Transmission method, device and terminal equipment of physical sidelink feedback channel (PSFCH)

Abstract

The application discloses a physical sidelink feedback channel (PSFCH) transmission method, device and terminal equipment, and belongs to the technical field of communication. The PSFCH transmission method comprises the following steps: a first terminal equipment determines or switches a target transmission mode and / or a target channel access mode of a to-be-sent PSFCH according to target information, wherein the target information is used for indicating whether a channel occupancy time (COT) can be shared; and the first terminal equipment sends the to-be-sent PSFCH according to the target transmission mode and / or the target channel access mode.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a method, apparatus and terminal equipment for transmitting a Physical Side Link Feedback Channel (PSFCH). Background Technology

[0002] Shared spectrum, such as unlicensed bands, can supplement licensed bands and help operators expand their services.

[0003] Among them, the side link (also known as the secondary link, side link, or edge link) transmits on unlicensed or shared frequency bands. It needs to meet the detection conditions on the unlicensed or shared frequency bands in order to access the channel and send information.

[0004] In addition, in New Radio (NR) SL, the feedback of Hybrid Automatic Repeat Request (HARQ) for the physical sidelink feedback channel (PSFCH) is supported. After receiving the physical sidelink shared channel (PSSCH) sent by the sending terminal equipment (TX), the receiving terminal equipment (RX UE) needs to send PSFCH feedback to improve the reliability of the system.

[0005] Currently, terminal devices need to use Type 1 listen-before-talk (LBT) for channel access when initiating channel occupancy. However, since Type 1 LBT is a back-off channel sensing mechanism, when the transmission node detects that the channel is busy, it backs off and continues listening until it detects that the channel is empty. Therefore, if the RXUE performs Type 1 LBT before sending each PSFCH, it will reduce the probability of PSFCH transmission, thus leading to a decrease in communication quality between terminal devices. Summary of the Invention

[0006] This application provides a method, apparatus, and terminal device for transmitting a Physical Side Link Feedback Channel (PSFCH), which can solve the problem of low transmission probability of PSFCH in the prior art, resulting in a decrease in communication quality between terminal devices.

[0007] Firstly, a method for transmitting a Physical Side-Link Feedback Channel (PSFCH) is provided, the method comprising:

[0008] The first terminal device determines or switches the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared;

[0009] The first terminal device transmits the PSFCH to be transmitted according to the target transmission method and / or the target channel access method.

[0010] Secondly, a method for transmitting a Physical Side-Link Feedback Channel (PSFCH) is provided, the method comprising:

[0011] The second terminal device sends a shared COT indication information to the first terminal device. The shared COT indication information is used to indicate the transmission method and / or channel access method of the PSFCH at the target COT.

[0012] Thirdly, a transmission apparatus for a Physical Side-Link Feedback Channel (PSFCH) is provided, comprising:

[0013] The determination module is used to determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared;

[0014] The first transmitting module is used to transmit the PSFCH to be transmitted according to the target transmitting method and / or the target channel access method.

[0015] Fourthly, a transmission apparatus for a Physical Sidelink Feedback Channel (PSFCH) is provided, characterized in that it comprises:

[0016] The second sending module is used to send shared COT indication information to the first terminal device. The shared COT indication information is used to indicate the transmission method and / or channel access method of PSFCH at the target COT.

[0017] Fifthly, a terminal device is provided, the terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first or second aspect.

[0018] A sixth aspect provides a transmission system for a Physical Side-Link Feedback Channel (PSFCH), comprising: a first terminal device and a second terminal device, wherein the first terminal device is configured to perform the steps of the transmission method for the PSFCH as described in the first aspect above, and the second terminal device is configured to perform the steps of the transmission method for the PSFCH as described in the second aspect above.

[0019] In a seventh aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0020] Eighthly, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0021] A ninth aspect provides a computer program / program product stored in a storage medium, the computer program / program product being executed by at least one processor to perform the steps of the method as described in the first or second aspect.

[0022] In this embodiment, the first terminal device can determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, and then transmit the PSFCH to be transmitted according to the target transmission mode and / or target channel access mode. The target information indicates whether the Channel Occupancy Time (COT) can be shared. When the target information indicates that COT can be shared, the first terminal device can transmit the PSFCH during shared COT, meaning the target transmission mode and target channel access mode are applicable to transmitting PSFCH during shared COT. When the target information indicates that COT cannot be shared, the first terminal device does not share COT when transmitting the PSFCH, meaning the target transmission mode and target channel access mode are applicable to transmitting PSFCH without sharing COT. Therefore, in this embodiment, the transmission mode and / or target channel access mode of the PSFCH can be determined based on the indication information regarding whether COT can be shared. This provides the possibility of transmitting the PSFCH during shared COT when it is possible, thereby increasing the transmission probability of the PSFCH and improving the communication quality between terminal devices. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a wireless communication system according to an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of uplink transmission, downlink transmission, and sidelink transmission in the embodiments of this application;

[0025] Figure 3 This is a schematic diagram showing that the PSCCH is located within the range of the lowest sub-channel of the PSSCH in an embodiment of this application;

[0026] Figure 4 This is a flowchart of a transmission method for a Physical Side Link Feedback Channel (PSFCH) according to an embodiment of this application;

[0027] Figure 5 This is a flowchart of another transmission method for the Physical Side Link Feedback Channel (PSFCH) in an embodiment of this application;

[0028] Figure 6 This is a structural block diagram of a transmission device for a Physical Side Link Feedback Channel (PSFCH) according to an embodiment of this application;

[0029] Figure 7 This is a structural block diagram of a transmission device for another physical side-link feedback channel (PSFCH) in the embodiments of this application;

[0030] Figure 8 This is a structural block diagram of a communication device according to an embodiment of this application;

[0031] Figure 9 This is a structural block diagram of a terminal device according to an embodiment of this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description; however, these technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0035] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal device 11 and a network-side device 12. The terminal device 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side equipment 12 may include access network equipment or core network equipment. Access network equipment 12 may also be referred to as radio access network equipment, radio access network (RAN), radio access network function, or radio access network unit. Access network equipment 12 may include base stations, WLAN access points, or WiFi nodes, etc. Base stations may be referred to as Node B, evolved Node B (eNB), access point, base transceiver station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B node, home evolved B node, Transmitting Receiving Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only a base station in an NR system is used as an example for description, and the specific type of base station is not limited.

[0036] To facilitate understanding of the transmission method of the Physical Side Link Feedback Channel (PSFCH) in the embodiments of this application, the following related technologies are now introduced:

[0037] I. Access Mechanism for New Radio in Unlicensed Spectrum (NR-U) Channels in Unlicensed Spectrum Bands

[0038] To maintain consistency with NR deployments and maximize NR-based unlicensed access, unlicensed frequency bands can operate in the 5GHz, 37GHz, and 60GHz bands. Since unlicensed frequency bands are shared by multiple technologies (RATs), such as wireless communication technologies (WiFi), radar, and Long Term Evolution-License Assisted Access (LTE-LAA), their use must adhere to certain rules to ensure fair resource allocation for all devices. These rules include Listen Before Talk (LBT) and Maximum Channel Occupancy Time (MCOT). Specifically, when a transmitting node needs to send information, it must first perform an LBT to detect the power of surrounding nodes (Energy Detection, ED). If the detected power is below a threshold, the channel is considered idle, and the transmitting node can transmit. Conversely, if the power is above a threshold, the channel is considered busy, and the transmitting node cannot transmit. Transmitting nodes can be base stations, UEs, WiFi access points (APs), etc.

[0039] Once a transmission node begins transmission, the COT it occupies cannot exceed the MCOT. Furthermore, according to the Occupied Channel Bandwidth (OCB) rules, on unlicensed frequency bands, a transmission node must occupy at least 70% (i.e., 60 GHz) or 80% (i.e., 5 GHz) of the entire frequency band for each transmission.

[0040] In NR-U, the commonly used LBT types can be divided into Type 1, Type 2A, Type 2B, and Type 2C. Type 1 LBT is a back-off channel sensing mechanism. When the transmitting node detects that the channel is busy, it backs off and continues to listen until the channel is empty. Type 2C means that the transmitting node does not perform LBT, i.e., no LBT or immediate transmission. Type 2A and Type 2B LBT are one-shot LBTs, i.e., the node performs an LBT before transmission. If the channel is empty, transmission will proceed; if the channel is busy, transmission will not proceed. The difference between the two is that Type 2A performs LBT within 25µs, which is suitable for shared channel COT, and the gap between two transmissions is greater than or equal to 25µs, while Type 2B performs LBT within 16µs, which is suitable for shared COT, and the gap between two transmissions is equal to 16µs. Furthermore, Type 2 LBT (i.e., Type 2A, Type 2B, and Type 2C mentioned above) is applicable to license assisted access (LAA), enhanced license assisted access (eLAA), or further enhanced license assisted access (FeLAA).

[0041] Additionally, within frequency range 2-2, LBT types include Type 1, Type 2, and Type 3. Type 1 is a backoff-based channel sensing mechanism; Type 2 is a one-shot LBT, meaning a 5µs LBT is performed within an 8µs interval; Type 3 does not perform an LBT.

[0042] II. Regarding the sharing of COT

[0043] When a base station initiates a Channel Access Controller (COT), it can use the resources within the COT for downlink transmission and also share those resources with the UE for uplink transmission. When sharing COT resources with the UE for uplink transmission, the UE can use either Type 2A LBT, Type 2B LBT, or Type 2C LBT.

[0044] When a UE initiates a COT using a Type 1 LBT, it can use the resources within the COT for uplink transmission and also share those resources with the base station for downlink transmission. In the NR-U system, base station sharing of UE-initiated COTs includes two scenarios: one is that the base station shares the scheduled Physical Uplink Shared Channel (PUSCH) COT; the other is that the base station shares the scheduling-free PUSCH COT.

[0045] III. About SL

[0046] SL transmission, which refers to data transmission between UEs directly at the physical layer (e.g., Figure 2 (Side link transmission shown). LTESL is broadcast-based and can be used to support basic safety-related communications in vehicle-to-everything (V2X) networks, but it is not suitable for other more advanced V2X services. In contrast, 5G NR systems support more advanced SL transmission designs, such as unicast, multicast, or groupcast, thus supporting a wider range of service types.

[0047] In R16, NR SL includes the following channels:

[0048] Physical sidelink control channel (PSCCH);

[0049] Physical sidelink shared channel (PSSCH);

[0050] Physical sidelink broadcast channel (PSBCH);

[0051] Physical sidelink feedback channel (PSFCH);

[0052] In this system, PSSCH allocates resources on a sub-channel basis, using a continuous resource allocation method in the frequency domain; the time-domain resources of PSCCH are the number of symbols configured by the higher layers, and the frequency-domain size is a parameter configured by the higher layers. Furthermore, the frequency-domain resources of PSCCH are limited to be less than or equal to the size of one sub-channel, and PSCCH is located within the range of the lowest sub-channel of PSSCH (e.g., ...). Figure 3 (As shown).

[0053] IV. NR SL Resource Allocation Method

[0054] NR V2X defines two resource allocation modes: mode 1, where the base station schedules resources; and mode 2, where the UE decides which resources to use for transmission. In mode 2, resource information may come from base station broadcast messages or pre-configured information. If the UE is operating within the base station's range and has a Radio Resource Control (RRC) connection with the base station, the resource allocation mode can be mode 1 or / or mode 2. If the UE is operating within the base station's range but does not have an RRC connection with the base station, the resource allocation mode can only be mode 2. If the UE is outside the base station's range, the resource allocation mode can only be mode 2, for example, performing V2X transmission based on pre-configured information.

[0055] For mode 2, the specific working method is as follows:

[0056] (1) After resource selection is triggered, the TX UE first determines the resource selection window. The lower boundary of the resource selection window is at time T1 after the resource selection is triggered, and the upper boundary of the resource selection window is at time T2 after the trigger. T2 is the value selected within the packet delay budget (PDB) of the Transport Block (TB) and T2 is not earlier than T1.

[0057] (2) Before selecting a resource, the UE needs to determine the candidate resource set. The reference signal received power (RSRP) measured on the resource in the resource selection window is compared with the corresponding RSRP threshold. If the RSRP is lower than the RSRP threshold, then the resource can be included in the candidate resource set.

[0058] (3) After the resource set is determined, the UE randomly selects transmission resources from the candidate resource set. The UE can also reserve transmission resources for subsequent transmissions during this transmission.

[0059] NR V2X supports a chained resource reservation method, meaning that one sidelink control information (SCI) can reserve the current resource, and up to two additional resources can be reserved. In the next resource selection window, two more resources can be reserved. This means that resources can be continuously reserved dynamically within the resource selection window.

[0060] V. Resource Detection

[0061] In NR-U, "detection" determines whether the detected resource is busy or idle, taking into account channel bandwidth usage and energy detection results. Based on the determination, it decides whether to decrement the counter or send information to the next candidate resource.

[0062] In SL, "detection" determines the resource occupancy or interference status of a resource based on its RSRP (Resource Status Ratio). This then determines whether candidate resources in the resource selection window are likely to be severely affected by interference, thus deciding whether to exclude those resources.

[0063] Both NR-U and SL employ the concept of detection; however, the detection standards differ between the two systems. In the embodiments of this application, the detection performed by LBT as described below refers to NR-U detection and / or SL detection, or other novel detection methods, which are not specifically limited here.

[0064] The transmission method of the Physical Side Link Feedback Channel (PSFCH) provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0065] Firstly, see [the following] Figure 4 The diagram shown is a flowchart of a transmission method for a Physical Sidelink Feedback Channel (PSFCH) provided in an embodiment of this application. The method may include the following steps:

[0066] Step 401: The first terminal device determines or switches the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information.

[0067] The target information indicates whether the Channel Occupancy Time (COT) can be shared. When the target information indicates that the COT can be shared, the first terminal device can transmit the PSFCH while sharing the COT; that is, the aforementioned target transmission method and target channel access method are applicable to transmitting the PSFCH while sharing the COT. When the target information indicates that the COT cannot be shared, the first terminal device will not share the COT when transmitting the PSFCH; that is, the aforementioned target transmission method and target channel access method are applicable to transmitting the PSFCH without sharing the COT.

[0068] Therefore, in the embodiments of this application, the transmission method of PSFCH and / or the target channel access method can be determined based on the indication information (i.e., target information) of whether COT can be shared. Thus, when COT can be shared, PSFCH can be transmitted within the shared COT, thereby increasing the transmission probability of PSFCH and improving the communication quality between terminal devices.

[0069] Optionally, the shared Channel Occupancy Time (COT) can be a COT initiated by the base station, or a COT initiated by the second terminal device, or a COT initiated by a terminal device other than the second terminal device, wherein the second terminal device is a terminal device that receives the PSFCH sent by the first terminal device.

[0070] Therefore, it can be seen that the COT initiated by the base station can be shared with the first terminal device to send PSFCH; the COT initiated by the second terminal device can also be shared with the first terminal device to send PSFCH; and the COT initiated by other terminal devices besides the second terminal device can also be shared with the first terminal device to send PSFCH.

[0071] Furthermore, it should be noted that in the embodiments of this application, the target transmission method and the target channel access method correspond. For example, when the target transmission method is shared COT to transmit PSFCH, the target channel access method is Type 2 LBT (e.g., Type 2A LBT, Type 2B LBT, or Type 2C LBT); when the target transmission method is not shared COT to transmit PSFCH, the target channel access method is Type 1 LBT. Therefore, after the first terminal device determines the target transmission method, it can obtain the corresponding target channel access method; similarly, after the first terminal device determines the target channel access method, it can obtain the corresponding target transmission method.

[0072] In the embodiments of this application, when COT can be shared, PSFCH can be sent by sharing COT, thereby enabling the use of Type 2 LBT. Since Type 2 LBT has a shorter transmission time, using Type 2 LBT to access the PSFCH channel and sharing COT to send PSFCH can increase the probability of LBT success, enable rapid feedback, and reduce detection overhead, thereby increasing the transmission probability of PSFCH and improving the communication quality between terminal devices.

[0073] Step 402: The first terminal device sends the PSFCH to be sent according to the target transmission method and / or the target channel access method.

[0074] In this embodiment, after receiving a PSSCH from another terminal device, the first terminal device needs to send a PSFCH feedback. Therefore, one PSSCH corresponds to one PSFCH. Here, the other terminal devices refer to terminal devices other than the first terminal device.

[0075] The PSFCH to be sent may include the PSFCH corresponding to the PSSCH in the current COT, or the PSFCH corresponding to the previous PSSCH. The PSFCH to be sent may also include one or more PSFCH corresponding to PSSCH.

[0076] Additionally, the preceding PSSCH refers to the PSSCH prior to the current COT. Optionally, the preceding PSSCH includes one of the following:

[0077] PSSCH within a predetermined first time range;

[0078] PSSCH within the first Q COT range;

[0079] The PSSCH corresponding to the PSFCH that was not sent within the first Q COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent;

[0080] Where Q is an integer greater than or equal to 1.

[0081] Optionally, the one or more PSSCHs include at least one of the following:

[0082] PSSCH within a predetermined second time range;

[0083] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0084] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0085] It should be noted that the PSFCHs that were not successfully sent include PSFCHs that could not be sent due to capacity limitations and PSFCHs that failed to be sent.

[0086] Furthermore, the values ​​of the aforementioned first and second time ranges can be determined by at least one of the following:

[0087] Agreement stipulations, network-side device configuration, network-side device pre-configuration, network-side device instructions, terminal device configuration, terminal device pre-configuration, and terminal device instructions.

[0088] As can be seen from steps 401 to 402 above, in this embodiment of the application, the first terminal device can determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted according to the target information, and then transmit the PSFCH to be transmitted according to the target transmission mode and / or target channel access mode. The target information is used to indicate whether the Channel Occupancy Time (COT) can be shared. Therefore, in this embodiment of the application, the transmission mode and / or target channel access mode of the PSFCH can be determined based on the indication information of whether COT can be shared. This provides the possibility of sharing COT when COT can be shared, thereby increasing the transmission probability of the PSFCH and thus improving the communication quality between terminal devices.

[0089] Optionally, the target information includes at least one of the following:

[0090] First item: First information, which includes information transmitted during the channel occupancy time (COT);

[0091] The second item: Shared COT indication information, wherein the shared COT indication information is used to indicate the transmission mode and / or channel access mode of PSFCH in the target COT, wherein the target COT includes at least one of the current COT, reserved COT, COT occupied by reserved side link resources, and COT occupied by indicated side link resources;

[0092] The third item: the duration of the target COT;

[0093] Fourth item: The remaining duration of the target COT;

[0094] Fifth item: The transmission type of the PSSCH corresponding to the PSFCH to be sent;

[0095] The sixth item: the second information of the terminal device initiating COT detected by the first terminal device, the second information including at least one of source identification information, target identification information and member identification information of the terminal device initiating COT in its group;

[0096] Item 7: The priority at which the target COT is allowed to be shared;

[0097] Item 8: Idle Channel Assessment (CCA) results or LBT listening results;

[0098] Item 9: The first correspondence between different hybrid automatic repeat request (HARQ) processes;

[0099] Item 10: A predetermined sequence.

[0100] That is, the first terminal device can determine whether it can share COT by using at least one of the above items 1 to 10, i.e., determine whether it can share COT to send PSFCH.

[0101] In the first item above, the information transmitted during the Channel Occupancy Time (COT) may include one of the following: the PSSCH corresponding to the first PSFCH, broadcast information, and multicast information. The first PSFCH is at least one of the PSFCHs to be transmitted.

[0102] In the third item above, "indicated sidelink resources" can be sidelink resources indicated by the base station or by other terminal devices (i.e., other terminal devices besides the first terminal device).

[0103] In the fifth item above, "transmission type" can be one of the following: NACK only, ACK, or NACK.

[0104] For item six above, the group can be a multicast group.

[0105] Specifically, item 7 above may include at least one of the following: the priority of current COT allowed sharing, the priority of reserved COT allowed sharing, the priority of COT allowed sharing occupied by reserved side link resources, and the priority of COT allowed sharing occupied by indicated side link resources.

[0106] For item 8 above, the CCA result or LBT result is used to indicate whether LBT was successful.

[0107] For the tenth item above, the predetermined sequence can be, for example, a preamble, or a sequence other than a preamble.

[0108] Optionally, the first information may be sent by the base station to the first terminal device, or by the third terminal device to the first terminal device.

[0109] Optionally, when the first information is sent from the third terminal device to the first terminal device, the first information is carried on the physical side link control channel PSCCH or PSSCH.

[0110] When the first information is sent from the base station to the first terminal device, the first information is carried on the physical downlink control channel (PDCCH) or the physical downlink shared channel (PDSCH).

[0111] Therefore, the aforementioned first information can be transmitted from the third terminal device to the first terminal device on the PSCCH or PSSCH, or it can be transmitted from the base station to the first terminal device on the PDCCH or PDSCH.

[0112] Optionally, when the third terminal device is a terminal device that sends the PSSCH corresponding to the first PSFCH, the first information includes the PSSCH corresponding to the first PSFCH, wherein the first PSFCH is one of the PSFCHs to be sent;

[0113] or,

[0114] When the third terminal device is a terminal device that sends broadcast information, the first information includes the broadcast information sent by the third terminal device;

[0115] or,

[0116] When the third terminal device is a terminal device that sends multicast information, the first information includes the multicast information sent by the third terminal device, and the members of the group corresponding to the multicast information include the first terminal device.

[0117] or,

[0118] When the first information is sent by the base station to one or more fourth terminal devices, the first information is used to indicate that the COT initiated by the base station can be shared with the one or more fourth terminal devices, wherein the one or more fourth terminal devices include the first terminal device.

[0119] That is, when the first information is sent from a third terminal device to a first terminal device, the first information may include at least one of the following: PSSCH corresponding to the first PSFCH, broadcast information, and multicast information. When the first information is sent from a base station to one or more fourth terminal devices (including the first terminal device), the first information may indicate that a COT initiated by the base station can be shared with one or more fourth terminal devices (including the first terminal device). Here, the COT initiated by the base station may include the COT occupied by the base station sending the first information, or other COTs initiated by the base station other than the COT occupied by the first information. That is, the COT indicated by the first information includes the COT occupied by the first information, or other COTs initiated by the base station other than the COT occupied by the first information.

[0120] In the embodiments of this application, the target transmission method and the target channel access method can be described as follows, depending on the different contents included in the first information:

[0121] Scenario 1: When the first information includes the PSSCH corresponding to the first PSFCH, the target transmission method is: to transmit the PSFCH to be transmitted within the first COT, and the target channel access method is the second type Type2LBT channel access method, wherein the first COT includes the COT where the PSSCH corresponding to the first PSFCH is located.

[0122] In this case, the aforementioned first COT is shared.

[0123] For example, if the first terminal device needs to send 3 PSFCHs, when the first terminal device detects the COT of the PSSCH corresponding to one of the PSFCHs, it can share this COT to send these 3 PSFCHs, and the channel access mode of the PSFCH is Type2LBT (e.g., Type 2A, Type 2B, or Type 2C LBT).

[0124] Scenario 2: When the first information includes the broadcast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the broadcast information is located, and the target channel access method is the Type 2 LBT channel access method, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH.

[0125] In this case, the COT where the aforementioned broadcast information is located is shared.

[0126] That is, if the first terminal device detects a broadcast message, the first terminal device can share the COT of this broadcast message and send one or more PSFCHs corresponding to PSSCHs, and the channel access mode of the PSFCH to be sent here is Type2LBT.

[0127] In this application embodiment, the Type2 LBT may include Type2A LBT, Type2B LBT, or Type2CLBT.

[0128] Scenario 3: When the first information includes the multicast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the multicast information is located, and the target channel access method is the Type 2 LBT channel access method, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH.

[0129] In this case, the COT containing the aforementioned multicast information is shared.

[0130] If the first terminal device detects a multicast message and the members of the packet corresponding to the multicast message include the first terminal device, then the first terminal device can share the COT of this multicast message and send one or more PSFCHs corresponding to PSSCHs. The channel access mode of the PSFCH to be sent here is Type 2 LBT (e.g., Type 2A, Type 2B, or Type 2C LBT).

[0131] Case 4: When the first information is sent by the base station to the one or more fourth terminal devices, the target transmission method is: to send the PSFCH to be sent within the COT indicated by the first information, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be sent includes PSFCHs corresponding to one or more PSSCHs.

[0132] The first information may indicate that the COT initiated by the base station can be shared with one or more fourth terminal devices (including the first terminal device). Here, the COT initiated by the base station may include the COT occupied by the base station sending the first information, or other COTs initiated by the base station other than the COT occupied by the first information. That is, the COT indicated by the first information includes the COT occupied by the first information, or other COTs initiated by the base station other than the COT occupied by the first information.

[0133] In this case, the COT indicated by the first information mentioned above is shared.

[0134] The base station can send first information to one or more fourth terminal devices (including the first terminal device) to share the COT with these terminal devices. Some terminal devices can send SL data within the shared COT, while others can send PSFCH within the shared COT. When the first terminal device detects the base station's first information, it can share the base station's COT and send one or more PSFCHs corresponding to PSSCHs within the shared COT. In other words, the COT shared by the base station can be used to send PSFCHs, to send PUCCHs to provide feedback on the terminal devices' reception of information sent by the base station, and to report SL feedback information (i.e., SL transmission status between terminal devices) to the base station.

[0135] Optionally, the shared COT indication information includes at least one of the following:

[0136] Option A: First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0137] Item B: Second indication information, which is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared in the current COT;

[0138] Item C: Third indication information, which is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT;

[0139] Item D: Fourth indication information, which is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0140] Item E: Fifth instruction information, which is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0141] Item F: Candidate resource location information for PSFCH, which includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing;

[0142] Item G: HARQ process identification information;

[0143] H item: The priority at which the target COT is allowed to be shared;

[0144] Item 1: Sharing COT member information;

[0145] Item J: Sixth indication information, which is used to indicate whether or not to transmit PSFCH within the current COT;

[0146] K item: Seventh indication information, which is used to indicate whether to transmit PSFCH within COT or not to transmit PSFCH within COT;

[0147] Item L: Eighth indication information, which is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0148] M item: Index of the COT used to send PSFCH;

[0149] Nth item: Ninth indication information, which is used to indicate at least one of the following: transmission resource size, time domain resource location, and frequency domain resource location of the terminal device initiating COT;

[0150] Item O: Cyclic Prefix Extension CPE Indication Information, which is used to indicate whether the terminal device sharing the COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing the COT to send PSFCH;

[0151] Item P: Tenth Instruction Information, which is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0152] Among them, the aforementioned shared COT indication information can be sent from the second terminal device to the first terminal device. That is, the second terminal device can explicitly indicate the PSFCH transmission method (i.e., the aforementioned target transmission method) to the first terminal device through the aforementioned items A to E, and items J, K, and L; or it can implicitly indicate the PSFCH transmission method (i.e., the aforementioned target transmission method) to the first terminal device through the aforementioned items F, G, H, I, M, N, O, and P.

[0153] Additionally, regarding item F above: PSFCH candidate resource location information, which is used to indicate the resource location for sending PSFCH, the PSFCH candidate resource location information can be, for example, the gap between PSFCH and its associated PSSCH. That is, based on this gap, the next resource location for sending PSFCH can be determined. For example, if PSFCH within the current COT cannot be sent within the current COT, then the candidate resource location of the PSFCH within the current COT in the reserved COT can be indicated.

[0154] In addition, when a COT is relatively long, it may cover multiple PSFCH opportunities. For example, if COT = 12 slots and PSFCH has a period of 4 slots, then there are three PSFCH opportunities within a COT. In this case, the candidate resource location information of PSFCH can be used to determine in which PSFCH opportunity to send PSFCH.

[0155] It should be noted that when the shared COT indication information includes PSFCH candidate resource location information, the first terminal device can send PSFCH based on the location indicated by the PSFCH candidate resource location information and / or the candidate resource location of PSFCH determined according to the mapping rules between PSSCH and PSFCH; when the shared COT indication information does not include PSFCH candidate resource location information, the first terminal device determines the candidate resource location of PSFCH according to the mapping rules between PSSCH and PSFCH, and then sends PSFCH based on that location.

[0156] Regarding the Nth item above, since the ninth indication information is used to indicate at least one of the transmission resource size, time domain resource location, and frequency domain resource location of the terminal device initiating COT, the first terminal device can, according to the ninth indication information, try to make the interval between the transmission resources of the terminal device initiating COT as small as possible when sending PSFCH.

[0157] Regarding item O above, the first terminal device can send the CPE of PSFCH according to the CPE indication information.

[0158] For item P above, the first terminal device can determine the transmission start position or symbol for sending PSFCH based on the tenth instruction information.

[0159] In the embodiments of this application, under different contents included in the shared COT indication information, the target transmission method and the target channel access method can be described as follows:

[0160] Scenario 1: When the shared COT indication information includes the first indication information, the target transmission method is to transmit the PSFCH corresponding to the PSSCH in the current COT within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0161] In this case, the PSFCH corresponding to the PSSCH in the current COT is the aforementioned PSFCH to be sent; the current COT is shared.

[0162] The first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT. Therefore, when the sharing COT indication information includes the first indication information, the first terminal device accesses the PSFCH in the Type 2 LBT manner and sends the PSFCH corresponding to the PSSCH in the current COT in the current COT (that is, the first terminal device performs Type 2 LBT and, if the listening is successful, sends the PSFCH corresponding to the PSSCH in the current COT in the current COT).

[0163] Scenario 2: When the shared COT indication information includes the second indication information, the target transmission method is: in the current COT, the PSFCH corresponding to the previous PSSCH is transmitted, and the target channel access method is the Type 2 LBT channel access method.

[0164] In this case, the PSFCH corresponding to the previous PSSCH is the aforementioned PSFCH to be sent; the current COT is shared.

[0165] The second indication information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared in the current COT. Therefore, when the sharing COT indication information includes the second indication information, the first terminal device accesses the PSFCH in the manner of Type 2 LBT and sends the PSFCH corresponding to the previous PSSCH in the current COT (that is, the first terminal device performs Type 2 LBT and, if the listening is successful, sends the PSFCH corresponding to the previous PSSCH in the current COT).

[0166] Scenario 3:

[0167] When the shared COT indication information includes the third indication information, the target channel transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the Type 2LBT channel access method.

[0168] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the current COT is shared.

[0169] The third indication information is used to instruct one or more PSSCH corresponding PSFCHs to be sent or shared within the current COT. Therefore, when the shared COT indication information includes the third indication information, the first terminal device accesses the PSFCH in the manner of Type 2 LBT and sends one or more PSSCH corresponding PSFCHs within the current COT (that is, the first terminal device performs Type 2 LBT and, if the listening is successful, sends one or more PSSCH corresponding PSFCHs within the current COT).

[0170] Scenario 4:

[0171] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is as follows: within the reserved COT, the PSFCH corresponding to the PSSCH in the current COT is transmitted, the target channel access method is the channel access method of Type 2 LBT, and the second terminal device is the terminal device that transmits the shared COT indication information.

[0172] In this case, the PSFCH corresponding to the PSSCH in the current COT is the aforementioned PSFCH to be sent; shared reserved COT.

[0173] The fourth indication information is used to indicate whether the PSFCH corresponding to the PSSCH in the current COT is sent or shared in the reserved COT. Therefore, when the shared COT indication information includes the fourth indication information, the first terminal device accesses the PSFCH in the Type 2 LBT mode, and when the LBT in the reserved COT is successful, it sends the PSFCH corresponding to the PSSCH in the current COT in the reserved COT.

[0174] Scenario 5:

[0175] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the second COT, the target transmission method is: within the second COT or the reserved COT, transmit the PSFCH corresponding to the PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the second COT covers the reserved COT.

[0176] In this case, the PSFCH corresponding to the PSSCH in the current COT is the aforementioned PSFCH to be sent; shared reserved COT or second COT.

[0177] It should be noted here that the second COT is the COT in which the first terminal device successfully completes LBT and its duration covers the reserved COT. Therefore, since the duration of the second COT covers the reserved COT, when the second terminal device successfully completes LBT in the second COT, the first terminal device can send PSFCH within either the reserved COT or the second COT.

[0178] The fourth indication information is used to indicate that the PSFCH corresponding to the PSSCH in the current COT is sent in the reserved COT or shared in the reserved COT. Therefore, when the shared COT indication information includes the fourth indication information, the first terminal device accesses the PSFCH in the Type 2 LBT manner, and when the LBT in the second COT is successful, it sends the PSFCH corresponding to the PSSCH in the current COT in the reserved COT or the second COT.

[0179] Situation 6:

[0180] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the reserved COT, and the target channel access method is the channel access method of Type 2 LBT.

[0181] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; shared reserved COT.

[0182] The fifth indication information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT. Therefore, when the shared COT indication information includes the fifth indication information, the first terminal device accesses the PSFCH in the manner of Type 2 LBT, and when the LBT is successful within the reserved COT, it sends one or more PSSCHs corresponding to PSFCHs within the reserved COT.

[0183] Scenario 7:

[0184] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the third COT, the target transmission method is as follows: within the third COT or the reserved COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the third COT covers the reserved COT.

[0185] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; shared reserved COT or third COT.

[0186] It should be noted here that the third COT refers to the COT in which the second terminal device successfully completes LBT and its duration covers the reserved COT. Therefore, since the duration of the third COT covers the reserved COT, when the second terminal device successfully completes LBT in the third COT, the first terminal device can send PSFCH within either the reserved COT or the third COT.

[0187] The fifth indication information is used to instruct one or more PSSCHs corresponding to PSFCHs to be sent or shared within the reserved COT. Therefore, when the shared COT indication information includes the fifth indication information, the first terminal device accesses the PSFCH in the manner of Type 2 LBT, and when the LBT is successful within the aforementioned third COT, it sends one or more PSSCHs corresponding to PSFCHs within the reserved COT or the third COT.

[0188] Situation 8:

[0189] When the shared COT indication information includes the HARQ process identification information, the target transmission method is as follows: within the target COT, the PSFCH corresponding to the HARQ process represented by the HARQ process identification information included in the shared COT indication information is transmitted, and the target channel access method is the Type 2 LBT channel access method.

[0190] In this case, the PSFCH corresponding to the HARQ process represented by the HARQ process identifier information included in the shared COT indication information is the aforementioned PSFCH to be sent; shared target COT.

[0191] Here, the target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources.

[0192] Therefore, the PSFCH to be sent by the first terminal device can be determined based on the HARQ process identification information (HARQ Process ID). For example, if the first terminal device receives a shared COT indication message from the second terminal device containing a HARQ Process ID of 1, then the first terminal device can send back the PSFCH corresponding to the PSSCH with HARQ Process ID 1 within the current COT. Furthermore, the PSFCH corresponding to the PSSCH with HARQ Process ID 1 uses Type 2 LBT as its channel access method within the current COT.

[0193] Additionally, it should be noted that when the shared COT indication information includes HARQ process identification information and other reference information (i.e., one or more of the aforementioned first indication information, second indication information, third indication information, fourth indication information, fifth indication information, priority of the target COT that is allowed to be shared, sharing member information, sixth indication information, seventh indication information, eighth indication information, and index of the COT used to send PSFCH), the HARQ process identification information indicates which PSFCH among the PSFCHs indicated in the other reference information needs to be sent by the first terminal device.

[0194] For example, when the shared COT indication information includes HARQ process identification information and the aforementioned first indication information, the first terminal device accesses the PSFCH in the Type 2 LBT manner, and within the current COT, sends the PSFCH corresponding to the PSSCH in the current COT whose HARQ process identification information is the same as the HARQ process identification information included in the shared COT indication information.

[0195] Situation 9:

[0196] When the shared COT indication information includes the priority that the target COT is allowed to share, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT is allowed to share is transmitted, and the target channel access method is a Type 2 LBT channel access method.

[0197] In this case, the PSFCH whose priority meets the priority allowed to be shared by the target COT is the aforementioned PSFCH to be sent; the target COT is shared.

[0198] Here, the target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources.

[0199] In addition, when the aforementioned shared COT indication information is sent from the second terminal device to the first terminal device, the second terminal device indicates to the first terminal device at least one of the current COT, reserved COT, COT occupied by reserved side link resources, and COT occupied by the indicated side link resources, and the priority of allowed sharing, so that the first terminal device sends a PSFCH that satisfies the priority of allowed sharing in the corresponding COT.

[0200] For example, if the shared COT indication information includes the priority that the current COT allows to share, then the first terminal device accesses the PSFCH in the form of Type 2 LBT and sends a PSFCH that meets the priority that the current COT allows to share within the current COT (that is, the first terminal device performs Type 2 LBT and, if the listening is successful, sends a PSFCH that meets the priority that the current COT allows to share within the current COT).

[0201] Situation 10:

[0202] When the shared COT indication information includes the shared member information and the shared member information includes the first terminal device, the target transmission method is: within the target COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method.

[0203] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the target COT is the shared COT.

[0204] Here, the target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources.

[0205] In addition, if the shared COT indication information is sent from the second terminal device to the first terminal device, the second terminal device will indicate to the first terminal device the members that can share the COT. In this way, after the first terminal device obtains the shared COT members, it can access the PSFCH in the Type 2 LBT manner if it determines that it belongs to one of the shared COT members, and send one or more PSFCHs corresponding to the PSSCH within the target COT.

[0206] For example, if UE1 initiates a COT, UE3 is the receiving end corresponding to UE1, and UE2 is not the receiving end corresponding to UE1, then the sharing members can include UE2 and UE3. Alternatively, at least one member in the group to which UE1 is located can share the COT initiated by UE1.

[0207] Situation 11:

[0208] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that when PSFCH is transmitted within the current COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0209] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the current COT is shared.

[0210] The aforementioned sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT. Therefore, when the shared COT indication information includes the aforementioned sixth indication information, the first terminal device can send or not send the PSFCH within the current COT according to the indication of the sixth indication information. When the sixth indication information indicates that the PSFCH should be transmitted within the current COT, the first terminal device accesses the PSFCH in the Type 2 LBT manner and sends one or more PSFCHs corresponding to PSSCHs within the current COT.

[0211] Situation 12:

[0212] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that PSFCH is not transmitted within the current COT, the target transmission method is: PSFCH is not transmitted within the current COT.

[0213] The sixth indication information mentioned above is used to indicate whether or not to transmit the PSFCH within the current COT. Therefore, when the shared COT indication information includes the sixth indication information, the first terminal device can send or not send the PSFCH within the current COT according to the indication of the sixth indication information. When the sixth indication information indicates that the PSFCH should not be transmitted within the current COT, the first terminal device will not send the PSFCH within the current COT.

[0214] Situation 13:

[0215] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate the transmission of PSFCH within the COT, the target transmission method is to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0216] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the current COT is shared.

[0217] The seventh instruction mentioned above indicates whether or not to transmit the PSFCH within a COT. Here, "within COT" in "transmit PSFCH within COT" and "do not transmit PSFCH within COT" refers to the current COT. That is, if the seventh instruction indicates whether or not to transmit the PSFCH within a COT, then that COT is assumed to be the current COT.

[0218] Therefore, when the shared COT indication information includes the aforementioned seventh indication information, the first terminal device can send or not send PSFCH within the current COT according to the indication of the seventh indication information. When the seventh indication information indicates that PSFCH should be transmitted within the COT, the first terminal device accesses the PSFCH in the form of Type 2 LBT and sends one or more PSFCHs corresponding to PSSCHs within the current COT.

[0219] Situation Fourteen:

[0220] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate that PSFCH is not transmitted within the COT, the target transmission method is: not transmitting PSFCH within the current COT.

[0221] In other words, when the shared COT indication information includes the aforementioned seventh indication information, the first terminal device may send or not send PSFCH within the current COT according to the indication of the seventh indication information. When the seventh indication information indicates that PSFCH should not be transmitted within the COT, the first terminal device will not send PSFCH within the current COT.

[0222] Situation 15:

[0223] When the shared COT indication information includes the eighth indication information, the target transmission method is: in the current COT or the next N COT, transmit one or more PSFCHs corresponding to PSSCHs, and the target channel access method is the Type 2 LBT channel access method.

[0224] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; sharing the current COT or the next N COTs.

[0225] The eighth indication information is used to indicate that PSFCH is transmitted within the current COT or within the next N COTs. The first terminal device accesses the PSFCH in the form of Type 2 LBT and sends one or more PSFCHs corresponding to PSSCHs within the current COT or within the next N COTs.

[0226] Situation 16:

[0227] When the shared COT indication information includes an index of the COT used for sending PSFCH, the target transmission method is: within the COT represented by the index included in the shared COT indication information, send one or more PSFCHs corresponding to PSSCHs, and the target channel access method is a Type 2 LBT channel access method.

[0228] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent.

[0229] That is, when the shared COT indication information includes an index of the COT used to send PSFCH, the first terminal device accesses the PSFCH in the form of Type 2 LBT, and sends one or more PSFCHs corresponding to PSSCHs within the COT indicated by the index included in the shared COT indication information; and shares the COT represented by the index included in the shared COT indication information.

[0230] Furthermore, the target transmission method and target channel access method determined by the first terminal device based on items three through eleven of the aforementioned target information can be as described in cases one through nine below:

[0231] Scenario 1:

[0232] When the target time is greater than or equal to a first preset threshold, the target transmission method is: within the current COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0233] or,

[0234] If the target time is less than the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0235] Wherein, if the target time is greater than or equal to the first preset threshold, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; and the target COT is shared.

[0236] Therefore, in the embodiments of this application, the first terminal device can determine the transmission method and / or channel access method of PSFCH based on the duration of the target COT or the remaining duration of the target COT, as described below:

[0237] If the duration of the target COT or the duration of the remaining target COT is greater than or equal to the first preset threshold, the first terminal device sends one or more PSFCHs corresponding to PSSCHs within the current COT, and the channel access mode of the PSFCH is Type2 LBT; if the duration of the target COT or the duration of the remaining target COT is less than the first preset threshold, the channel access mode of the PSFCH is Type1 LBT.

[0238] Scenario 2:

[0239] If the target time is greater than a first preset threshold, the target transmission method is: within the current COT, transmit one or more PSFCHs corresponding to PSSCHs, and the target channel access method is a Type 2 LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0240] or,

[0241] When the target time is less than or equal to the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0242] Wherein, if the target time is greater than or equal to a first preset threshold, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the target COT is shared by the COT.

[0243] Therefore, in the embodiments of this application, the first terminal device can determine the transmission method and / or channel access method of PSFCH based on the duration of the target COT or the remaining duration of the target COT, as described below:

[0244] If the duration of the target COT or the duration of the remaining target COT is greater than the first preset threshold, the first terminal device sends one or more PSFCHs corresponding to PSSCHs within the current COT, and the channel access mode of the PSFCH is Type2LBT; if the duration of the target COT or the duration of the remaining target COT is less than or equal to the first preset threshold, the channel access mode of the PSFCH is Type1LBT.

[0245] The first preset threshold can be the (minimum) gap between PSFCH and its associated PSSCH, or the minimum processing time of PSFCH.

[0246] Scenario 3:

[0247] When the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is negative acknowledgment only, the target transmission method is: the PSFCH to be transmitted can only be transmitted within the target COT in negative acknowledgment only mode, wherein the target channel access mode is the Type 2 LBT channel access mode.

[0248] In this case, the target COT is shared.

[0249] Scenario 4:

[0250] When the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is negative acknowledgment only, and the PSFCH is outside the target COT or not within the range of the target COT, the target transmission method is: outside the target COT, the PSFCH to be transmitted is transmitted in a positive acknowledgment or negative acknowledgment manner, wherein the target channel access method is the channel access method of the first type Type 1 LBT.

[0251] As can be seen from cases three and four, if the transmission type of the PSSCH corresponding to the PSFCH to be sent is negative acknowledgment only, then the first terminal device can only send the PSFCH in the shared COT. Here, the shared current COT or the reserved COT, or the COT occupied by the reserved SL resources, or the COT occupied by the indicated SL resources, and the channel access mode is Type 2.

[0252] Alternatively, if the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is NACK only, and the candidate resource location of the PSFCH to be transmitted, determined according to the mapping rule between PSSCH and PSFCH, is outside or not within the range of the aforementioned target COT, then the PSFCH to be transmitted switches to feedback based on positive acknowledgment (ACK) or negative acknowledgment (NACK). That is, the first terminal device transmits the PSFCH at the candidate resource location of the PSFCH to be transmitted determined according to the aforementioned mapping rule. Here, the channel access mode is Type 1.

[0253] Scenario 5:

[0254] If at least one of the information included in the second information is a predetermined first identification information, the target transmission method is: within the COT initiated by the terminal device that initiated the COT corresponding to the second information, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT.

[0255] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent; the COT initiated by the terminal device to which the second information belongs.

[0256] For example, if UE2, UE3, and UE4 each initiate a COT, then if UE1 detects that at least one of the source ID, destination ID, or member ID of any of the UEs that initiated the COT has a specific value, then UE1 will send a PSFCH within that COT. Here, the PSFCH to be sent includes PSFCHs corresponding to one or more PSSCHs, and the channel access mode is Type 2.

[0257] That is, within a COT initiated by one or more specific UEs, it is possible to switch to Type 2. Any UE that wants to send PSFCH can share the COT and send PSFCH. Then, a certain UE can send PSFCH in the shared COT based on the source ID, destination ID or member ID of the UE that initiated the COT, and the PSFCH channel access mode is Type 2 LBT.

[0258] Situation 6:

[0259] In the case where there exists a PSFCH with a priority that satisfies the priority that the target COT allows to share, the target transmission method is as follows: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT allows to share is transmitted, and the target channel access method is a Type 2 LBT channel access method.

[0260] In this case, the PSFCH whose priority satisfies the priority allowed to be shared by the target COT is the aforementioned PSFCH to be sent; the target COT is shared.

[0261] Here, the target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources.

[0262] In addition, the priority of sharing allowed by the target COT can be predetermined, that is, the priority of sharing allowed by at least one of the current COT, reserved COT, COT occupied by reserved side link resources, and COT occupied by indicated side link resources can be predetermined, so that the first terminal device sends a PSFCH that satisfies the priority of sharing allowed by the corresponding COT within the corresponding COT.

[0263] For example, if the priority of sharing allowed by the current COT is predetermined as described above, the first terminal device accesses the PSFCH in the form of Type 2 LBT and sends a PSFCH that meets the priority of sharing allowed by the current COT within the current COT (that is, the first terminal device performs Type 2 LBT and, if the listening is successful, sends a PSFCH that meets the priority of sharing allowed by the current COT within the current COT).

[0264] Scenario 7:

[0265] If the CCA result or the LBT listening result indicates that the first terminal device has failed to perform Type 2 LBT listening, the target channel access method is the Type 1 LBT channel access method.

[0266] When the CCA or LBT result indicates that Type 2 LBT has failed, the system switches to Type 1 LBT. For example, if the first terminal device finds that CCA has failed (i.e., shared COT has failed) when performing Type 2 LBT, it switches back to Type 1 LBT.

[0267] Situation 8:

[0268] When the first terminal device detects the transmission of the first HARQ process, the target transmission method is as follows: within the COT where the transmission of the first HARQ process is located, the PSFCH corresponding to the transmission of the HARQ process corresponding to the first HARQ in the first correspondence is sent, and the target channel access method is the channel access method of Type 2 LBT, wherein the first HARQ is one of the HARQs in the first correspondence.

[0269] In this case, the PSFCH corresponding to the transmission of the HARQ process corresponding to the first HARQ in the first correspondence is the aforementioned PSFCH to be sent, sharing the COT where the transmission of the first HARQ process is located.

[0270] For example, if there is a correspondence between HARQ process A and HARQ process B, then if UE1 initiates a COT and sends a transmission of HARQ process A within that COT, then UE2 can share this COT to send the corresponding PSFCH of the transmission of HARQ process B.

[0271] Situation 9:

[0272] If the first terminal device detects one of the predetermined sequences, the target transmission method is: within the COT corresponding to the detected predetermined sequence, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the Type 2 LBT channel access method.

[0273] In this case, the PSFCH corresponding to the one or more PSSCHs is the aforementioned PSFCH to be sent, sharing the COT corresponding to the predetermined sequence detected above.

[0274] For example, a UE initiates a COT and sends a predetermined sequence within the COT. If other UEs detect this sequence, they can share the COT to send PSFCH.

[0275] Secondly, see Figure 5The diagram shown is a flowchart of a transmission method for a Physical Sidelink Feedback Channel (PSFCH) provided in an embodiment of this application. The method may include the following steps:

[0276] Step 501: The second terminal device sends a shared COT instruction to the first terminal device.

[0277] The shared COT indication information is used to indicate the transmission method and / or channel access method of PSFCH at the target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources; the indicated SL resources can be SL resources indicated by the base station or by other terminal devices (i.e., terminal devices other than the first terminal device).

[0278] That is, the second terminal device can indicate to the first terminal device the transmission method and / or channel access method of PSFCH at the target COT by sharing COT indication information.

[0279] Therefore, in this embodiment of the application, the second terminal device can send shared COT indication information to the first terminal device, so that the first terminal device can share the COT indication information, determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted, and then transmit the PSFCH to be transmitted in accordance with the target transmission mode and / or target channel access mode.

[0280] Specifically, when COT can be shared, the first terminal device can send PSFCH within the shared COT; that is, the aforementioned target transmission method and target channel access method are applicable to sending PSFCH within the shared COT. Conversely, when the target information indicates that COT cannot be shared, the first terminal device will not send PSFCH within the shared COT; that is, the aforementioned target transmission method and target channel access method are applicable to sending PSFCH without sharing COT. Therefore, the target transmission method and target channel access method are related to whether COT can be shared, and the aforementioned shared COT indication information can also be used to indicate whether COT can be shared.

[0281] Therefore, the embodiments of this application provide the possibility of sending PSFCH within a shared COT when a shared COT is possible, thereby increasing the transmission probability of PSFCH and thus improving the communication quality between terminal devices.

[0282] Optionally, the shared COT indication information includes at least one of the following:

[0283] Option A: First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0284] Item B: Second indication information, which is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared in the current COT;

[0285] Item C: Third indication information, which is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT;

[0286] Item D: Fourth indication information, which is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0287] Item E: Fifth instruction information, which is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0288] Item F: Candidate resource location information for PSFCH, which includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing;

[0289] Item G: HARQ process identification information;

[0290] H item: The priority at which the target COT is allowed to be shared;

[0291] Item 1: Sharing COT member information;

[0292] Item J: Sixth indication information, which is used to indicate whether or not to transmit PSFCH within the current COT;

[0293] K item: Seventh indication information, which is used to indicate whether to transmit PSFCH within COT or not to transmit PSFCH within COT;

[0294] Item L: Eighth indication information, which is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0295] M item: Index of the COT used to send PSFCH;

[0296] Nth item: Ninth indication information, which is used to indicate at least one of the following: transmission resource size, time domain resource location, and frequency domain resource location of the terminal device initiating COT;

[0297] Item O: Cyclic Prefix Extension CPE Indication Information, which is used to indicate whether the terminal device sharing the COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing the COT to send PSFCH;

[0298] Item P: Tenth Instruction Information, which is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0299] The second terminal device can explicitly indicate the PSFCH transmission method (i.e., the target transmission method) to the first terminal device through items A to E and items J, K, and L; or it can implicitly indicate the PSFCH transmission method (i.e., the target transmission method) to the first terminal device through items F, G, H, I, M, N, O, and P.

[0300] Additionally, regarding item F above: PSFCH candidate resource location information, which is used to indicate the resource location for sending PSFCH, the PSFCH candidate resource location information can be, for example, the gap between PSFCH and its associated PSSCH. That is, based on this gap, the next resource location for sending PSFCH can be determined. For example, if PSFCH within the current COT cannot be sent within the current COT, then the candidate resource location of the PSFCH within the current COT in the reserved COT can be indicated.

[0301] In addition, when a COT is relatively long, it may cover multiple PSFCH opportunities. For example, if COT = 12 slots and PSFCH has a period of 4 slots, then there are three PSFCH opportunities within a COT. In this case, the candidate resource location information of PSFCH can be used to determine in which PSFCH opportunity to send PSFCH.

[0302] It should be noted that when the shared COT indication information includes PSFCH candidate resource location information, the first terminal device can send PSFCH based on the location indicated by the PSFCH candidate resource location information and / or the candidate resource location of PSFCH determined according to the mapping rules between PSSCH and PSFCH; when the shared COT indication information does not include PSFCH candidate resource location information, the first terminal device determines the candidate resource location of PSFCH according to the mapping rules between PSSCH and PSFCH, and then sends PSFCH based on that location.

[0303] Regarding the Nth item above, since the ninth indication information is used to indicate at least one of the transmission resource size, time domain resource location, and frequency domain resource location of the terminal device initiating COT, the first terminal device can, according to the ninth indication information, try to make the interval between the transmission resources of the terminal device initiating COT as small as possible when sending PSFCH.

[0304] Regarding item O above, the first terminal device can send the CPE of PSFCH according to the CPE indication information.

[0305] For item P above, the first terminal device can determine the transmission start position or symbol for sending PSFCH based on the tenth instruction information.

[0306] Optionally, if the first preset condition is met, the second terminal device generates the first indication information, and / or the second terminal device indicates the candidate resource location of the PSFCH corresponding to the PSSCH in the current COT in the current COT.

[0307] The first preset condition includes at least one of the following:

[0308] W-1 item: The target time is greater than the second preset threshold. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0309] W-2: At least one of the source identification information, target identification information, and member identification information of the second terminal device in its group is a predetermined second identification information;

[0310] W-3: The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the current COT;

[0311] Item W-4: The identification information of the HARQ process transmitted within the current COT is the pre-determined second HARQ process identification information.

[0312] The second preset threshold can be the (minimum) gap between PSFCH and its associated PSSCH, or the minimum processing time of PSFCH.

[0313] Therefore, when at least one of the conditions shown in items W-1 to W-4 above is met, the second terminal device instructs the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT, and / or instructs the PSFCH corresponding to the PSSCH in the current COT to be a candidate resource in the current COT.

[0314] Optionally, if the second preset condition is met, the second terminal device generates the second indication information, and / or the second terminal device indicates the candidate resource location of the PSFCH corresponding to the previous PSSCH in the current COT;

[0315] The second preset condition includes at least one of the following:

[0316] E-1: The second terminal device did not receive the PSFCH corresponding to the previous PSSCH;

[0317] Item E-2: At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined third identifier information;

[0318] E-3: The priority of the PSFCH corresponding to the previous PSSCH meets the priority allowed for sharing by the current COT;

[0319] Item E-4: The identification information of the HARQ process transmitted in the previous PSSCH is the pre-determined third HARQ process identification information;

[0320] E-5: The second terminal device instructed the PSFCH corresponding to the previous PSSCH to be sent or shared in the reserved COT within the previous COT.

[0321] Therefore, when at least one of the conditions shown in items E-1 to E-5 above is met, the second terminal device instructs the PSFCH corresponding to the previous PSSCH to be sent or shared in the current COT, and / or instructs the candidate resource location of the PSFCH corresponding to the previous PSSCH in the current COT.

[0322] Optionally, if the third preset condition is met, the second terminal device generates the third indication information, and / or the second terminal device indicates the candidate resource location within the current COT for one or more PSSCHs corresponding to PSFCHs.

[0323] The third preset condition includes at least one of the following:

[0324] R-1: The target time is greater than the second preset threshold, and the second terminal device has not received the PSFCH corresponding to the previous PSSCH. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0325] R-2: At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fourth identifier information;

[0326] R-3: The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority allowed to be shared by the current COT;

[0327] R-4: The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the predetermined fourth HARQ process identification information.

[0328] Therefore, when at least one of the conditions shown in items R-1 to R-4 above is met, the second terminal device instructs one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT, and / or instructs one or more PSSCHs corresponding to PSFCHs to be candidate resource locations within the current COT.

[0329] Optionally, if the fourth preset condition is met, the second terminal device generates the fourth indication information, and / or the second terminal device indicates the candidate resource position of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT;

[0330] The fourth preset condition includes at least one of the following:

[0331] T-1 item: The target time is less than the second preset threshold. The target time is the duration of the target COT or the remaining duration of the target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0332] Item T-2: At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fifth identifier information;

[0333] Item T-3: The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the reserved COT;

[0334] Item T-4: The identification information of the HARQ process transmitted within the current COT is the pre-determined identification information of the fifth HARQ process.

[0335] Therefore, when at least one of the conditions shown in items T-1 to T-4 above is met, the second terminal device instructs the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT, and / or instructs the candidate resource position of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT.

[0336] Optionally, if the fifth preset condition is met, the second terminal device generates the fifth indication information, and / or the second terminal device indicates the PSFCH corresponding to one or more PSSCHs at the candidate resource location within the reserved COT;

[0337] The fifth preset condition includes at least one of the following:

[0338] Y-1: The target time is less than the second preset threshold, and the second terminal device has not received the PSFCH corresponding to the previous PSSCH. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0339] Y-2: At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined sixth identifier information;

[0340] Y-3: The priority of the PSFCH corresponding to the one or more PSSCHs meets the priority of the reserved COT that allows sharing;

[0341] Y-4: The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the pre-determined sixth HARQ process identification information.

[0342] Therefore, when at least one of the conditions shown in Y-1 to Y-4 above is met, the second terminal device sends or shares the reserved COT with one or more PSSCHs corresponding to the reserved COT, and / or indicates the candidate resource position of one or more PSSCHs corresponding to the reserved COT.

[0343] Additionally, the preceding PSSCH refers to the PSSCH prior to the current COT. Optionally, the preceding PSSCH includes one of the following:

[0344] PSSCH within a predetermined first time range;

[0345] PSSCH within the first Q COT range;

[0346] The PSSCH corresponding to the PSFCH that was not sent within the first Q COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent;

[0347] Where Q is an integer greater than or equal to 1.

[0348] Optionally, the one or more PSSCHs include at least one of the following:

[0349] PSSCH within a predetermined second time range;

[0350] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0351] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0352] It should be noted that the PSFCHs that were not successfully sent include PSFCHs that could not be sent due to capacity limitations and PSFCHs that failed to be sent.

[0353] Furthermore, the values ​​of the first and second time ranges mentioned above can be determined by at least one of the following:

[0354] Agreement stipulations, network-side device configuration, network-side device pre-configuration, network-side device instructions, terminal device configuration, terminal device pre-configuration, and terminal device instructions.

[0355] In summary, the specific implementation methods of the Physical Side Link Feedback Channel (PSFCH) transmission method in this application can be described in the following embodiments one to three.

[0356] Implementation Method 1

[0357] The TX UE initiates a COT (Common Occurrence of the ...

[0358] Specifically, the TX UE compares the remaining COT duration with the minimum PSFCH processing time. If the remaining COT duration is greater than the minimum PSFCH processing time, the TX UE indicates in the shared COT indication information that the PSFCH corresponding to the PSSCH in the current COT will be sent / shared in the current COT.

[0359] If the remaining COT duration is less than the minimum processing time of PSFCH, the TX UE indicates in the shared COT indication information that: the PSFCH corresponding to the PSSCH in the current COT is sent / shared in the reserved COT, and the candidate resource position (which can be called the first resource position) of the PSFCH associated with the PSSCH in the current COT in the reserved COT.

[0360] The RX UE receives the PSSCH and determines the location of the candidate PSFCH (which can be called the second resource location) according to the mapping rules between the PSSCH and PSFCH.

[0361] The RX UE determines the PSFCH transmission method and channel access type based on the received shared COT indication information, as follows:

[0362] If the shared COT indication information indicates that the PSFCH corresponding to the PSSCH in the current COT is sent / shared in the current COT, then the RX UE performs Type 2 LBT before the second resource location, and when the listening is successful, sends the PSFCH corresponding to the PSSCH in the current COT at the second resource location in the current COT.

[0363] If the shared COT indication information indicates that the PSFCH corresponding to the PSSCH in the current COT is sent / shared in the reserved COT, and the aforementioned first resource location, and if the TX UE performs LBT in the reserved COT, or if the COT2 LBT is successful and the duration of COT2 covers the reserved COT, then the RX UE performs Type2 LBT before the first resource location, and when the LBT is successful, it sends the PSFCH corresponding to the PSSCH in the current COT at the first resource location in the reserved COT.

[0364] As can be seen from the above, in addition to determining the location of the candidate PSFCH according to the mapping rules (i.e., the second resource location mentioned above), a new indicator for the location of the candidate PSFCH within the reserved COT (i.e., the first resource location mentioned above) has been added, which can increase the probability of successful PSFCH access.

[0365] Implementation Method 2

[0366] The TX UE initiates a COT (Common Optical Time), within which it sends a PSCCH or PSSCH to the RX UE. The SCI (Shared COT Indication Information) transmitted in the PSCCH carries this information.

[0367] Specifically, the TX UE compares the remaining COT duration with the minimum PSFCH processing time. If the remaining COT duration is greater than the minimum PSFCH processing time, the TX UE indicates in the shared COT indication information that the PSFCH corresponding to the PSSCH in the current COT will be sent / shared in the current COT.

[0368] If the remaining COT duration is less than the minimum processing time of PSFCH, the TX UE indicates in the sharing indication information that the PSFCH corresponding to the PSSCH in the current COT will be sent / shared in the reserved COT.

[0369] If the TX UE has not received the PSFCH corresponding to the previous PSSCH, the TX UE can also indicate in the shared COT indication information that: the PSFCH corresponding to the previous PSSCH is sent / shared in the current COT, and the candidate resource position (which can be called the third resource position) of the PSFCH associated with the previous PSSCH in the current COT. The current COT here is the reserved COT of the previous indication.

[0370] The RX UE receives the PSSCH and determines the position of the candidate PSFCH according to the mapping rule between PSSCH and PSFCH. The RX UE needs to send the PSFCH corresponding to the PSSCH in the current COT and the PSFCH corresponding to the previous PSSCH. Therefore, the position of the candidate PSFCH determined according to the mapping rule here includes: the candidate resource position of the PSFCH corresponding to the PSSCH in the current COT (which can be called the fourth resource position) and the candidate resource position of the PSFCH corresponding to the previous PSSCH (which can be called the fifth resource position).

[0371] The RX UE determines the PSFCH transmission method and channel access type based on the shared COT indication information, as follows:

[0372] If the shared COT indication information indicates that the PSFCH corresponding to the PSSCH in the current COT is sent / shared in the current COT, then the RX UE performs Type 2 LBT before the fourth resource location, and when the listening is successful, sends the PSFCH corresponding to the PSSCH in the current COT at the fourth resource location in the current COT.

[0373] If the shared COT indication information indicates that the PSFCH corresponding to the PSSCH in the current COT is sent / shared in the reserved COT, and if the TX UE successfully performs LBT in the reserved COT, or successfully performs LBT in COT3 and the duration of COT3 covers the reserved COT, and the TX UE indicates the above-mentioned third resource location in the shared COT indication information in the reserved COT or COT3, then the RX UE performs Type 2 LBT before the third resource location and sends the PSFCH corresponding to the PSSCH in the previous COT.

[0374] Furthermore, it should be noted that as the timeline changes, "current" will become "previous," and "reserved" will become "current." Specifically, both Implementation Method 1 and Implementation Method 2 above involve the TX UE instructing the feedback of PSFCH within the current COT or reserved COT; the difference lies in:

[0375] Implementation method 1: Indicates the candidate resource position (i.e. the first resource position mentioned above) of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT;

[0376] Implementation method 2: Indicates the candidate resource position within the current COT, wherein the candidate resource position within the current COT can be used to send the PSFCH corresponding to the PSSCH of the previous COT, that is, the current COT is the next reserved COT of the previous COT.

[0377] Implementation Method 3

[0378] The TX UE initiates a COT (Common Optical Time), within which it sends a PSCCH or PSSCH to the RX UE. The SCI (Shared COT Indication Information) transmitted in the PSCCH carries this information.

[0379] If the TX UE has not received the PSFCH corresponding to the previous PSSCH, the TX UE can indicate in the shared COT indication information that: the PSFCH corresponding to the previous PSSCH is sent / shared in the current COT, and the candidate resource position (which can be called the sixth resource position) of the PSFCH associated with the previous PSSCH in the current COT.

[0380] The RX UE receives the PSSCH and, according to the mapping rules between the PSSCH and PSFCH, finds the candidate resource position (which can be called the seventh resource position) of the PSFCH corresponding to the previous PSSCH within the current COT.

[0381] The RX UE determines the PSFCH transmission method and channel access type based on the shared COT indication information, as follows:

[0382] If the shared COT indication information indicates that the PSFCH corresponding to the previous PSSCH is sent / shared within the current COT, and the aforementioned sixth resource location, then the RX UE can perform a Type 2 LBT before the sixth resource location, and upon successful listening, send the PSFCH corresponding to the previous PSSCH at the sixth resource location within the current COT. If the aforementioned seventh resource location is within the current COT, the RX UE can also perform a Type 2 LBT before the seventh resource location, and upon successful listening, send the PSFCH corresponding to the previous PSSCH at the seventh resource location within the current COT.

[0383] In summary, in the embodiments of this application, the PSFCH of the SL UE can access the shared channel in the unlicensed frequency band, thereby improving access efficiency and system reliability.

[0384] The Physical Side Link Feedback Channel (PSFCH) transmission method provided in this application embodiment can be executed by a PSFCH transmission device. This application embodiment uses a PSFCH transmission device as an example to illustrate the PSFCH transmission device provided in this application embodiment.

[0385] Thirdly, embodiments of this application provide a transmission apparatus for a Physical Side-Link Feedback Channel (PSFCH), applied to a first terminal device, such as... Figure 6 As shown, the transmission device 600 of the Physical Side Link Feedback Channel (PSFCH) includes:

[0386] The determining module 601 is used to determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared;

[0387] The first transmitting module 602 is used to transmit the PSFCH to be transmitted according to the target transmitting method and / or the target channel access method.

[0388] Therefore, the physical sidelink feedback channel (PSFCH) transmission device of this application embodiment can determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted according to the target information, and then transmit the PSFCH to be transmitted according to the target transmission mode and / or target channel access mode. The target information is used to indicate whether channel occupancy time (COT) can be shared. Thus, the physical sidelink feedback channel (PSFCH) transmission device of this application embodiment can determine the PSFCH transmission mode and / or target channel access mode based on the indication information of whether COT can be shared. This provides the possibility of transmitting PSFCH when COT can be shared, thereby increasing the transmission probability of PSFCH and improving the communication quality between terminal devices.

[0389] Optionally, the target information includes at least one of the following:

[0390] The first information includes information transmitted during the channel occupancy time (COT).

[0391] Shared COT indication information, which is used to indicate the transmission mode and / or channel access mode of PSFCH in the target COT, wherein the target COT includes at least one of the current COT, reserved COT, COT occupied by reserved side link resources, and COT occupied by indicated side link resources;

[0392] The duration of the target COT;

[0393] The remaining duration of the target COT;

[0394] The transmission type of the PSSCH corresponding to the PSFCH to be sent;

[0395] The second information of the terminal device initiating COT detected by the first terminal device includes at least one of source identification information, target identification information, and member identification information of the terminal device initiating COT within its group.

[0396] The target COT is allowed to share priority;

[0397] Idle channel assessment (CCA) results or listen-before-speak (LBT) results;

[0398] The first correspondence between different hybrid automatic repeat request (HARQ) processes;

[0399] A predetermined sequence.

[0400] Optionally, the first information may be sent by the base station to the first terminal device, or by the third terminal device to the first terminal device.

[0401] Optionally, when the third terminal device is a terminal device that sends a PSSCH corresponding to the first PSFCH, the first information includes a PSSCH corresponding to the first PSFCH, wherein the first PSFCH is at least one of the PSFCHs to be sent.

[0402] or,

[0403] When the third terminal device is a terminal device that sends broadcast information, the first information includes the broadcast information sent by the third terminal device;

[0404] or,

[0405] When the third terminal device is a terminal device that sends multicast information, the first information includes the multicast information sent by the third terminal device, and the members of the group corresponding to the multicast information include the first terminal device.

[0406] or,

[0407] When the first information is sent by the base station to one or more fourth terminal devices, the first information is used to indicate that the COT initiated by the base station can be shared with the one or more fourth terminal devices, wherein the one or more fourth terminal devices include the first terminal device.

[0408] Optionally, if the first information includes the PSSCH corresponding to the first PSFCH, the target transmission method is: to transmit the PSFCH to be transmitted within the first COT, and the target channel access method is the channel access method of the second type Type2LBT, wherein the first COT includes the COT where the PSSCH corresponding to the first PSFCH is located;

[0409] or,

[0410] When the first information includes the broadcast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the broadcast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH;

[0411] or,

[0412] When the first information includes the multicast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the multicast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH;

[0413] or,

[0414] When the first information is sent by the base station to the one or more fourth terminal devices, the target transmission method is: to send the PSFCH to be sent within the COT indicated by the first information, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be sent includes PSFCHs corresponding to one or more PSSCHs.

[0415] Optionally, the shared COT indication information includes at least one of the following:

[0416] First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0417] The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT;

[0418] The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT.

[0419] The fourth indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0420] The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0421] The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing.

[0422] HARQ process identification information;

[0423] The target COT is allowed to share priority;

[0424] Share COT member information;

[0425] The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT.

[0426] The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT.

[0427] The eighth indication information is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0428] The index of the COT used to send the PSFCH;

[0429] The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT;

[0430] Cyclic prefix extension CPE indication information, the CPE indication information is used to indicate whether the terminal device sharing COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing COT to send PSFCH;

[0431] The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0432] Optionally, when the shared COT indication information includes the first indication information, the target transmission method is to transmit the PSFCH corresponding to the PSSCH in the current COT within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0433] or,

[0434] When the shared COT indication information includes the second indication information, the target transmission method is: in the current COT, the PSFCH corresponding to the previous PSSCH is transmitted, and the target channel access method is the channel access method of Type 2 LBT;

[0435] or,

[0436] When the shared COT indication information includes the third indication information, the target channel transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the Type 2LBT channel access method;

[0437] or,

[0438] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is as follows: within the reserved COT, the PSFCH corresponding to the PSSCH in the current COT is transmitted, the target channel access method is the channel access method of Type 2 LBT, and the second terminal device is the terminal device that transmits the shared COT indication information;

[0439] or,

[0440] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the second COT, the target transmission method is: within the second COT or the reserved COT, transmit the PSFCH corresponding to the PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the second COT covers the reserved COT;

[0441] or,

[0442] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the reserved COT, and the target channel access method is the channel access method of Type 2 LBT;

[0443] or,

[0444] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the third COT, the target transmission method is: within the third COT or the reserved COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the third COT covers the reserved COT;

[0445] or,

[0446] When the shared COT indication information includes the HARQ process identification information, the target transmission method is as follows: within the target COT, the PSFCH corresponding to the HARQ process represented by the HARQ process identification information included in the shared COT indication information is transmitted, and the target channel access method is the Type 2 LBT channel access method;

[0447] or,

[0448] When the shared COT indication information includes the priority that the target COT is allowed to share, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT is allowed to share is transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0449] or,

[0450] When the shared COT indication information includes the shared member information and the shared member information includes the first terminal device, the target transmission method is: within the target COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0451] or,

[0452] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that when PSFCH is transmitted within the current COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0453] or,

[0454] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that PSFCH is not transmitted within the current COT, the target transmission method is: PSFCH is not transmitted within the current COT;

[0455] or,

[0456] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate the transmission of PSFCH within the COT, the target transmission method is to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0457] or,

[0458] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate that PSFCH is not transmitted within the COT, the target transmission method is: not transmitting PSFCH within the current COT;

[0459] or,

[0460] When the shared COT indication information includes the eighth indication information, the target transmission method is: in the current COT or the next N COT, transmit one or more PSFCHs corresponding to PSSCH, and the target channel access method is the channel access method of Type 2 LBT;

[0461] or,

[0462] When the shared COT indication information includes an index of the COT used for sending PSFCH, the target transmission method is: within the COT represented by the index included in the shared COT indication information, send one or more PSFCHs corresponding to PSSCHs, and the target channel access method is a Type 2 LBT channel access method.

[0463] Optionally, if the target time is greater than or equal to a first preset threshold, the target transmission method is: within the current COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0464] or,

[0465] If the target time is less than the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0466] Optionally, if the target time is greater than a first preset threshold, the target transmission method is: within the current COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0467] or,

[0468] When the target time is less than or equal to the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0469] Optionally, if the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is negative acknowledgment only, the target transmission method is: the PSFCH to be transmitted can only be transmitted within the target COT in negative acknowledgment only mode, wherein the target channel access mode is the channel access mode of Type 2 LBT.

[0470] or,

[0471] When the transmission type of the PSSCH corresponding to the PSFCH to be sent is negative acknowledgment only, and the PSFCH is outside the target COT or not within the range of the target COT, the target transmission method is: outside the target COT, the PSFCH to be sent is transmitted in a positive acknowledgment or negative acknowledgment manner, wherein the target channel access method is the channel access method of the first type Type 1 LBT;

[0472] or,

[0473] If at least one of the information included in the second information is a predetermined first identification information, the target transmission method is: within the COT initiated by the terminal device that initiated the COT corresponding to the second information, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT.

[0474] or,

[0475] If a PSFCH with a priority that satisfies the priority that the target COT allows to share exists, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT allows to share is transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0476] or,

[0477] If the CCA result or the LBT listening result indicates that the first terminal device has failed to perform Type 2 LBT listening, the target channel access method is the Type 1 LBT channel access method.

[0478] or,

[0479] When the first terminal device detects the transmission of the first HARQ process, the target transmission method is as follows: within the COT where the transmission of the first HARQ process is located, the PSFCH corresponding to the transmission of the HARQ process corresponding to the first HARQ in the first correspondence is sent, and the target channel access method is the channel access method of Type 2 LBT, wherein the first HARQ is one of the HARQs in the first correspondence.

[0480] or,

[0481] If the first terminal device detects one of the predetermined sequences, the target transmission method is: within the COT corresponding to the detected predetermined sequence, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the Type 2 LBT channel access method.

[0482] Optionally, the preceding PSSCH includes at least one of the following:

[0483] PSSCH within a predetermined first time range;

[0484] PSSCH within the first Q COT range;

[0485] The PSSCH corresponding to the PSFCH that was not sent within the first Q COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent;

[0486] Where Q is an integer greater than or equal to 1.

[0487] Optionally, the one or more PSSCHs include at least one of the following:

[0488] PSSCH within a predetermined second time range;

[0489] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0490] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0491] Optionally, when the first information is sent from the third terminal device to the first terminal device, the first information is carried on the physical side link control channel PSCCH or PSSCH.

[0492] When the first information is sent from the base station to the first terminal device, the first information is carried on the physical downlink control channel (PDCCH) or the physical downlink shared channel (PDSCH).

[0493] The transmission device for the Physical Sidelink Feedback Channel (PSFCH) in this embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. This electronic device can be a terminal device; for example, the terminal device can include, but is not limited to, the types of terminal devices 11 listed above. This embodiment does not specifically limit the specific terminal device types.

[0494] The transmission apparatus for the Physical Sidelink Feedback Channel (PSFCH) provided in this application embodiment can achieve... Figure 4 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0495] Fourthly, embodiments of this application also provide a transmission apparatus for a Physical Sidelink Feedback Channel (PSFCH), applied to a second terminal device, such as... Figure 7 As shown, the transmission device 700 of the Physical Side Link Feedback Channel (PSFCH) includes:

[0496] The second sending module 701 is used to send shared COT indication information to the first terminal device. The shared COT indication information is used to indicate the transmission mode and / or channel access mode of PSFCH at the target COT.

[0497] The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0498] Therefore, the transmission device of the Physical Sidelink Feedback Channel (PSFCH) in this embodiment of the application can send shared COT indication information to the first terminal device, so that the first terminal device can share the COT indication information, determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted, and then transmit the PSFCH to be transmitted according to the target transmission mode and / or target channel access mode.

[0499] Specifically, when COT can be shared, the first terminal device can send PSFCH within the shared COT; that is, the aforementioned target transmission method and target channel access method are applicable to sending PSFCH within the shared COT. Conversely, when the target information indicates that COT cannot be shared, the first terminal device will not send PSFCH within the shared COT; that is, the aforementioned target transmission method and target channel access method are applicable to sending PSFCH without sharing COT. Therefore, the target transmission method and target channel access method are related to whether COT can be shared, and the aforementioned shared COT indication information can also be used to indicate whether COT can be shared.

[0500] Therefore, the embodiments of this application provide the possibility of sending PSFCH within a shared COT when a shared COT is possible, thereby increasing the transmission probability of PSFCH and thus improving the communication quality between terminal devices.

[0501] Optionally, the shared COT indication information includes at least one of the following:

[0502] First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0503] The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT;

[0504] The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT.

[0505] The fourth instruction information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0506] The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0507] The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing.

[0508] HARQ process identification information;

[0509] The target COT is allowed to share priority;

[0510] Share COT member information;

[0511] The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT.

[0512] The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT.

[0513] The eighth indication information is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0514] The index of the COT used to send the PSFCH;

[0515] The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT;

[0516] Cyclic prefix extension CPE indication information, the CPE indication information is used to indicate whether the terminal device sharing COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing COT to send PSFCH;

[0517] The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0518] Optionally, if the first preset condition is met, the second sending module generates the first indication information, and / or the second sending module indicates the candidate resource location of the PSFCH corresponding to the PSSCH in the current COT in the current COT.

[0519] The first preset condition includes at least one of the following:

[0520] The target time is greater than the second preset threshold. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0521] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined second identifier information;

[0522] The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the current COT;

[0523] The identification information of the HARQ process transmitted within the current COT is the pre-determined second HARQ process identification information.

[0524] Optionally, if the second preset condition is met, the second sending module generates the second indication information, and / or the second sending module indicates the candidate resource position of the PSFCH corresponding to the previous PSSCH in the current COT;

[0525] The second preset condition includes at least one of the following:

[0526] The second terminal device did not receive the PSFCH corresponding to the previous PSSCH;

[0527] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined third identifier information;

[0528] The priority of the PSFCH corresponding to the previous PSSCH meets the priority that the current COT allows to be shared;

[0529] The identification information of the HARQ process transmitted in the previous PSSCH is the pre-determined third HARQ process identification information;

[0530] The second terminal device instructed the PSFCH corresponding to the previous PSSCH in the previous COT to send or share the reserved COT in the reserved COT.

[0531] Optionally, if the third preset condition is met, the second sending module generates the third indication information, and / or the second sending module indicates the candidate resource location within the current COT for one or more PSSCHs corresponding to PSFCHs.

[0532] The third preset condition includes at least one of the following:

[0533] If the target time is greater than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0534] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fourth identifier information;

[0535] The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority allowed to be shared by the current COT;

[0536] The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the predetermined fourth HARQ process identification information.

[0537] Optionally, if the fourth preset condition is met, the second sending module generates the fourth indication information, and / or the second sending module indicates the position of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT as a candidate resource.

[0538] The fourth preset condition includes at least one of the following:

[0539] If the target time is less than the second preset threshold, the target time is the duration of the target COT or the remaining duration of the target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0540] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fifth identifier information;

[0541] The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the reserved COT;

[0542] The identification information of the HARQ process transmitted within the current COT is the pre-determined identification information of the fifth HARQ process.

[0543] Optionally, if the fifth preset condition is met, the second sending module generates the fifth indication information, and / or the second sending module indicates the PSFCH corresponding to one or more PSSCHs at the candidate resource location within the reserved COT;

[0544] The fifth preset condition includes at least one of the following:

[0545] If the target time is less than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the remaining duration of the target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0546] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined sixth identifier information;

[0547] The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority of the reserved COT that allows sharing;

[0548] The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the pre-determined sixth HARQ process identification information.

[0549] Optionally, the preceding PSSCH includes one of the following:

[0550] PSSCH within a predetermined first time range;

[0551] PSSCH within the first Q COT range;

[0552] The PSSCH corresponding to any PSFCH that was not sent or was not successfully sent within the first Q COT range;

[0553] Where Q is an integer greater than or equal to 1.

[0554] Optionally, the one or more PSSCHs include at least one of the following:

[0555] PSSCH within a predetermined second time range;

[0556] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0557] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0558] The transmission device for the Physical Sidelink Feedback Channel (PSFCH) in this embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. This electronic device can be a terminal device; for example, the terminal device can include, but is not limited to, the types of terminal devices 11 listed above. This embodiment does not specifically limit the type of terminal device.

[0559] The transmission apparatus for the Physical Sidelink Feedback Channel (PSFCH) provided in this application embodiment can achieve... Figure 5 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0560] Optional, such as Figure 8 As shown, this application embodiment also provides a communication device 800, including a processor 801 and a memory 802. The memory 802 stores a program or instructions that can run on the processor 801. For example, when the communication device 800 is a first terminal device, when the program or instructions are executed by the processor 801, they implement the various steps of the physical side-link feedback channel (PSFCH) transmission method embodiment described in the first aspect above, and achieve the same technical effect. When the communication device 800 is a second terminal device, when the program or instructions are executed by the processor 801, they implement the various steps of the physical side-link feedback channel (PSFCH) transmission method embodiment described in the second aspect above, and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0561] like Figure 9The diagram shown is a hardware structure schematic of a terminal device that implements an embodiment of this application.

[0562] The terminal device 900 includes, but is not limited to, at least some of the following components: radio frequency unit 901, network module 902, audio output unit 903, input unit 904, sensor 905, display unit 906, user input unit 907, interface unit 908, memory 909, and processor 910.

[0563] Those skilled in the art will understand that the terminal device 900 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 910 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 9 The structure of the terminal device shown in the figure does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0564] It should be understood that, in this embodiment, the input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042. The GPU 9041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 906 may include a display panel 9061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 may include two parts: a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0565] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 901 can transmit it to the processor 910 for processing; in addition, the radio frequency unit 901 can send uplink data to the network-side device. Typically, the radio frequency unit 901 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0566] The memory 909 can be used to store software programs or instructions, as well as various data. The memory 909 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 909 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 909 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0567] Processor 910 may include one or more processing units; optionally, processor 910 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 910.

[0568] When the terminal device 900 is the first terminal device, the processor 910 is used to: determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted according to the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared;

[0569] The radio frequency unit 901 is used to transmit the PSFCH to be transmitted in accordance with the target transmission method and / or the target channel access method.

[0570] Optionally, the target information includes at least one of the following:

[0571] The first information includes information transmitted during the channel occupancy time (COT).

[0572] Shared COT indication information, which is used to indicate the transmission mode and / or channel access mode of PSFCH in the target COT, wherein the target COT includes at least one of the current COT, reserved COT, COT occupied by reserved side link resources, and COT occupied by indicated side link resources;

[0573] The duration of the target COT;

[0574] The remaining duration of the target COT;

[0575] The transmission type of the PSSCH corresponding to the PSFCH to be sent;

[0576] The second information of the terminal device initiating COT detected by the first terminal device includes at least one of source identification information, target identification information, and member identification information of the terminal device initiating COT within its group.

[0577] The target COT is allowed to share priority;

[0578] Idle channel assessment (CCA) results or listen-before-speak (LBT) results;

[0579] The first correspondence between different hybrid automatic repeat request (HARQ) processes;

[0580] A predetermined sequence.

[0581] Optionally, the first information may be sent by the base station to the first terminal device, or by the third terminal device to the first terminal device.

[0582] Optionally, when the third terminal device is a terminal device that sends a PSSCH corresponding to the first PSFCH, the first information includes a PSSCH corresponding to the first PSFCH, wherein the first PSFCH is at least one of the PSFCHs to be sent.

[0583] or,

[0584] When the third terminal device is a terminal device that sends broadcast information, the first information includes the broadcast information sent by the third terminal device;

[0585] or,

[0586] When the third terminal device is a terminal device that sends multicast information, the first information includes the multicast information sent by the third terminal device, and the members of the group corresponding to the multicast information include the first terminal device.

[0587] or,

[0588] When the first information is sent by the base station to one or more fourth terminal devices, the first information is used to indicate that the COT initiated by the base station can be shared with the one or more fourth terminal devices, wherein the one or more fourth terminal devices include the first terminal device.

[0589] Optionally, if the first information includes the PSSCH corresponding to the first PSFCH, the target transmission method is: to transmit the PSFCH to be transmitted within the first COT, and the target channel access method is the channel access method of the second type Type2LBT, wherein the first COT includes the COT where the PSSCH corresponding to the first PSFCH is located;

[0590] or,

[0591] When the first information includes the broadcast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the broadcast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH;

[0592] or,

[0593] When the first information includes the multicast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the multicast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH;

[0594] or,

[0595] When the first information is sent by the base station to the one or more fourth terminal devices, the target transmission method is: to send the PSFCH to be sent within the COT indicated by the first information, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be sent includes PSFCHs corresponding to one or more PSSCHs.

[0596] Optionally, the shared COT indication information includes at least one of the following:

[0597] First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0598] The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT;

[0599] The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT.

[0600] The fourth instruction information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0601] The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0602] The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing.

[0603] HARQ process identification information;

[0604] The target COT is allowed to share priority;

[0605] Share COT member information;

[0606] The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT.

[0607] The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT.

[0608] The eighth indication information is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0609] The index of the COT used to send the PSFCH;

[0610] The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT;

[0611] Cyclic prefix extension CPE indication information, the CPE indication information is used to indicate whether the terminal device sharing COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing COT to send PSFCH;

[0612] The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0613] Optionally, when the shared COT indication information includes the first indication information, the target transmission method is to transmit the PSFCH corresponding to the PSSCH in the current COT within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0614] or,

[0615] When the shared COT indication information includes the second indication information, the target transmission method is: in the current COT, the PSFCH corresponding to the previous PSSCH is transmitted, and the target channel access method is the channel access method of Type 2 LBT;

[0616] or,

[0617] When the shared COT indication information includes the third indication information, the target channel transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the Type 2LBT channel access method;

[0618] or,

[0619] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is as follows: within the reserved COT, the PSFCH corresponding to the PSSCH in the current COT is transmitted, the target channel access method is the channel access method of Type 2 LBT, and the second terminal device is the terminal device that transmits the shared COT indication information;

[0620] or,

[0621] When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the second COT, the target transmission method is: within the second COT or the reserved COT, transmit the PSFCH corresponding to the PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the second COT covers the reserved COT;

[0622] or,

[0623] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the reserved COT, and the target channel access method is the channel access method of Type 2 LBT;

[0624] or,

[0625] When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the third COT, the target transmission method is: within the third COT or the reserved COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the third COT covers the reserved COT;

[0626] or,

[0627] When the shared COT indication information includes the HARQ process identification information, the target transmission method is as follows: within the target COT, the PSFCH corresponding to the HARQ process represented by the HARQ process identification information included in the shared COT indication information is transmitted, and the target channel access method is the Type 2 LBT channel access method;

[0628] or,

[0629] When the shared COT indication information includes the priority that the target COT is allowed to share, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT is allowed to share is transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0630] or,

[0631] When the shared COT indication information includes the shared member information and the shared member information includes the first terminal device, the target transmission method is: within the target COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0632] or,

[0633] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that when PSFCH is transmitted within the current COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0634] or,

[0635] When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that PSFCH is not transmitted within the current COT, the target transmission method is: PSFCH is not transmitted within the current COT;

[0636] or,

[0637] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate the transmission of PSFCH within the COT, the target transmission method is to transmit one or more PSFCHs corresponding to PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT.

[0638] or,

[0639] When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate that PSFCH is not transmitted within the COT, the target transmission method is: not transmitting PSFCH within the current COT;

[0640] or,

[0641] When the shared COT indication information includes the eighth indication information, the target transmission method is: in the current COT or the next N COT, transmit one or more PSFCHs corresponding to PSSCH, and the target channel access method is the channel access method of Type 2 LBT;

[0642] or,

[0643] When the shared COT indication information includes an index of the COT used for sending PSFCH, the target transmission method is: within the COT represented by the index included in the shared COT indication information, send one or more PSFCHs corresponding to PSSCHs, and the target channel access method is a Type 2 LBT channel access method.

[0644] Optionally, if the target time is greater than or equal to a first preset threshold, the target transmission method is: within the current COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0645] or,

[0646] If the target time is less than the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0647] Optionally, if the target time is greater than a first preset threshold, the target transmission method is: within the current COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method, wherein the target time is the duration of the target COT or the remaining duration of the target COT;

[0648] or,

[0649] When the target time is less than or equal to the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

[0650] Optionally, if the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is negative acknowledgment only, the target transmission method is: the PSFCH to be transmitted can only be transmitted within the target COT in negative acknowledgment only mode, wherein the target channel access mode is the channel access mode of Type 2 LBT.

[0651] or,

[0652] When the transmission type of the PSSCH corresponding to the PSFCH to be sent is negative acknowledgment only, and the PSFCH is outside the target COT or not within the range of the target COT, the target transmission method is: outside the target COT, the PSFCH to be sent is transmitted in a positive acknowledgment or negative acknowledgment manner, wherein the target channel access method is the channel access method of the first type Type 1 LBT;

[0653] or,

[0654] If at least one of the information included in the second information is a predetermined first identification information, the target transmission method is: within the COT initiated by the terminal device that initiated the COT corresponding to the second information, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT.

[0655] or,

[0656] If a PSFCH with a priority that satisfies the priority that the target COT allows to share exists, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT allows to share is transmitted, and the target channel access method is a Type 2 LBT channel access method;

[0657] or,

[0658] If the CCA result or the LBT listening result indicates that the first terminal device has failed to perform Type 2 LBT listening, the target channel access method is the Type 1 LBT channel access method.

[0659] or,

[0660] When the first terminal device detects the transmission of the first HARQ process, the target transmission method is as follows: within the COT where the transmission of the first HARQ process is located, the PSFCH corresponding to the transmission of the HARQ process corresponding to the first HARQ in the first correspondence is sent, and the target channel access method is the channel access method of Type 2 LBT, wherein the first HARQ is one of the HARQs in the first correspondence.

[0661] or,

[0662] If the first terminal device detects one of the predetermined sequences, the target transmission method is: within the COT corresponding to the detected predetermined sequence, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the Type 2 LBT channel access method.

[0663] Optionally, the preceding PSSCH includes at least one of the following:

[0664] PSSCH within a predetermined first time range;

[0665] PSSCH within the first Q COT range;

[0666] The PSSCH corresponding to the PSFCH that was not sent within the first Q COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent;

[0667] Where Q is an integer greater than or equal to 1.

[0668] Optionally, the one or more PSSCHs include at least one of the following:

[0669] PSSCH within a predetermined second time range;

[0670] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0671] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0672] Optionally, when the first information is sent from the third terminal device to the first terminal device, the first information is carried on the physical side link control channel PSCCH or PSSCH.

[0673] When the first information is sent from the base station to the first terminal device, the first information is carried on the physical downlink control channel (PDCCH) or the physical downlink shared channel (PDSCH).

[0674] When the terminal device 900 is the second terminal device, the radio frequency unit 901 is used to: send shared COT indication information to the first terminal device, wherein the shared COT indication information is used to indicate the transmission mode and / or channel access mode of PSFCH in the target COT.

[0675] Optionally, the shared COT indication information includes at least one of the following:

[0676] First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT;

[0677] The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT;

[0678] The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT.

[0679] The fourth instruction information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT;

[0680] The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT;

[0681] The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing.

[0682] HARQ process identification information;

[0683] The target COT is allowed to share priority;

[0684] Share COT member information;

[0685] The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT.

[0686] The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT.

[0687] The eighth indication information is used to indicate the transmission of PSFCH within the current COT or within the next N COTs, where N is an integer greater than or equal to 1;

[0688] The index of the COT used to send the PSFCH;

[0689] The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT;

[0690] Cyclic prefix extension CPE indication information, the CPE indication information is used to indicate whether the terminal device sharing COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device sharing COT to send PSFCH;

[0691] The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

[0692] Optionally, if the first preset condition is met, the second sending module generates the first indication information, and / or the second sending module indicates the candidate resource location of the PSFCH corresponding to the PSSCH in the current COT in the current COT.

[0693] The first preset condition includes at least one of the following:

[0694] The target time is greater than the second preset threshold. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0695] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined second identifier information;

[0696] The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the current COT;

[0697] The identification information of the HARQ process transmitted within the current COT is the pre-determined second HARQ process identification information.

[0698] Optionally, if the second preset condition is met, the second sending module generates the second indication information, and / or the second sending module indicates the candidate resource position of the PSFCH corresponding to the previous PSSCH in the current COT;

[0699] The second preset condition includes at least one of the following:

[0700] The second terminal device did not receive the PSFCH corresponding to the previous PSSCH;

[0701] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined third identifier information;

[0702] The priority of the PSFCH corresponding to the previous PSSCH meets the priority that the current COT allows to be shared;

[0703] The identification information of the HARQ process transmitted in the previous PSSCH is the pre-determined third HARQ process identification information;

[0704] The second terminal device instructed the PSFCH corresponding to the previous PSSCH in the previous COT to send or share the reserved COT in the reserved COT.

[0705] Optionally, if the third preset condition is met, the second sending module generates the third indication information, and / or the second sending module indicates the candidate resource location within the current COT for one or more PSSCHs corresponding to PSFCHs.

[0706] The third preset condition includes at least one of the following:

[0707] If the target time is greater than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0708] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fourth identifier information;

[0709] The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority allowed to be shared by the current COT;

[0710] The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the predetermined fourth HARQ process identification information.

[0711] Optionally, if the fourth preset condition is met, the second sending module generates the fourth indication information, and / or the second sending module indicates the position of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT as a candidate resource.

[0712] The fourth preset condition includes at least one of the following:

[0713] If the target time is less than the second preset threshold, the target time is the duration of the target COT or the remaining duration of the target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0714] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fifth identifier information;

[0715] The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the reserved COT;

[0716] The identification information of the HARQ process transmitted within the current COT is the pre-determined identification information of the fifth HARQ process.

[0717] Optionally, if the fifth preset condition is met, the second sending module generates the fifth indication information, and / or the second sending module indicates the PSFCH corresponding to one or more PSSCHs at the candidate resource location within the reserved COT;

[0718] The fifth preset condition includes at least one of the following:

[0719] If the target time is less than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the remaining duration of the target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources.

[0720] At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined sixth identifier information;

[0721] The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority of the reserved COT that allows sharing;

[0722] The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the pre-determined sixth HARQ process identification information.

[0723] Optionally, the preceding PSSCH includes one of the following:

[0724] PSSCH within a predetermined first time range;

[0725] PSSCH within the first Q COT range;

[0726] The PSSCH corresponding to any PSFCH that was not sent or was not successfully sent within the first Q COT range;

[0727] Where Q is an integer greater than or equal to 1.

[0728] Optionally, the one or more PSSCHs include at least one of the following:

[0729] PSSCH within a predetermined second time range;

[0730] The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1;

[0731] The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

[0732] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described physical side-link feedback channel (PSFCH) transmission method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0733] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0734] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described physical side-link feedback channel (PSFCH) transmission method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0735] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0736] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described physical side-link feedback channel (PSFCH) transmission method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0737] This application also provides a transmission system for a Physical Side Link Feedback Channel (PSFCH), comprising: a first terminal device and a second terminal device. The first terminal device can be used to execute the steps of the transmission method for the Physical Side Link Feedback Channel (PSFCH) as described in the first aspect above, and the second terminal device can be used to execute the steps of the transmission method for the Physical Side Link Feedback Channel (PSFCH) as described in the second aspect above.

[0738] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0739] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0740] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A transmission method for a Physical Sidelink Feedback Channel (PSFCH), characterized in that, include: The first terminal device determines or switches the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared; The first terminal device transmits the PSFCH to be transmitted according to the target transmission method and / or the target channel access method; The target information includes: shared COT indication information, which indicates the transmission method and / or channel access method of PSFCH in the target COT, wherein the target COT includes at least one of reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources; the shared COT indication information includes at least one of the following: eighth indication information, which indicates the transmission of PSFCH in the next N COTs, where N is an integer greater than or equal to 1; cyclic prefix extension CPE indication information, which indicates whether the terminal device of the shared COT uses CPE to transmit PSFCH, or indicates the CPE of the terminal device of the shared COT to transmit PSFCH.

2. The method according to claim 1, characterized in that, The target information also includes at least one of the following: The first information includes information transmitted during the channel occupancy time (COT). The duration of the target COT; The remaining duration of the target COT; The transmission type of the physical side-link shared channel PSSCH corresponding to the PSFCH to be transmitted; The second information of the terminal device initiating COT detected by the first terminal device includes at least one of source identification information, target identification information, and member identification information of the terminal device initiating COT within its group. The target COT is allowed to share priority; Idle channel assessment (CCA) results or listen-before-speak (LBT) results; The first correspondence between different hybrid automatic repeat request (HARQ) processes; A predetermined sequence.

3. The method according to claim 2, characterized in that, The first information is sent by the base station to the first terminal device, or by the third terminal device to the first terminal device.

4. The method according to claim 3, characterized in that, When the third terminal device is a terminal device that sends a PSSCH corresponding to the first PSFCH, the first information includes a PSSCH corresponding to the first PSFCH, wherein the first PSFCH is at least one of the PSFCHs to be sent; or, When the third terminal device is a terminal device that sends broadcast information, the first information includes the broadcast information sent by the third terminal device; or, When the third terminal device is a terminal device that sends multicast information, the first information includes the multicast information sent by the third terminal device, and the members of the group corresponding to the multicast information include the first terminal device. or, When the first information is sent by the base station to one or more fourth terminal devices, the first information is used to indicate that the COT initiated by the base station can be shared with the one or more fourth terminal devices, wherein the one or more fourth terminal devices include the first terminal device.

5. The method according to claim 4, characterized in that, When the first information includes the PSSCH corresponding to the first PSFCH, the target transmission method is: to transmit the PSFCH to be transmitted within the first COT, and the target channel access method is the channel access method of the second type Type 2 LBT, wherein the first COT includes the COT where the PSSCH corresponding to the first PSFCH is located; or, When the first information includes the broadcast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the broadcast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH; or, When the first information includes the multicast information, the target transmission method is: to transmit the PSFCH to be transmitted within the COT where the multicast information is located, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be transmitted includes one or more PSFCHs corresponding to PSSCH; or, When the first information is sent by the base station to the one or more fourth terminal devices, the target transmission method is: to send the PSFCH to be sent within the COT indicated by the first information, and the target channel access method is the channel access method of Type 2 LBT, wherein the PSFCH to be sent includes PSFCHs corresponding to one or more PSSCHs.

6. The method according to claim 2, characterized in that, The shared COT indication information also includes at least one of the following: First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT; The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT; The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT. The fourth indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT; The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT; The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing. HARQ process identification information; The target COT is allowed to share priority; Share COT member information; The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT. The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT. The index of the COT used to send PSFCH; The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT; The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

7. The method according to claim 6, characterized in that, When the shared COT indication information includes the first indication information, the target transmission method is to transmit the PSFCH corresponding to the PSSCH in the current COT within the current COT, and the target channel access method is the Type 2LBT channel access method; or, When the shared COT indication information includes the second indication information, the target transmission method is: in the current COT, the PSFCH corresponding to the previous PSSCH is transmitted, and the target channel access method is the channel access method of Type 2 LBT; or, When the shared COT indication information includes the third indication information, the target channel transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the current COT, and the target channel access method is the channel access method of Type 2 LBT; or, When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is as follows: within the reserved COT, the PSFCH corresponding to the PSSCH in the current COT is transmitted, the target channel access method is the channel access method of Type 2 LBT, and the second terminal device is the terminal device that transmits the shared COT indication information; or, When the shared COT indication information includes the fourth indication information, and the second terminal device successfully performs LBT within the second COT, the target transmission method is: within the second COT or the reserved COT, transmit the PSFCH corresponding to the PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the second COT covers the reserved COT; or, When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the reserved COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCHs within the reserved COT, and the target channel access method is the channel access method of Type 2 LBT; or, When the shared COT indication information includes the fifth indication information, and the second terminal device successfully performs LBT within the third COT, the target transmission method is: within the third COT or the reserved COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT, wherein the duration of the third COT covers the reserved COT; or, When the shared COT indication information includes the HARQ process identification information, the target transmission method is as follows: within the target COT, the PSFCH corresponding to the HARQ process represented by the HARQ process identification information included in the shared COT indication information is transmitted, and the target channel access method is the Type 2 LBT channel access method; or, When the shared COT indication information includes the priority that the target COT is allowed to share, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT is allowed to share is transmitted, and the target channel access method is a Type 2 LBT channel access method; or, When the shared COT indication information includes shared member information and the shared member information includes the first terminal device, the target transmission method is: within the target COT, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is a Type 2 LBT channel access method; or, When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that when PSFCH is transmitted within the current COT, the target transmission method is: to transmit one or more PSFCHs corresponding to PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT. or, When the shared COT indication information includes the sixth indication information, and the sixth indication information is used to indicate that PSFCH is not transmitted within the current COT, the target transmission method is: PSFCH is not transmitted within the current COT; or, When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate the transmission of PSFCH within the COT, the target transmission method is to transmit one or more PSFCHs corresponding to PSSCH within the current COT, and the target channel access method is the channel access method of Type 2 LBT. or, When the shared COT indication information includes the seventh indication information, and the seventh indication information is used to indicate that PSFCH is not transmitted within the COT, the target transmission method is: not transmitting PSFCH within the current COT; or, When the shared COT indication information includes the eighth indication information, the target transmission method is: in the current COT or the next N COT, transmit one or more PSFCHs corresponding to PSSCH, and the target channel access method is the channel access method of Type 2 LBT; or, When the shared COT indication information includes an index of the COT used for sending PSFCH, the target transmission method is: within the COT represented by the index included in the shared COT indication information, send one or more PSFCHs corresponding to PSSCHs, and the target channel access method is a Type 2 LBT channel access method.

8. The method according to claim 2, characterized in that, When the target time is greater than or equal to the first preset threshold, the target transmission method is: within the current COT, transmit one or more PSFCHs corresponding to PSSCHs, and the target channel access method is the channel access method of Type 2 LBT, wherein the target time is the duration of the target COT or the remaining duration of the target COT; or, When the target time is less than or equal to the first preset threshold, the target channel access method is the Type 1 LBT channel access method.

9. The method according to claim 2, characterized in that, When the transmission type of the PSSCH corresponding to the PSFCH to be transmitted is negative acknowledgment only, the target transmission method is: the PSFCH to be transmitted can only be transmitted within the target COT in negative acknowledgment only mode, wherein the target channel access mode is the channel access mode of Type 2 LBT; or, When the transmission type of the PSSCH corresponding to the PSFCH to be sent is negative acknowledgment only, and the PSFCH is outside the target COT or not within the range of the target COT, the target transmission method is: outside the target COT, the PSFCH to be sent is transmitted in a positive acknowledgment or negative acknowledgment manner, wherein the target channel access method is the channel access method of the first type Type 1 LBT; or, If at least one of the information included in the second information is a predetermined first identification information, the target transmission method is: within the COT initiated by the terminal device that initiated the COT corresponding to the second information, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the channel access method of Type 2 LBT. or, If a PSFCH with a priority that satisfies the priority that the target COT allows to share exists, the target transmission method is: within the target COT, a PSFCH with a priority that satisfies the priority that the target COT allows to share is transmitted, and the target channel access method is a Type 2 LBT channel access method; or, If the CCA result or the LBT listening result indicates that the first terminal device has failed to perform Type 2 LBT listening, the target channel access method is the Type 1 LBT channel access method. or, When the first terminal device detects the transmission of the first HARQ process, the target transmission method is as follows: within the COT where the transmission of the first HARQ process is located, the PSFCH corresponding to the transmission of the HARQ process corresponding to the first HARQ in the first correspondence is sent, and the target channel access method is the channel access method of Type 2 LBT, wherein the first HARQ is one of the HARQs in the first correspondence. or, If the first terminal device detects one of the predetermined sequences, the target transmission method is: within the COT corresponding to the detected predetermined sequence, one or more PSFCHs corresponding to PSSCHs are transmitted, and the target channel access method is the Type 2 LBT channel access method.

10. The method according to claim 6 or 7, characterized in that, The preceding PSSCH includes at least one of the following: PSSCH within a predetermined first time range; PSSCH within the first Q COT range; The PSSCH corresponding to the PSFCH that was not sent within the first Q COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent; Where Q is an integer greater than or equal to 1.

11. The method according to any one of claims 5 to 9, characterized in that, The one or more PSSCHs include at least one of the following: PSSCH within a predetermined second time range; The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1; The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

12. The method according to claim 3, characterized in that, When the first information is sent from the third terminal device to the first terminal device, the first information is carried on the physical side link control channel PSCCH or PSSCH. When the first information is sent from the base station to the first terminal device, the first information is carried on the physical downlink control channel (PDCCH) or the physical downlink shared channel (PDSCH).

13. A transmission method for a Physical Sidelink Feedback Channel (PSFCH), characterized in that, include: The second terminal device sends shared COT indication information to the first terminal device. The shared COT indication information is used to indicate the transmission mode and / or channel access mode of PSFCH in the target COT. The target COT includes at least one of reserved COT, COT occupied by reserved side link resources, and COT occupied by indicated side link resources. The shared COT indication information includes at least one of the following: an eighth indication information, which indicates that PSFCH is transmitted within the next N COTs, where N is an integer greater than or equal to 1; and a cyclic prefix extension CPE indication information, which indicates whether the terminal device of the shared COT uses a CPE to send PSFCH, or indicates the CPE of the terminal device of the shared COT to send PSFCH.

14. The method according to claim 13, characterized in that, The shared COT indication information also includes at least one of the following: First indication information, the first indication information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the current COT; The second instruction information is used to instruct the PSFCH corresponding to the previous PSSCH to be sent or shared within the current COT; The third instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the current COT within the current COT. The fourth instruction information is used to instruct the PSFCH corresponding to the PSSCH in the current COT to be sent or shared in the reserved COT; The fifth instruction information is used to instruct one or more PSSCHs corresponding to PSFCHs to send or share the reserved COT within the reserved COT; The candidate resource location information of PSFCH includes the PSFCH transmission location or symbol within the target COT range, or a predetermined PSFCH timing. HARQ process identification information; The target COT is allowed to share priority; Share COT member information; The sixth indication information is used to indicate whether or not to transmit the PSFCH within the current COT. The seventh indication information is used to indicate whether or not to transmit the PSFCH within the COT. The index of the COT used to send PSFCH; The ninth indication information is used to indicate at least one of the following: the transmission resource size, the time domain resource location, and the frequency domain resource location of the terminal device initiating COT; The tenth indication information is used to indicate the transmission start position or symbol of the PSFCH sent by the terminal equipment sharing COT.

15. The method according to claim 14, characterized in that, Under the condition of satisfying the first preset condition, the second terminal device generates the first indication information, and / or the second terminal device indicates the candidate resource position of the PSFCH corresponding to the PSSCH in the current COT in the current COT. The first preset condition includes at least one of the following: The target time is greater than the second preset threshold. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources. At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined second identifier information; The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the current COT; The identification information of the HARQ process transmitted within the current COT is the pre-determined second HARQ process identification information.

16. The method according to claim 14, characterized in that, Under the condition that the second preset condition is met, the second terminal device generates the second indication information, and / or the second terminal device indicates the candidate resource position of the PSFCH corresponding to the previous PSSCH in the current COT; The second preset condition includes at least one of the following: The second terminal device did not receive the PSFCH corresponding to the previous PSSCH; At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined third identifier information; The priority of the PSFCH corresponding to the previous PSSCH meets the priority that the current COT allows to be shared; The identification information of the HARQ process transmitted in the previous PSSCH is the pre-determined third HARQ process identification information; The second terminal device instructed the PSFCH corresponding to the previous PSSCH in the previous COT to send or share the reserved COT in the reserved COT.

17. The method according to claim 14, characterized in that, Under the condition of satisfying the third preset condition, the second terminal device generates the third indication information, and / or the second terminal device indicates the candidate resource location of one or more PSFCHs corresponding to PSSCHs within the current COT; The third preset condition includes at least one of the following: If the target time is greater than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources. At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fourth identifier information; The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority allowed to be shared by the current COT; The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the predetermined fourth HARQ process identification information.

18. The method according to claim 14, characterized in that, Under the condition of satisfying the fourth preset condition, the second terminal device generates the fourth indication information, and / or the second terminal device indicates the candidate resource position of the PSFCH corresponding to the PSSCH in the current COT in the reserved COT; The fourth preset condition includes at least one of the following: The target time is less than the second preset threshold. The target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources. At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined fifth identifier information; The priority of the PSFCH corresponding to the PSSCH in the current COT meets the priority allowed for sharing by the reserved COT; The identification information of the HARQ process transmitted within the current COT is the pre-determined HARQ fifth process identification information. interest.

19. The method according to claim 14, characterized in that, Under the condition of satisfying the fifth preset condition, the second terminal device generates the fifth indication information, and / or the second terminal device indicates the PSFCH corresponding to one or more PSSCHs at the candidate resource position in the reserved COT; The fifth preset condition includes at least one of the following: If the target time is less than the second preset threshold and the second terminal device has not received the PSFCH corresponding to the previous PSSCH, the target time is the duration of the target COT or the duration of the remaining target COT. The target COT includes at least one of the following: current COT, reserved COT, COT occupied by reserved SL resources, and COT occupied by indicated SL resources. At least one of the source identifier information, target identifier information, and member identifier information of the second terminal device within its group is a predetermined sixth identifier information; The priority of the PSFCH corresponding to the one or more PSSCHs satisfies the priority of the reserved COT that allows sharing; The identification information of the HARQ process transmitted by the PSFCH corresponding to the one or more PSSCHs is the pre-determined sixth HARQ process identification information.

20. The method according to any one of claims 14, 16, 17, and 19, characterized in that, The preceding PSSCH includes one of the following: PSSCH within a predetermined first time range; PSSCH within the first Q COT range; The PSSCH corresponding to any PSFCH that was not sent or was not successfully sent within the first Q COT range; Where Q is an integer greater than or equal to 1.

21. The method according to any one of claims 14, 17, and 19, characterized in that, The one or more PSSCHs include at least one of the following: PSSCH within a predetermined second time range; The PSSCH within the range of the fourth COT, wherein the fourth COT includes the previous P COTs and / or the current COT, where P is an integer greater than or equal to 1; The PSSCH corresponding to the PSFCH that was not sent within the fourth COT range and / or the PSSCH corresponding to the PSFCH that was not successfully sent.

22. A transmission apparatus for a Physical Sidelink Feedback Channel (PSFCH), characterized in that, include: The determination module is used to determine or switch the target transmission mode and / or target channel access mode of the PSFCH to be transmitted based on the target information, wherein the target information is used to indicate whether the channel occupancy time (COT) can be shared; The first transmitting module is configured to transmit the PSFCH to be transmitted according to the target transmission method and / or the target channel access method; the target information includes: shared COT indication information, which is used to indicate the transmission method and / or channel access method of the PSFCH in the target COT, wherein the target COT includes at least one of reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources; the shared COT indication information includes at least one of the following: eighth indication information, which is used to indicate that the PSFCH is transmitted in the next N COTs, where N is an integer greater than or equal to 1; cyclic prefix extension CPE indication information, which is used to indicate whether the terminal device of the shared COT uses CPE to transmit the PSFCH, or to indicate the CPE of the terminal device of the shared COT to transmit the PSFCH.

23. A transmission apparatus for a Physical Sidelink Feedback Channel (PSFCH), characterized in that, include: The second sending module is used to send shared COT indication information to the first terminal device. The shared COT indication information is used to indicate the transmission method and / or channel access method of PSFCH in the target COT. The target COT includes at least one of reserved COT, COT occupied by reserved sidelink resources, and COT occupied by indicated sidelink resources. The shared COT indication information includes at least one of the following: eighth indication information, which is used to indicate that PSFCH is transmitted in the next N COTs, where N is an integer greater than or equal to 1; cyclic prefix extension CPE indication information, which is used to indicate whether the terminal device of the shared COT uses CPE to send PSFCH, or to indicate the CPE of the terminal device of the shared COT to send PSFCH.

24. A terminal device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the steps of the physical sidelink feedback channel (PSFCH) transmission method as described in any one of claims 1 to 12, or to implement the steps of the physical sidelink feedback channel (PSFCH) transmission method as described in any one of claims 13 to 21.

25. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the physical side-link feedback channel (PSFCH) transmission method as described in any one of claims 1 to 12, or implement the steps of the physical side-link feedback channel (PSFCH) transmission method as described in any one of claims 13 to 21.

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