time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device, the first terminal device can determine that the first time-frequency resource is the third time-frequency resource, or if the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device, the first terminal device can select the third time-frequency resource from the time-frequency resources (that is, available time-frequency resources) that are not excluded from use determined based on the detection of SCI from at least one second terminal device; or, if the priority of the third data is lower than or equal to the priority of the first data, the first terminal device can determine to send data through the second time-frequency resource, and the second time-frequency resource and the third time-frequency resource are the same time-frequency resource. For explanations of the third data and the priority of the third data, etc., please refer to the previous paragraph.

[0251] In addition, the second time-frequency resources may also include time-frequency resources that cannot be used to send data to the third terminal device. If this is the case, when the first terminal device determines the time-frequency resources for sending data, if it is determined based on the detection of SCI from at least one second terminal device that the second time-frequency resources are excluded from use, then, if the first time-frequency resources include time-frequency resources that can be used to send data to the third terminal device, the first terminal device can determine that the first time-frequency resources are the third time-frequency resources, or, if the first time-frequency resources include time-frequency resources that cannot be used to send data to the third terminal device, the first terminal device can select the third time-frequency resources from the time-frequency resources that are not excluded from use (i.e., available time-frequency resources) determined based on the detection of SCI from at least one second terminal device. frequency resources; or, if it is determined based on the detection of SCI from at least one second terminal device that the second time-frequency resources are not excluded from use, then, if the first time-frequency resources include time-frequency resources that can be used to send data to the third terminal device, the first terminal device can determine that the first time-frequency resources are third time-frequency resources, or, if the first time-frequency resources include time-frequency resources that cannot be used to send data to the third terminal device, the first terminal device can select the third time-frequency resource from the time-frequency resources that are not excluded from use (i.e., available time-frequency resources) determined based on the detection of SCI from at least one second terminal device, and do not select the second time-frequency resource as the third time-frequency resource.

[0252] Here are just a few examples of ways in which the first terminal device selects time-frequency resources for sending data. The embodiments of the present application do not limit the first terminal device and may also use other ways to select time-frequency resources for sending data.

[0253] S66: The first terminal device sends the first data to the third terminal device through the third time-frequency resource, and the third terminal device receives the first data from the first terminal device through the third time-frequency resource.

[0254] The embodiment of the present application takes the first terminal device sending the first data to the third terminal device as an example, but what is actually sent may be control information, or data, or control information and data. If what is sent is control information, or control information and data, the method of the embodiment of the present application is also applicable.

[0255] For example, you can refer to Fig.10 , the third terminal device is in the resource listening window [n+t a_1 -t0,n+t a_1 -t proc，0 ) to determine the second time-frequency resource. The third terminal device listens within the resource selection window [n+t a_1 +t1,n+t′2] in time slot n+t a The first data is received from the first terminal device, and the first data is carried by the PSSCH, and the time slot n+t a It is the time domain position of the third time-frequency resource.

[0256] As an optional implementation, the first information sent by the first terminal device and the second information sent by the third terminal device can use the same control information format, that is, the second SCI carrying the first information and the fourth SCI carrying the second information are of the same size, and the values ​​of some fields therein are defined as 0 in some cases, or some fields do not exist and can be filled with reserved bits, thereby ensuring that the size of the second SCI and the fourth SCI is the same. This can avoid defining a new second-level SCI format as much as possible, thereby reducing the signaling overhead indicating different second-level SCI formats.

[0257] In addition, the first information may also not be included in the second SCI, for example, carried in a media access control (MAC) control element (CE), and / or the second information may also not be included in the fourth SCI, for example, carried in a MAC CE. The above process will not change.

[0258] In an embodiment of the present application, the first terminal device may select time-frequency resources for sending data to the third terminal device based on the listening results of the third terminal device, or may select time-frequency resources for sending data to the third terminal device based on the listening results of the first terminal device and the listening results of the third terminal device. This solves the problem that the selected time-frequency resources may be interfered with or misjudged by other terminal devices due to incomplete listening results of the first terminal device, thereby reducing the probability of resource selection conflicts and improving transmission reliability and utilization of system resources.

[0259] The following describes the device used to implement the above method in the embodiment of the present application in conjunction with the accompanying drawings. Therefore, the above content can be used in subsequent embodiments, and the repeated content will not be repeated.

[0260] Fig.11 This is a schematic block diagram of a communication device 1100 provided in an embodiment of the present application. Exemplarily, the communication device 1100 is, for example, a first terminal device 1100 .

[0261] The first terminal device 1100 includes a processing module 1110 and a transceiver module 1120. Exemplarily, the first terminal device 1100 may be a terminal device, or may be a chip applied to a terminal device or other combined devices, components, etc. having the above-mentioned terminal device functions. When the first terminal device 1100 is a terminal device, the transceiver module 1120 may be a transceiver, which may include an antenna and a radio frequency circuit, etc., and the processing module 1110 may be a processor, such as a baseband processor, which may include one or more central processing units (CPUs). When the first terminal device 1100 is a component having the above-mentioned terminal device functions, the transceiver module 1120 may be a radio frequency unit, and the processing module 1110 may be a processor, such as a baseband processor. When the first terminal device 1100 is a chip system, the transceiver module 1120 may be an input and output interface of a chip (such as a baseband chip), and the processing module 1110 may be a processor of the chip system, which may include one or more central processing units. It should be understood that the processing module 1110 in the embodiment of the present application can be implemented by a processor or a processor-related circuit component, and the transceiver module 1120 can be implemented by a transceiver or a transceiver-related circuit component.

[0262] For example, the processing module 1110 can be used to perform Figure 6 In the embodiment shown, all operations except the transceiver operation performed by the first terminal device, such as S61 and S65, and / or other processes for supporting the technology described herein. The transceiver module 1120 may be used to perform Figure 6All transceiving operations performed by the first terminal device in the illustrated embodiment, such as S62, S64 and S66, and / or other processes for supporting the technology described herein.

[0263] In addition, the transceiver module 1120 may be a functional module that can perform both sending and receiving operations. For example, the transceiver module 1120 may be used to perform Figure 6 In the embodiment shown, all sending operations and receiving operations performed by the first terminal device, for example, when performing a sending operation, the transceiver module 1120 can be considered as a sending module, and when performing a receiving operation, the transceiver module 1120 can be considered as a receiving module; or, the transceiver module 1120 can also be two functional modules, and the transceiver module 1120 can be regarded as a general term for the two functional modules, which are respectively a sending module and a receiving module. The sending module is used to complete the sending operation, for example, the sending module can be used to perform Figure 6 In any of the embodiments shown in the drawings, the first terminal device performs all the sending operations, and the receiving module is used to complete the receiving operation. For example, the receiving module can be used to perform Figure 6 The illustrated embodiment shows that all receiving operations are performed by the first terminal device.

[0264] The processing module 1110 is configured to detect the side control information from at least one second terminal device to determine a first time-frequency resource, where the at least one second terminal device includes a third terminal device, and the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device;

[0265] The transceiver module 1120 is configured to send first information to the third terminal device, where the first information is used to trigger the determination of second information;

[0266] The transceiver module 1120 is further configured to receive the second information from the third terminal device, where the second information is used to indicate a second time-frequency resource, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the third terminal device;

[0267] The processing module 1110 is further configured to determine a third time-frequency resource according to the first time-frequency resource and the second time-frequency resource;

[0268] The transceiver module 1120 is further configured to send the first data to the third terminal device via the third time-frequency resource.

[0269] As an optional implementation manner, the transceiver module 1120 is configured to send the first information to the third terminal device in the following manner:

[0270] First control information is sent to the third terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0271] As an optional implementation, the first information is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0272] As an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0273] As an optional implementation manner, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0274] As an optional implementation, the transceiver module 1120 is further configured to retransmit the first information to the third terminal device in a sixth time-frequency resource, where the sixth time-frequency resource is indicated by the first SCI.

[0275] As an optional implementation manner, the transceiver module 1120 is configured to receive the second information from the third terminal device in the following manner:

[0276] Second control information is received from the third terminal device, wherein the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0277] As an optional implementation manner, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0278] As an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the data packet size of the first data is used to determine the second time-frequency resources.

[0279] As an optional implementation manner, the third time-frequency resource is the second time-frequency resource, and the transceiver module 1120 is configured to send the first data to the third terminal device through the third time-frequency resource in the following manner:

[0280] The first data is sent to the third terminal device through the second time-frequency resource.

[0281] As an optional implementation,

[0282] The processing module 1110 is configured to detect the side control information from at least one second terminal device to determine the first time-frequency resource, and further configured to detect the side control information from the at least one second terminal device to determine the seventh time-frequency resource, wherein the seventh time-frequency resource is the earliest time-frequency resource in the time domain among the available time-frequency resources determined according to the detected side control information;

[0283] The transceiver module 1120 is configured to send the first information to the third terminal device in the following manner: sending the first information to the third terminal device through the seventh time-frequency resource.

[0284] As an optional implementation,

[0285] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or,

[0286] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

[0287] For other functions that can be implemented by the first terminal device 1100, please refer to Figure 6 The relevant introduction of the illustrated embodiment will not be repeated in detail.

[0288] Fig.12 This is a schematic block diagram of a communication device 1200 provided in an embodiment of the present application. Exemplarily, the communication device 1200 is, for example, a third terminal device 1200.

[0289] The third terminal device 1200 includes a processing module 1210 and a transceiver module 1220. Exemplarily, the third terminal device 1200 may be a terminal device, or may be a chip applied to a terminal device or other combined devices, components, etc. having the above-mentioned terminal device functions. When the third terminal device 1200 is a terminal device, the transceiver module 1220 may be a transceiver, which may include an antenna and a radio frequency circuit, etc., and the processing module 1210 may be a processor, such as a baseband processor, which may include one or more CPUs. When the third terminal device 1200 is a component having the above-mentioned terminal device functions, the transceiver module 1220 may be a radio frequency unit, and the processing module 1210 may be a processor, such as a baseband processor. When the third terminal device 1200 is a chip system, the transceiver module 1220 may be an input and output interface of a chip (such as a baseband chip), and the processing module 1210 may be a processor of the chip system, which may include one or more central processing units. It should be understood that the processing module 1210 in the embodiment of the present application can be implemented by a processor or a processor-related circuit component, and the transceiver module 1220 can be implemented by a transceiver or a transceiver-related circuit component.

[0290] For example, the processing module 1210 can be used to perform Figure 6 In the embodiment shown, all operations except the transceiver operation performed by the third terminal device, such as S63, and / or other processes for supporting the technology described herein. The transceiver module 1220 can be used to perform Figure 6 All transceiving operations performed by the third terminal device in the illustrated embodiment, such as S62, S64 and S66, and / or other processes for supporting the technology described herein.

[0291] In addition, the transceiver module 1220 may be a functional module that can perform both sending and receiving operations. For example, the transceiver module 1220 may be used to perform Figure 6 In the embodiment shown, all sending operations and receiving operations performed by the third terminal device, for example, when performing a sending operation, the transceiver module 1220 can be considered as a sending module, and when performing a receiving operation, the transceiver module 1220 can be considered as a receiving module; or, the transceiver module 1220 can also be two functional modules, and the transceiver module 1220 can be regarded as a general term for the two functional modules, which are a sending module and a receiving module, respectively. The sending module is used to complete the sending operation, for example, the sending module can be used to perform Figure 6 In any of the embodiments shown in the drawings, the receiving module is used to perform all the sending operations performed by the third terminal device, and the receiving module is used to complete the receiving operation. For example, the receiving module can be used to perform Figure 6 The illustrated embodiment shows that all receiving operations are performed by the third terminal device.

[0292] The transceiver module 1220 is used to receive first information from a first terminal device, where the first information is used to trigger the determination of second information;

[0293] The processing module 1210 is configured to detect side control information from at least one fourth terminal device to determine a second time-frequency resource, where the at least one fourth terminal device includes the first terminal device, and the second time-frequency resource is used to determine a time-frequency resource for the first terminal device to send data;

[0294] The transceiver module 1220 is further configured to send the second information to the first terminal device, where the second information is used to indicate the second time-frequency resource;

[0295] The transceiver module 1220 is further configured to receive first data from the first terminal device.

[0296] As an optional implementation manner, the transceiver module 1220 is configured to receive the first information from the first terminal device in the following manner:

[0297] First control information is received from the first terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

[0298] As an optional implementation, the first information is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

[0299] As an optional implementation manner, the processing module 1210 is further configured to:

[0300] Determining, based on detection of side control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, and determining to send the second information through the fourth time-frequency resource; or,

[0301] According to the detection of the side control information from the at least one fourth terminal device, it is determined that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority threshold, it is determined to send the second information through the time-frequency resource that is not excluded from use, otherwise, it is determined to send the second information through the fourth time-frequency resource; or,

[0302] Determining, based on detection of the side control information from the at least one fourth terminal device, that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority of the first data, determining to send the second information through the time-frequency resource that is not excluded from use, otherwise, determining to send the second information through the fourth time-frequency resource;

[0303] The second data is data to be sent by a fourth terminal device that reserves the fourth time-frequency resource through the fourth time-frequency resource.

[0304] As an optional implementation, the first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

[0305] As an optional implementation, the processing module 1210 is further used to determine whether to send the second information through the fifth time-frequency resource.

[0306] As an optional implementation manner, the first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

[0307] As an optional implementation, the transceiver module 1220 is further configured to receive the first information retransmitted from the first terminal device in a sixth time-frequency resource, where the sixth time-frequency resource is indicated by the first SCI.

[0308] As an optional implementation manner, the transceiver module 1220 is configured to send the second information to the first terminal device in the following manner:

[0309] Second control information is sent to the first terminal device, the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

[0310] As an optional implementation manner, the third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

[0311] As an optional implementation manner, the first information further includes information indicating a data packet size of the first data, and the processing module 1210 is configured to detect sideline control information from at least one first terminal device in the following manner to determine the second time-frequency resource:

[0312] The second time-frequency resource is determined according to the detection result and the data packet size of the first data.

[0313] As an optional implementation,

[0314] The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device 1200; or,

[0315] The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device 1200 .

[0316] As an optional implementation manner, the transceiver module 1220 is configured to receive the first data from the first terminal device in the following manner:

[0317] The first data is received from the first terminal device via a third time-frequency resource, wherein the third time-frequency resource is determined based on the first time-frequency resource and the second time-frequency resource, and the first time-frequency resource is determined by the first terminal device detecting side control information from at least one second terminal device.

[0318] For other functions that the third terminal device 1200 can implement, please refer to Figure 6 The relevant introduction of the illustrated embodiment will not be repeated in detail.

[0319] The embodiment of the present application further provides a communication device, which may be a terminal device or a circuit. The communication device may be used to execute the action executed by the first terminal device in the above method embodiment.

[0320] When the communication device is a terminal device, Fig.13 A simplified schematic diagram of the structure of a terminal device is shown. For ease of understanding and illustration, Fig.13 In the example, a mobile phone is used as the terminal device. Fig.13 As shown, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input-output device. The processor is mainly used to process communication protocols and communication data, as well as to control the terminal device, execute software programs, process software program data, etc. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used for conversion between baseband signals and radio frequency signals and processing of radio frequency signals. The antenna is mainly used to send and receive radio frequency signals in the form of electromagnetic waves. Input-output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by users and output data to users. It should be noted that some types of terminal devices may not have input-output devices.

[0321] When data needs to be sent, the processor performs baseband processing on the data to be sent and outputs the baseband signal to the RF circuit. The RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the terminal device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For ease of explanation, Fig.13 Only one memory and processor are shown. In an actual terminal device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium or a storage device. The memory may be set independently of the processor or may be integrated with the processor, and the embodiments of the present application do not limit this.

[0322] In the embodiments of the present application, the antenna and the radio frequency circuit with transceiver functions may be regarded as the transceiver unit of the terminal device (the transceiver unit may be a functional unit that can realize the sending function and the receiving function; or the transceiver unit may also include two functional units, namely, a receiving unit that can realize the receiving function and a sending unit that can realize the sending function), and the processor with processing function may be regarded as the processing unit of the terminal device. Fig.13As shown, the terminal device includes a transceiver unit 1310 and a processing unit 1320. The transceiver unit may also be referred to as a transceiver, a transceiver, a transceiver device, etc. The processing unit may also be referred to as a processor, a processing board, a processing module, a processing device, etc. Optionally, the device used to implement the receiving function in the transceiver unit 1310 may be regarded as a receiving unit, and the device used to implement the sending function in the transceiver unit 1310 may be regarded as a sending unit, that is, the transceiver unit 1310 includes a receiving unit and a sending unit. The transceiver unit may also be sometimes referred to as a transceiver, a transceiver, or a transceiver circuit, etc. The receiving unit may also be sometimes referred to as a receiver, a receiver, or a receiving circuit, etc. The sending unit may also be sometimes referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0323] It should be understood that the transceiver unit 1310 is used to perform sending operations and receiving operations on the terminal device side in the above method embodiment, and the processing unit 1320 is used to perform other operations on the terminal device except the sending and receiving operations in the above method embodiment.

[0324] For example, in one implementation, the processing unit 1320 may be configured to execute Figure 6 In the embodiment shown, all operations except the transceiver operation performed by the first terminal device, such as S61 and S65, and / or other processes for supporting the technology described herein. The transceiver unit 1310 may be used to perform Figure 6 All transceiving operations performed by the first terminal device in the illustrated embodiment, such as S62, S64 and S66, and / or other processes for supporting the technology described herein.

[0325] For example, in one implementation, the processing unit 1320 may be configured to execute Figure 6 In the embodiment shown, all operations except the transceiver operation performed by the third terminal device, such as S63, and / or other processes for supporting the technology described herein. The transceiver unit 1310 may be used to perform Figure 6 All transceiving operations performed by the third terminal device in the illustrated embodiment, such as S62, S64 and S66, and / or other processes for supporting the technology described herein.

[0326] When the communication device is a chip-type device or circuit, the device may include a transceiver unit and a processing unit, wherein the transceiver unit may be an input / output circuit and / or a communication interface; and the processing unit may be an integrated processor or microprocessor or integrated circuit.

[0327] When the communication device in this embodiment is a terminal device, it can refer to Fig.14 As an example, the device can perform similar Fig.11As another example, the device can perform similar Fig.12 The function of the processing module 1210 is Fig.14 In the embodiment, the device includes a processor 1410, a sending data processor 1420, and a receiving data processor 1430. The processing module 1110 in the above embodiment can be Fig.14 The processor 1410 in the embodiment can perform corresponding functions; the transceiver module 1120 in the embodiment can be Fig.14 The sending data processor 1420 and / or the receiving data processor 1430 in the embodiment can perform the corresponding functions. Alternatively, the processing module 1210 in the above embodiment can be Fig.14 The processor 1410 in the embodiment can be used to perform the corresponding functions; the transceiver module 1220 in the embodiment can be used to perform the corresponding functions; Fig.14 The sending data processor 1420 and / or the receiving data processor 1430 in the embodiment of the present invention perform corresponding functions. Fig.14 A channel encoder and a channel decoder are shown in the figure, but it can be understood that these modules do not constitute a restrictive description of this embodiment and are only illustrative.

[0328] Fig.15 Another form of this embodiment is shown. The processing device 1500 includes modules such as a modulation subsystem, a central processing subsystem, and a peripheral subsystem. The communication device in this embodiment can be used as a modulation subsystem therein. Specifically, the modulation subsystem may include a processor 1503 and an interface 1504. Among them, the processor 1503 completes the function of the above-mentioned processing module 1110, and the interface 1504 completes the function of the above-mentioned transceiver module 1120. Alternatively, the processor 1503 completes the function of the above-mentioned processing module 1210, and the interface 1504 completes the function of the above-mentioned transceiver module 1220. As another variation, the modulation subsystem includes a memory 1506, a processor 1503, and a program stored on the memory 1506 and executable on the processor, and the processor 1503 implements the method on the terminal device side in the above-mentioned method embodiment when executing the program. It should be noted that the memory 1506 may be non-volatile or volatile, and its location may be located inside the modulation subsystem or in the processing device 1500, as long as the memory 1506 can be connected to the processor 1503.

[0329] The present application embodiment provides a communication system. The communication system may include the above Figure 6 The first terminal device involved in the embodiment shown in the figure, and the Figure 6 The third terminal device involved in the embodiment shown. The first terminal device is, for example, Fig.11 The first terminal device 1100 in the embodiment. The third terminal device is, for example, Fig.12 The third terminal device 1200 in FIG.

[0330] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a computer, the computer can implement the method provided in the above method embodiment. Figure 6 The process related to the first terminal device in the embodiment shown.

[0331] The embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program. When the computer program is executed by a computer, the computer can implement the method provided in the embodiment of the method. Figure 6 The process related to the third terminal device in the embodiment shown.

[0332] The present application also provides a computer program product, which is used to store a computer program. When the computer program is executed by a computer, the computer can implement the method provided in the above method embodiment. Figure 6 The process related to the first terminal device in the embodiment shown.

[0333] The present application also provides a computer program product, which is used to store a computer program. When the computer program is executed by a computer, the computer can implement the method provided in the above method embodiment. Figure 6 The process related to the third terminal device in the embodiment shown.

[0334] It should be understood that the processor mentioned in the embodiments of the present application may be a CPU, or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0335] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0336] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated in the processor.

[0337] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0338] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0339] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0340] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0341] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0342] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0343] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0344] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned computer-readable storage medium can be any available medium that can be accessed by a computer. By way of example but not limitation, computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), universal serial bus flash disk, mobile hard disk, or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer.

[0345] The above is only a specific implementation of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the embodiments of the present application, which should be included in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be based on the protection scope of the claims.

Claims

1. A communication method, characterized in that: include: Detecting side control information from at least one second terminal device to determine a first time-frequency resource, wherein the at least one second terminal device includes a third terminal device, and the first time-frequency resource includes a time-frequency resource that is not usable for sending data to the third terminal device; Sending first information to the third terminal device, where the first information is used to trigger determining second information; receiving the second information from the third terminal device, where the second information is used to indicate a second time-frequency resource, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the third terminal device; Determine a third time-frequency resource according to the first time-frequency resource and the second time-frequency resource; The first data is sent to the third terminal device through the third time-frequency resource.

2. The method according to claim 1, characterized in that Sending first information to the third terminal device includes: First control information is sent to the third terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

3. The method according to claim 2, characterized in that The first information is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

4. The method according to claim 2, characterized in that: The first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

5. The method according to any one of claims 2 to 4, characterized in that: The first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

6. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: The first information is retransmitted to the third terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

7. The method according to any one of claims 1 to 4, characterized in that: Receiving the second information from the third terminal device includes: Second control information is received from the third terminal device, wherein the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

8. The method according to claim 7, characterized in that The third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

9. The method according to any one of claims 1 to 4 and 8, characterized in that: The first information also includes information for indicating a data packet size of the first data, and the data packet size of the first data is used to determine the second time-frequency resource.

10. The method according to any one of claims 1 to 4 and 8, characterized in that: The third time-frequency resource is the second time-frequency resource, and sending the first data to the third terminal device through the third time-frequency resource includes: The first data is sent to the third terminal device through the second time-frequency resource.

11. The method according to any one of claims 1 to 4 and 8, characterized in that: Detecting side control information from at least one second terminal device to determine a first time-frequency resource also includes: Detecting the side control information from the at least one second terminal device to determine a seventh time-frequency resource, where the seventh time-frequency resource is the earliest time-frequency resource in the time domain among the available time-frequency resources determined according to the detected side control information; Sending first information to the third terminal device includes: The first information is sent to the third terminal device via the seventh time-frequency resource.

12. The method according to any one of claims 1 to 4 and 8, characterized in that: The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or, The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

13. A communication method, characterized in that: include: receiving first information from a first terminal device, wherein the first information is used to trigger determination of second information; detecting side control information from at least one fourth terminal device to determine a second time-frequency resource, the at least one fourth terminal device including the first terminal device, the second time-frequency resource being used to determine a time-frequency resource for the first terminal device to send data; sending the second information to the first terminal device, where the second information is used to indicate the second time-frequency resource; receiving first data from the first terminal device; The step of receiving first data from the first terminal device includes: The first data from the first terminal device is received via a third time-frequency resource, wherein the third time-frequency resource is determined based on the first time-frequency resource and the second time-frequency resource, wherein the first time-frequency resource is determined by the first terminal device detecting side control information from at least one second terminal device, wherein the at least one second terminal device includes a third terminal device, and the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the third terminal device.

14. The method according to claim 13, characterized in that Receiving first information from a first terminal device includes: First control information is received from the first terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

15. The method according to claim 14, characterized in that The first information is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

16. The method according to claim 15, characterized in that The method further comprises: Determining, based on detection of side control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, and determining to send the second information through the fourth time-frequency resource; or, According to the detection of the side control information from the at least one fourth terminal device, it is determined that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority threshold, it is determined to send the second information through the time-frequency resource that is not excluded from use, otherwise, it is determined to send the second information through the fourth time-frequency resource; or, Determining, based on detection of the side control information from the at least one fourth terminal device, that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority of the first data, determining to send the second information through the time-frequency resource that is not excluded from use, otherwise, determining to send the second information through the fourth time-frequency resource; The second data is data to be sent by a fourth terminal device that reserves the fourth time-frequency resource through the fourth time-frequency resource.

17. The method according to claim 14, characterized in that The first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

18. The method according to claim 17, characterized in that The method further comprises: Determine to send the second information through the fifth time-frequency resource.

19. The method according to any one of claims 14 to 18, characterized in that: The first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

20. The method according to any one of claims 14 to 18, characterized in that: The method further comprises: The retransmitted first information from the first terminal device is received in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

21. The method according to any one of claims 13 to 18, characterized in that: Sending the second information to the first terminal device includes: Second control information is sent to the first terminal device, the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

22. The method according to claim 21, characterized in that The third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

23. The method according to any one of claims 13 to 18 and 22, characterized in that: The first information further includes information indicating a data packet size of the first data, and detecting sideline control information from at least one fourth terminal device to determine a second time-frequency resource includes: The second time-frequency resource is determined according to the detection result and the data packet size of the first data.

24. The method according to any one of claims 13 to 18 and 22, characterized in that: The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or, The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

25. A terminal device, characterized in that: include: a processing module, configured to detect side control information from at least one second terminal device to determine a first time-frequency resource, wherein the at least one second terminal device includes a third terminal device, and the first time-frequency resource includes a time-frequency resource that is not usable for sending data to the third terminal device; a transceiver module, configured to send first information to the third terminal device, wherein the first information is used to trigger determination of second information; The transceiver module is further used to receive the second information from the third terminal device, where the second information is used to indicate a second time-frequency resource, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the third terminal device; The processing module is further configured to determine a third time-frequency resource according to the first time-frequency resource and the second time-frequency resource; The transceiver module is further configured to send the first data to the third terminal device via the third time-frequency resource.

26. The terminal device according to claim 25, characterized in that The transceiver module is used to send the first information to the third terminal device in the following manner: First control information is sent to the third terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

27. The terminal device according to claim 26, characterized in that The second SCI is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

28. The terminal device according to claim 26, characterized in that The first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

29. The terminal device according to any one of claims 26 to 28, characterized in that: The first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

30. The terminal device according to any one of claims 26 to 28, characterized in that: The transceiver module is further used to retransmit the first information to the third terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

31. The terminal device according to any one of claims 25 to 28, characterized in that: The transceiver module is configured to receive the second information from the third terminal device in the following manner: Second control information is received from the third terminal device, wherein the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

32. The terminal device according to claim 31, characterized in that The third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

33. The terminal device according to any one of claims 25 to 28 and 32, characterized in that: The first information also includes information for indicating a data packet size of the first data, and the data packet size of the first data is used to determine the second time-frequency resource.

34. The terminal device according to any one of claims 25 to 28 and 32, characterized in that: The third time-frequency resource is the second time-frequency resource, and the transceiver module is used to send the first data to the third terminal device through the third time-frequency resource in the following manner: The first data is sent to the third terminal device through the second time-frequency resource.

35. The terminal device according to any one of claims 25 to 28 and 32, characterized in that: The processing module is used to detect the side control information from at least one second terminal device to determine the first time-frequency resource, and is also used to detect the side control information from the at least one second terminal device to determine the seventh time-frequency resource, wherein the seventh time-frequency resource is the earliest time-frequency resource in the time domain among the available time-frequency resources determined according to the detected side control information; The transceiver module is used to send the first information to the third terminal device in the following manner: sending the first information to the third terminal device through the seventh time-frequency resource.

36. The terminal device according to any one of claims 25 to 28 and 32, characterized in that: The second time-frequency resource includes a time-frequency resource that can be used to send data to the third terminal device; or, The second time-frequency resources include time-frequency resources that are not available for sending data to the third terminal device.

37. A terminal device, characterized in that: include: A transceiver module, configured to receive first information from a first terminal device, wherein the first information is used to trigger determination of second information; a processing module, configured to detect side control information from at least one fourth terminal device to determine a second time-frequency resource, wherein the at least one fourth terminal device includes the first terminal device, and the second time-frequency resource is used to determine a time-frequency resource for sending data to the terminal device; The transceiver module is further used to send the second information to the first terminal device, where the second information is used to indicate the second time-frequency resource; The transceiver module is further used to receive first data from the first terminal device; The transceiver module is used to receive the first data from the first terminal device in the following manner: The first data from the first terminal device is received via a third time-frequency resource, wherein the third time-frequency resource is determined based on the first time-frequency resource and the second time-frequency resource, wherein the first time-frequency resource is determined by the first terminal device detecting side control information from at least one second terminal device, wherein the at least one second terminal device includes the terminal device, and the first time-frequency resource includes a time-frequency resource that cannot be used to send data to the terminal device.

38. The terminal device according to claim 37, characterized in that: The transceiver module is used to receive the first information from the first terminal device in the following manner: First control information is received from the first terminal device, the first control information includes a first SCI and a second SCI, the first SCI is a first-level SCI, the second SCI is a second-level SCI, and the second SCI includes the first information.

39. The terminal device according to claim 38, characterized in that The second SCI is also used to indicate a fourth time-frequency resource, and the fourth time-frequency resource is used to determine the time-frequency resource for sending the second information.

40. The terminal device according to claim 39, characterized in that The processing module is also used for: Determining, based on detection of side control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, and determining to send the second information through the fourth time-frequency resource; or, According to the detection of the side control information from the at least one fourth terminal device, it is determined that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority threshold, it is determined to send the second information through the time-frequency resource that is not excluded from use, otherwise, it is determined to send the second information through the fourth time-frequency resource; or, Determining, based on detection of the side control information from the at least one fourth terminal device, that the fourth time-frequency resource is excluded from use, then, when the priority of the second data is higher than the priority of the first data, determining to send the second information through the time-frequency resource that is not excluded from use, otherwise, determining to send the second information through the fourth time-frequency resource; The second data is data to be sent by a fourth terminal device that reserves the fourth time-frequency resource through the fourth time-frequency resource.

41. The terminal device according to claim 38, characterized in that The first SCI is used to indicate a fifth time-frequency resource, and the fifth time-frequency resource is used to send the second information.

42. The terminal device according to claim 41, characterized in that The processing module is further used to determine whether to send the second information through the fifth time-frequency resource.

43. The terminal device according to any one of claims 38 to 42, characterized in that: The first SCI further includes a first field, and the first field is used to indicate that the second SCI includes the first information.

44. The terminal device according to any one of claims 38 to 42, characterized in that: The transceiver module is further used to receive the first information retransmitted from the first terminal device in a sixth time-frequency resource, and the sixth time-frequency resource is indicated by the first SCI.

45. The terminal device according to any one of claims 37 to 42, characterized in that: The transceiver module is used to send the second information to the first terminal device in the following manner: Second control information is sent to the first terminal device, the second control information includes a third SCI and a fourth SCI, the third SCI is a first-level SCI, the fourth SCI is a second-level SCI, and the fourth SCI includes the second information.

46. ​​The terminal device according to claim 45, characterized in that The third SCI further includes a second field, and the second field is used to indicate that the fourth SCI includes the second information.

47. The terminal device according to any one of claims 37 to 42 and 46, characterized in that: The first information further includes information indicating a data packet size of the first data, and the processing module is configured to detect sideline control information from at least one fourth terminal device in the following manner to determine the second time-frequency resource: The second time-frequency resource is determined according to the detection result and the data packet size of the first data.

48. The terminal device according to any one of claims 37 to 42 and 46, characterized in that: The second time-frequency resource includes a time-frequency resource that can be used to send data to the terminal device; or, The second time-frequency resources include time-frequency resources that are not usable for sending data to the terminal device.

49. A terminal device, characterized in that: The method comprises a processor coupled to at least one memory, wherein the processor is used to read a computer program stored in the at least one memory to execute the method according to any one of claims 1 to 12, or execute the method according to any one of claims 13 to 24.

50. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and when the computer program is run on a computer, the computer executes the method according to any one of claims 1 to 12, or the computer executes the method according to any one of claims 13 to 24.

51. A chip, characterized in that: The method comprises a processor and a communication interface, wherein the processor is used to read instructions to execute the method described in any one of claims 1 to 12, or execute the method described in any one of claims 13 to 24.

52. A communication system, characterized in that: Includes the terminal device as described in any one of claims 25 to 36, and includes the terminal device as described in any one of claims 37 to 48.

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