Physical sidelink feedback channel (psfch) transmission method and terminal

Abstract

The application discloses a physical sidelink feedback channel (PSFCH) sending method and a terminal, and belongs to the technical field of communication. The PSFCH sending method of the embodiment of the application comprises the following steps: a first terminal determines M1 PSFCHs capable of being simultaneously sent; the M1 PSFCHs contain at least one PSFCH satisfying a COT sharing condition; and the first terminal sends the M1 PSFCHs.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a physical side link feedback channel (PSFCH) transmission method and terminal. Background Technology

[0002] Sidelink (SL) transmission refers to data transmission between terminals directly at the physical layer. NR SL supports Hybrid Automatic Repeat Request (HARQ) feedback via the Physical Sidelink Feedback Channel (PSFCH). After receiving the Physical Sidelink Shared Channel (PSSCH) sent by the transmitting TX terminal, the receiving RX terminal needs to send a PSFCH as feedback to improve system reliability.

[0003] In future communication systems, shared spectrum, such as unlicensed bands, can supplement licensed bands to help operators expand service capacity. Therefore, it is urgent for those skilled in the art to implement a PSFCH transmission method for shared spectrum. Summary of the Invention

[0004] This application provides a physical side link feedback channel (PSFCH) transmission method and terminal, which can solve the problem of how to implement a PSFCH transmission method for shared spectrum.

[0005] Firstly, a method for transmitting the Physical Side Link Feedback Channel (PSFCH) is provided, including: The first terminal determines M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; The first terminal sends the M1 PSFCHs.

[0006] Secondly, a physical side link feedback channel (PSFCH) transmitting device is provided, comprising: The processing module is used to determine M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; The sending module is used to send the M1 PSFCHs.

[0007] Thirdly, a first terminal 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 aspect.

[0008] Fourthly, a first terminal is provided, including a processor and a communication interface, wherein the processor is used to determine M1 PSFCHs that can be transmitted simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; and the communication interface is used to transmit the M1 PSFCHs.

[0009] Fifthly, a communication system is provided, comprising: a first terminal and a second terminal, wherein the first terminal is used to perform the steps of the PSFCH transmission method as described in the first aspect, and the second terminal communicates with the first terminal via a side link.

[0010] In a sixth 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.

[0011] In a seventh aspect, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0012] Eighthly, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the PSFCH transmission method as described in the first aspect.

[0013] In this embodiment of the application, the first terminal determines M1 PSFCHs that can be sent simultaneously and sends M1 PSFCHs; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition, which can ensure that when the first terminal determines the PSFCHs that can be sent simultaneously, at least one PSFCH that satisfies the COT sharing condition will not be discarded, thus realizing the PSFCH transmission method for shared spectrum. Attached Figure Description

[0014] Figure 1 This is a structural diagram of a wireless communication system to which the embodiments of this application can be applied; Figure 2 This is a schematic diagram of a sidelink communication scenario provided in an embodiment of this application; Figure 3 This is a schematic diagram of sidelink channel resource allocation provided in an embodiment of this application; Figure 4This is one of the flowcharts illustrating the PSFCH transmission method provided in the embodiments of this application; Figure 5 This is one of the interactive flow diagrams of the PSFCH sending method provided in the embodiments of this application; Figure 6 This is the second interactive flow diagram of the PSFCH sending method provided in the embodiments of this application; Figure 7 This is one of the structural schematic diagrams of the PSFCH transmitting device provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application; Figure 9 This is a schematic diagram of the hardware structure of the terminal provided in the embodiments of this application. Detailed Implementation

[0015] 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.

[0016] 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.

[0017] 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 in the systems and radio technologies mentioned above, as well as in 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.

[0018] 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 11 and a network-side device 12. Terminal 11 can be a mobile phone, tablet computer, laptop computer (also known as a notebook 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 this application embodiment only uses a base station in an NR system as an example for description and does not limit the specific type of base station.Core network equipment may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), and Application Function. Function (AF), etc. It should be noted that the embodiments of this application only use the core network equipment in the NR system as an example for introduction, and do not limit the specific type of core network equipment.

[0019] First, the relevant concepts involved in the embodiments of this application will be introduced: In future communication systems, shared spectrum, such as unlicensed bands, can supplement licensed bands to help operators expand service capacity. To maintain consistency with NR deployments and maximize NR-based unlicensed access, unlicensed bands can operate in the 5GHz, 37GHz, and 60GHz bands. Since unlicensed bands are shared by various Radio Access Technologies (RATs), such as Wi-Fi, radar, and LTE-License Assisted Access (LAA), in certain regions, their use must comply with relevant rules to ensure fair resource usage for all devices. These rules include Listen Before Talk (LBT) and Maximum Channel Occupancy Time (MCOT). When a transmitting node needs to send information, it first performs an LBT, then conducts Energy Detection (ED) on surrounding nodes. If the detected power is below a threshold, the channel is considered idle, and the transmitting node can transmit. Conversely, if the channel is busy, the transmission node cannot send data. Transmission nodes can be base stations, terminals, WiFi access points (APs), etc. Once a transmission node begins transmission, the channel time occupied (COT) cannot exceed the MCOT. Furthermore, according to the Occupied Channel Bandwidth (OCB) rules, on unlicensed frequency bands, transmission nodes must occupy at least 70% (60GHz) or 80% (5GHz) of the entire frequency band for each transmission.

[0020] In NR-U, the commonly used LBT types can be divided into Type 1, Type 2A, Type 2B and Type 2C.

[0021] Type 1 LBT is a back-off channel listening mechanism. When a transmission node detects that the channel is busy, it backs off and continues listening until it detects that the channel is empty.

[0022] Type2C LBT means that the sending node does not perform LBT, i.e., no LBT or immediate transmission.

[0023] Type 2A and Type 2B LBT are one-shot LBTs, meaning the node performs an LBT before transmission; if the channel is empty, transmission proceeds; otherwise, transmission does not. The difference is that Type 2A performs an LBT within 25µs, suitable for shared COT scenarios where the gap between two transmissions is greater than or equal to 25µs. Type 2B, on the other hand, performs an LBT within 16µs, suitable for shared COT scenarios where the gap between two transmissions is equal to 16µs.

[0024] Type 2 LBT is applicable to LAA / eLAA / FeLAA. When sharing COT, the gap between two transmissions is greater than or equal to 25us. eNB and terminal can use Type 2 LBT.

[0025] Furthermore, within frequency band 2-2, there are three types of LBTs: Type 1, Type 2, and Type 3. Type 1 is a back-off-based channel sensing mechanism, Type 2 is a one-shot LBT, performing a 5µs LBT within an 8µs interval, and Type 3 does not perform an LBT.

[0026] For channel occupancy time sharing on the base station side, after the base station initiates COT (Channel Occupancy Time), in addition to using the resources within the COT for downlink transmission, it can also share the resources within the COT with the terminal for uplink transmission. When sharing the resources within the COT with the terminal for uplink transmission, the channel access methods that the terminal can use are Type 2A LBT, Type 2B LBT, or Type 2C LBT.

[0027] For channel occupancy time sharing on the terminal side, when a terminal initiates a Channel Occupancy Time (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 terminal-initiated COTs includes two scenarios: one is a COT where the base station shares a scheduled PUSCH; the other is a COT where the base station shares a PUSCH without scheduling authorization.

[0028] For sidelinks, LTE systems use broadcast-based communication, which is suitable for basic safety-level communication in vehicle-to-everything (V2X) networks but not for more advanced V2X services. 5G NR systems support more advanced sidelink transmission designs, such as unicast, multicast, or groupcast, thus supporting a wider range of service types. Sidelink communication systems include... Figure 2 As shown.

[0029] NR SL includes the following channels: Physical sidelink control channel (PSCCH); physical sidelink shared channel (PSSCH); physical sidelink broadcast channel (PSBCH); physical sidelink discovery feedback channel (PSFCH).

[0030] In this system, PSSCH allocates resources on a sub-channel basis, using a continuous resource allocation method in the frequency domain. The time-domain resource of PSCCH is the number of symbols configured by the higher layers, and the frequency-domain size is a parameter configured by the higher layers. The frequency-domain resource size of PSCCH is 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. An example diagram is shown below. Figure 3 As shown.

[0031] In NR V2X systems, terminals can transmit multiple PSFCHs on a single symbol. The maximum number of PSFCHs a terminal can transmit simultaneously does not exceed the maximum number of PSFCHs that are limited by higher-layer configuration and / or terminal capabilities. The terminal determines the number of PSFCHs to send based on the number of PSSCHs requiring side-line feedback received in the multiple PSSCH slots corresponding to the PSFCH slot. The terminal is based on its maximum transmission power. The transmit power of each PSFCH is determined according to the power control rules. , and Determine the number of PSFCHs that can be sent simultaneously. The process by which the terminal performs a prioritization procedure to obtain a PSFCH that can be sent simultaneously is as follows: Scenario 1: if ,and The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = Terminal sends One PSFCH; if , The transmit power of each PSFCH exceeds The terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The terminal selects according to priority from high to low. Send one PSFCH. exist[ , ]scope.

[0032] Scenario 2: if The terminal, based on the priority of PSFCH, in Select from the PSFCHs in descending order of priority. One PSFCH.

[0033] if The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = The terminal sends the selected One PSFCH; if The transmit power of each PSFCH exceeds The terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The terminal selects according to priority from high to low. Send one PSFCH. exist[ , ]scope.

[0034] In the context of unlicensed spectrum, determining how to select the PSFCH for transmission is a technical problem that needs to be solved.

[0035] SL transmission on unlicensed spectrum requires channel access to meet relevant rules, such as Type 1 LBT and Type 2 LBT. If the PSFCH feedback supports Type 2 LBT channel access via shared channel occupancy, the RX terminal can use the shared COT feedback PSFCH initiated by the TX terminal. The RX terminal's use of the shared COT feedback PSFCH initiated by the TX terminal requires satisfying the COT sharing condition; for example, the PSFCH sent by the RX terminal must include at least one PSFCH sent to the TX terminal. However, in actual transmission, there may be cases where all PSFCHs sent to the TX terminal are discarded, in which case the RX terminal cannot use the shared COT initiated by the TX terminal. Therefore, when determining which PSFCHs can be transmitted simultaneously, the first terminal needs to ensure that at least one PSFCH that satisfies the COT sharing condition is selected.

[0036] The PSFCH sending method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0037] Figure 4 This is one of the flowcharts illustrating the PSFCH transmission method provided in the embodiments of this application. For example... Figure 4 As shown, the method provided in this embodiment includes: Step 101: The first terminal determines M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; Specifically, if the first terminal has multiple PSFCH feedbacks, and assuming that the PSFCHs perform Type 2 LBT, considering the COT sharing condition, if all the PSFCHs sent to the second terminal initiating the COT sharing are discarded among the PSFCHs that the first terminal determines can be sent simultaneously, then the first terminal cannot use the COT feedback PSFCHs initiated by the second terminal initiating the COT sharing. Therefore, it is necessary to ensure that at least one PSFCH satisfying the COT sharing condition is not discarded, such as the PSFCH sent to the second terminal initiating the COT sharing. Thus, M1 PSFCHs can include at least one PSFCH satisfying the COT sharing condition, such as ensuring that when the first terminal determines the PSFCHs that can be sent simultaneously, at least one PSFCH sent to the second terminal initiating the COT sharing is not discarded.

[0038] Step 102: The first terminal sends M1 PSFCHs.

[0039] M1 PSFCHs can be PSFCHs sent to one or more terminals.

[0040] In this embodiment, the first terminal determines M1 PSFCHs that can be sent simultaneously and sends M1 PSFCHs. The M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition. This ensures that when the first terminal determines the PSFCHs that can be sent simultaneously, at least one PSFCH that satisfies the COT sharing condition will not be discarded, thus realizing a PSFCH sending method for shared spectrum.

[0041] Optionally, M1 PSFCHs can be selected from N1 PSFCHs, where M1 PSFCHs are at least one PSFCH determined from M2 PSFCHs that satisfies the COT sharing condition, and M2 PSFCHs are at least one PSFCH determined from N1 PSFCHs that can be sent simultaneously.

[0042] Specifically, the first terminal performs prioritization on N1 PSFCHs that need to be sent simultaneously to obtain PSFCHs that can be sent simultaneously. Among the PSFCHs that can be sent simultaneously, the PSFCHs that satisfy the COT sharing condition are the PSFCHs that can be sent simultaneously and satisfy the COT sharing condition. That is, the first terminal obtains M2 PSFCHs based on N1 PSFCHs. Among the M2 PSFCHs, the M1 PSFCHs that satisfy the COT sharing condition are M1 PSFCHs. Therefore, all M1 PSFCHs are PSFCHs that satisfy the COT sharing condition.

[0043] Optionally, M1 PSFCHs can be selected based on N2 PSFCHs that satisfy the COT sharing condition from the N1 PSFCHs. That is, the selected M1 PSFCHs include at least one PSFCH determined from the N2 PSFCHs that can be sent simultaneously. For example, the following methods can be used: Method 1: M1 PSFCHs include M3 PSFCHs, or, include M3 and M4 PSFCHs, wherein M3 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from N2 PSFCHs, and M4 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from the remaining N1-M3 or N1-N2 PSFCHs that need to be sent; N2 PSFCHs are PSFCHs that satisfy the COT sharing condition included in the N1 PSFCHs that need to be sent simultaneously.

[0044] Specifically, the first terminal performs prioritization on N2 PSFCHs that need to be sent simultaneously and meet the COT sharing conditions to obtain PSFCHs that can be sent simultaneously and meet the COT sharing conditions. That is, the first terminal obtains M3 PSFCHs based on N2 PSFCHs, and at least M3 PSFCHs are included in M1 PSFCHs to ensure that at least one PSFCH that meets the COT sharing conditions can be sent.

[0045] Furthermore, if N2 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or if M3 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M3 PSFCHs is less than the maximum transmission power of the first terminal, the first terminal can perform prioritization on the remaining N1-M3 or N1-N2 PSFCHs to be transmitted to obtain the remaining PSFCHs that can be transmitted simultaneously. That is, the first terminal obtains M4 PSFCHs based on N1-M3 or N1-N2 PSFCHs, and the M1 PSFCHs include M3+M4 PSFCHs.

[0046] Method 2: M1 PSFCHs include M5 PSFCHs, or, include M5 and M6 PSFCHs, wherein the M5 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from all the PSFCHs with the highest priority among the N2 PSFCHs; the M6 ​​PSFCHs are at least one PSFCH that can be sent simultaneously, determined from the remaining N1-M5 or N1-N2 PSFCHs that need to be sent; and the N2 PSFCHs are PSFCHs that satisfy the COT sharing condition included in the N1 PSFCHs that need to be sent simultaneously.

[0047] Specifically, the first terminal performs prioritization on all the highest-priority PSFCHs among the N2 PSFCHs that need to be sent simultaneously and meet the COT sharing conditions, to obtain the highest-priority PSFCHs that can be sent simultaneously and meet the COT sharing conditions. That is, the first terminal obtains M5 PSFCHs based on the N2 PSFCHs. In other words, all the highest-priority PSFCHs among the N2 PSFCHs include: M5 PSFCHs that can be sent simultaneously, and at least M5 PSFCHs are included in the M1 PSFCHs to ensure that at least one highest-priority PSFCH that meets the COT sharing conditions can be sent.

[0048] Furthermore, if the number of all PSFCHs with the highest priority among the N2 PSFCHs is less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or if the M5 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M5 PSFCHs is less than the maximum transmission power of the first terminal, the first terminal can perform prioritization on the remaining N1-M5 or N1-N2 PSFCHs to be transmitted to obtain the remaining PSFCHs that can be transmitted simultaneously. That is, the first terminal obtains M6 PSFCHs based on the N1-M5 or N1-N2 PSFCHs, and the M1 PSFCHs include M5+M6 PSFCHs.

[0049] Optionally, N1 PSFCHs can be the PSFCHs that the first terminal needs to send simultaneously.

[0050] Optionally, the first terminal determines the PSFCH that can be sent simultaneously based on the target information; The target information includes at least one of the following: The Channel Occupancy Time (COT) of the Physical Side Link Shared Channel (PSSCH) corresponding to PSFCH; The number of delayed PSFCH transmissions; The feedback type of PSFCH corresponding to PSSCH; Channel Access Priority Category (CAPC) PSFCH priority; Maximum number of PSFCH messages sent; Maximum remaining PSFCH transmission count; Maximum PSFCH transmit power; Remaining maximum PSFCH transmit power.

[0051] For example, based on the COT where the PSSCH corresponding to the PSFCH is located, one could prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; or one could prioritize selecting the PSFCH corresponding to the PSSCH within the first COT, where the first COT is the previous COT / N previous COTs of the current COT, and N is an integer greater than 1.

[0052] For example, based on the number of delayed transmissions of the PSFCH (delayed transmission, for example, means that the PSFCH can be delayed until the next transmission opportunity due to LBT failure), the PSFCH with a large number of delayed transmissions can be sent first to avoid discarding the PSFCH and affecting subsequent communication; or the PSFCH with a number of delayed transmissions greater than a first threshold can be selected first.

[0053] Feedback types include, for example, NACK / ACK and NACK-ONLY. Based on the feedback type of the PSSCH corresponding to the PSFCH, the number of M1 PSFCHs that can be sent simultaneously is determined. For example, the PSFCH corresponding to the PSSCH with a feedback type of NACK-ONLY can be selected first.

[0054] For example, assuming the PSFCH performs Type 1 LBT and uses the corresponding PSFCH priority to determine CAPC, then different PSFCHs have different CAPCs. The terminal can then determine which PSFCHs can be sent simultaneously based on the CAPC. For example, it can prioritize the PSFCH with the higher CAPC priority; or it can prioritize the PSFCH with the CAPC priority greater than the second threshold.

[0055] The PSFCH priority, maximum PSFCH transmission quantity / remaining maximum PSFCH transmission quantity, maximum PSFCH transmission power / remaining maximum PSFCH transmission power, etc., can adopt the solutions in related technologies, and this application does not limit them.

[0056] The above methods can be combined in any way. For example, the PSFCH corresponding to the PSSCH with a feedback type of only NACK can be selected first, and the PSFCH corresponding to CAPC with higher priority can be selected first. This application embodiment does not limit this.

[0057] The method in this embodiment determines the PSFCHs that can be transmitted simultaneously based on target information. The target information includes at least one of the following: the COT of the PSSCH corresponding to the PSFCH; the number of delayed transmissions of the PSFCH; the feedback type of the PSSCH corresponding to the PSFCH; CAPC; the priority of the PSFCH; the maximum number of PSFCHs to be transmitted; the remaining maximum number of PSFCHs to be transmitted; the maximum PSFCH transmission power; and the remaining maximum PSFCH transmission power. That is, the priority, number of PSFCHs to be transmitted, or transmission power of the PSFCH can be considered. When selecting the PSFCHs that can be transmitted simultaneously, the influence of other parameters can also be considered, such as parameters related to channel access, the COT of the PSSCH corresponding to the PSFCH, the number of delayed transmissions of the PSFCH, or CAPC.

[0058] Optionally, step 101 can be implemented by at least one of the following: If the first terminal detects a shared COT, the first terminal determines that it can send M1 PSFCHs simultaneously.

[0059] Optionally, the aforementioned M1 PSFCHs can be obtained based on at least one of the following: PSFCH priority, maximum PSFCH transmission count / remaining maximum PSFCH transmission count, and maximum PSFCH transmission power / remaining maximum PSFCH transmission power.

[0060] Optionally, the method further includes: The first terminal determines the shared COT to be used from at least one detected shared COT, wherein the shared COT to be used includes one of the following: At least one of the highest-priority shared COTs; At least one shared COT that can send the most PSFCHs; At least one shared COT; At least one shared COT is capable of sending the highest priority PSFCH.

[0061] Specifically, the first terminal detects L1 shared COTs (L1 being an integer greater than 0), and the first terminal determines the shared COT to use based on at least one of the following: The highest priority shared COT; The shared COT capable of sending the most PSFCHs; Use any one or more shared COTs, including using all shared COTs; It can send the shared COT of the highest priority PSFCH.

[0062] Optionally, if the target information includes the COT where the PSSCH corresponding to the PSFCH is located, the PSFCH that can be sent simultaneously can be determined in any of the following ways: The first terminal prioritizes selecting the PSFCH corresponding to the PSSCH within the current COT; The first terminal preferentially selects the PSFCH corresponding to the PSSCH within the first COT; the first COT is the previous COT or the previous N COTs of the current COT, where N is an integer greater than 1.

[0063] Specifically, when selecting PSFCHs that can be sent simultaneously, the PSFCH can be selected based on the COT where the corresponding PSSCH is located. For example, the PSFCH corresponding to the PSSCH in the current COT can be selected first. Optionally, the M1 PSFCHs may include the PSFCH corresponding to the PSSCH in the current COT, or PSFCHs that are not corresponding to the PSSCH in the current COT but have a large number of delayed transmissions or higher priority. This application embodiment does not limit this. Alternatively, the PSFCH corresponding to the PSSCH in the first COT preceding the current COT can be selected first.

[0064] In the above implementation, the transmission of PSFCH may be delayed until the next PSFCH time due to LBT failure. Therefore, the PSFCH corresponding to the PSSCH in the previous COT can be transmitted first to avoid the PSFCH corresponding to the PSSCH in the previous COT exceeding the limit of the Packet Delay Budget (PDB).

[0065] Optionally, if the target information includes the number of delayed PSFCH transmissions, determining the PSFCHs that can be transmitted simultaneously can be achieved through any of the following methods: The first terminal prioritizes the PSFCH with the largest number of delayed transmissions. The first terminal prioritizes PSFCHs whose number of delayed transmissions exceeds a first threshold.

[0066] Specifically, the first terminal can determine which PSFCHs can be sent simultaneously based on the number of delayed transmissions of the PSFCH. It can prioritize the PSFCHs with a large number of delayed transmissions, such as selecting at least one PSFCH with a large number of delayed transmissions, so that the already delayed PSFCHs can be sent first, thus improving communication reliability; or, it can prioritize the PSFCHs with a number of delayed transmissions greater than a first threshold, that is, select at least one PSFCH with a large number of delayed transmissions that is greater than the first threshold.

[0067] Optionally, if the target information includes the feedback type of the PSSCH corresponding to the PSFCH, determining the PSFCH that can be sent simultaneously can be achieved in any of the following ways: The first terminal preferentially selects the PSFCH corresponding to the PSSCH with a feedback type of NACK only.

[0068] Specifically, the first terminal can determine which PSFCH to send simultaneously based on the feedback type of the PSFCH. For example, it can prioritize the PSFCH corresponding to a PSFCH with a feedback type of NACK-ONLY. If the feedback type is NACK-ONLY and the receiver does not receive feedback, the receiver will consider the feedback of the sent PSFCH to be ACK. Therefore, if the first terminal wants to send NACK but channel access fails, it will also be treated as ACK. Thus, by prioritizing the transmission of this type of PSFCH when there is an opportunity to send it, the situation where a NACK transmission failure is treated as an ACK can be avoided.

[0069] Optionally, when the target information includes CAPC, determining the PSFCH that can be sent simultaneously can be achieved in any of the following ways: The first terminal prioritizes selecting the PSFCH corresponding to the highest priority CAPC. The first terminal prioritizes PSFCH whose priority corresponding to CAPC is greater than the second threshold.

[0070] Specifically, the first terminal selects PSFCHs that can be transmitted simultaneously based on parameters related to channel access, such as CAPC. It can prioritize selecting PSFCHs with higher priority corresponding to CAPC, such as selecting at least one of the first PSFCHs with higher priority corresponding to CAPC, or prioritizing PSFCHs with a priority greater than the second threshold corresponding to CAPC.

[0071] In the above implementation, when determining the number of PSFCHs that can be transmitted simultaneously, the terminal considers some parameters related to channel access, such as CAPC, the current COT where the PSSCH corresponding to the PSFCH is located, and the number of delayed transmissions of the PSFCH, in order to achieve transmission on unlicensed spectrum.

[0072] For example, if the first terminal has multiple PSFCH feedbacks, and assuming the PSFCHs perform Type 2 LBT, considering the COT sharing condition, if all PSFCHs sent to the second terminal initiating the COT sharing are discarded among the PSFCHs that the first terminal determines can be sent simultaneously, then the first terminal cannot use the COT feedback PSFCHs initiated by the second terminal initiating the COT sharing. Therefore, it is necessary to ensure that at least one PSFCH sent to the second terminal initiating the COT sharing is not discarded. Thus, the priority of the PSFCHs sent to the second terminal initiating the COT sharing can be increased to ensure that when the first terminal determines the PSFCHs that can be sent simultaneously, at least one PSFCH sent to the second terminal initiating the COT sharing is not discarded. Optionally, the priority of the N2 PSFCHs satisfying the COT sharing condition is obtained based on any of the following: The highest priority PSFCH among the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. At least one PSFCH among the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. The priority of each of the N2 PSFCHs is the highest among the N1 PSFCHs.

[0073] Among the N2 PSFCHs, the PSFCH with the highest priority can be one or more.

[0074] Specifically, if the N1 PSFCHs to be sent simultaneously contain N2 that satisfy COT... The PSFCH that shares the conditions is the second terminal. The priority of the N2 PSFCHs that meet the COT sharing conditions can be set as follows: for example, the priority of at least one PSFCH with the highest priority can be set as the highest priority; or, the priority of any at least one PSFCH that meets the COT sharing conditions can be set as the highest priority; or, the priority of all N2 PSFCHs can be set as the highest priority. The highest priority can be the highest priority among the priorities of N1 PSFCHs, or it can be a specific priority value, such as a priority from 0 to 7, where 0 represents the highest priority. For example, the specific priority value is 0. In the end, there is at least one PSFCH among the N2 PSFCHs that has the highest priority among the N1 PSFCHs, and the priority of the other PSFCHs remains unchanged, still being the priority of their respective PSSCHs. Furthermore, if the PSFCHs to be sent are selected according to their priorities, it can be guaranteed that at least one PSFCH sent to the second terminal will not be discarded. Thus, the first terminal can use the shared COT initiated by the second terminal to send PSFCHs.

[0075] Optionally, meeting the COT sharing conditions includes at least one of the following: The second terminal that initiates the shared COT is the receiver of PSFCH; The second terminal that initiates the shared COT is in the same multicast as the first terminal, and the shared COT is used by the second terminal to send multicast information; The shared COT is used for the second terminal to send broadcast information; The first terminal receives a first indication message sent by the second terminal that initiated the shared COT. The first indication message is used to indicate that the first terminal can send PSFCH using the shared COT. Optionally, the first indication message is carried by PSCCH or PSSCH. The first terminal uses the COT where the SCI is demodulated by the first terminal to send PSFCH; The shared COT is used by the second terminal to send feedback information; optionally, the feedback information is carried by the PSFCH. The priority of the CAPC in PSFCH is higher than that of the CAPC in shared COT.

[0076] For example, such as Figure 5As shown, in the unicast case, the second terminal initiating the shared COT is the receiver of the PSFCH sent by the first terminal; in the multicast case, the second terminal initiating the shared COT is in the same multicast as the first terminal, and the shared COT is used by the second terminal to send multicast information; in the broadcast case, the shared COT is used by the second terminal to send broadcast information, and the second terminal is the terminal that initiated the shared COT, then the PSFCH sent using the shared COT satisfies the COT sharing condition; Alternatively, the first indication information indicates that the first terminal can use the shared COT to send a PSFCH; if the shared COT is initiated by the second terminal, the PSFCH sent by the first terminal using the shared COT satisfies the COT sharing condition. Alternatively, the first terminal can use the COT where its demodulated SCI is located to send the PSFCH, and the PSFCH sent by the COT where the SCI is located satisfies the COT sharing condition.

[0077] Alternatively, the shared COT is used by the second terminal to send feedback information. The shared COT is initiated by the second terminal, and the PSFCH sent using the shared COT (sent by the first terminal) satisfies the COT sharing condition. Alternatively, if the priority of the CAPC of the PSFCH is greater than the priority of the CAPC of the shared COT, then the PSFCH meets the COT sharing condition and can be sent using the shared COT.

[0078] In the above implementation, when N1 PSFCHs include N2 PSFCHs that satisfy the COT sharing condition, at least one PSFCH among the N2 PSFCHs that satisfy the COT sharing condition has the highest priority. Therefore, the PSFCH to be sent can be selected based on the priority of the PSFCH, which can ensure that at least one PSFCH sent to the second terminal is not discarded. Thus, the first terminal can use the shared COT initiated by the second terminal to send PSFCH, thereby improving resource utilization.

[0079] Alternatively, step 102 can be implemented in the following way: The first terminal determines to simultaneously send M1 PSFCHs using a shared COT based on at least one of the following: If at least one PSFCH among the M1 PSFCHs satisfies the COT sharing condition, the first terminal sends the M1 PSFCHs using the shared COT. like Figure 6 As shown, if there is at least one PSFCH that satisfies the target condition, the first terminal sends M1 PSFCHs using the shared COT; the M1 PSFCHs do not include the PSFCHs sent to the second terminal that initiated the shared COT. If M1 PSFCHs are within the duration of the shared COT, the first terminal sends M1 PSFCHs using the shared COT; The target conditions include at least one of the following: the feedback type is NACK only, the feedback value is ACK, and the COT sharing conditions are met.

[0080] Specifically, after the first terminal selects M1 PSFCHs from N1 PSFCHs, the first terminal determines whether it can use the shared COT to send the M1 PSFCHs simultaneously based on at least one of the following: that is, the first terminal determines whether to use the shared COT based on whether the PSFCHs sent to the second terminal are all discarded.

[0081] If at least one of the M1 PSFCHs satisfies the COT sharing condition (e.g., sent to the second terminal), then the first terminal uses the shared COT to send the M1 PSFCHs; otherwise, the first terminal does not use the shared COT to send the M1 PSFCHs.

[0082] If the first terminal has at least one PSFCH that meets the following conditions, the first terminal will not send the PSFCH to the second terminal that initiated the shared COT. However, the first terminal can use the shared COT to send M1 PSFCHs, that is, the M1 PSFCHs do not include the PSFCH sent to the second terminal that initiated the shared COT. For example, the M1 PSFCHs are PSFCHs sent to the third terminal, which can be one or more terminals: The feedback type is NACK-ONLY, the feedback value is ACK, or the COT sharing conditions are met (e.g., sent to a second terminal); If M1 PSFCHs are within the duration of the shared COT, the first terminal uses the shared COT to send M1 PSFCHs; otherwise, the first terminal does not use the shared COT to send M1 PSFCHs.

[0083] Optionally, the method further includes: If the first terminal does not use shared COT to send the M1 PSFCHs, the first terminal performs at least one of the following: Discard M1 PSFCHs; Discard N1 PSFCHs; Execute Type 1 LBT. If Type 1 LBT executes successfully, send M1 PSFCHs.

[0084] Specifically, if the first terminal does not use the shared COT to send M1 PSFCHs, then the first terminal performs at least one of the following actions: Discard M1 PSFCHs, or discard N1 PSFCHs that need to be sent, or perform Type 1 LBT. If Type 1 LBT succeeds, then send M1 PSFCHs.

[0085] In the above implementation, if there is at least one PSFCH that satisfies the COT sharing condition among the M1 PSFCHs, at least one PSFCH that satisfies the target condition, and the M1 PSFCHs are within the duration of the shared COT, the shared COT can be used to send the M1 PSFCHs, which can improve resource utilization.

[0086] For example, the first terminal needs to send N1 PSFCHs simultaneously, where the N1 PSFCHs include N2 PSFCHs that satisfy the COT sharing conditions. One of the conditions for satisfying the COT sharing conditions is that the receiving end of the PSFCH is the second terminal that initiated the COT.

[0087] Optionally, the priority of the N2 PSFCHs that satisfy the COT sharing condition can be determined according to either of the following: a) Among the N2 PSFCHs that satisfy the COT sharing condition, the PSFCH with the highest priority has the highest priority, and the other PSFCHs that satisfy the COT sharing condition have the same priority as their corresponding PSSCHs. b) At least one PSFCH that meets the COT sharing condition has the highest priority, and the other PSFCHs that meet the COT sharing condition have the same priority as their corresponding PSSCHs. c) All N2 PSFCHs that satisfy the COT sharing condition have the highest priority; The first terminal determines the M1 PSFCHs that can be transmitted simultaneously from the N2 PSFCHs according to the following method (i.e., the first terminal determines the M1 PSFCHs that can be transmitted simultaneously based on the PSFCH priority, the maximum number of PSFCHs to be transmitted, and the maximum PSFCH transmission power): if ,and The total power of the PSFCH stack does not exceed ,but = The first terminal sends One PSFCH; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Select from the PSFCHs in descending order of priority. Send one PSFCH. exist[ [N2] range.

[0088] if The first terminal, based on the priority of PSFCH, in Select from the PSFCHs in descending order of priority. One PSFCH.

[0089] if The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = The first terminal sends the selected One PSFCH; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is selected in descending order of priority. Send one PSFCH. exist[ , ]scope.

[0090] Alternatively, the first terminal determines the M1 PSFCHs that can be sent simultaneously from the N2 PSFCHs according to the following method: if ,and The total power of the PSFCH stack does not exceed ,but = The first terminal sends One PSFCH; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH, exist[ , ]scope: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0091] if The first terminal, based on the priority of PSFCH, in Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0092] if The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = The first terminal sends the selected One PSFCH; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH, exist[ , ]scope: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0093] It can be seen that the first terminal determines that the M1 PSFCHs actually sent simultaneously are selected from the N2 PSFCHs that meet the COT sharing conditions in descending order of priority. This ensures that at least one PSFCH that meets the COT sharing conditions will not be discarded. The first terminal can use the shared COT initiated by the second terminal to send PSFCHs.

[0094] For example, after determining that M1 PSFCHs can be sent simultaneously, the first terminal determines whether to use the M1 PSFCHs sent simultaneously via the shared COT initiated by the second terminal based on at least one of the following: If at least one of the M1 PSFCHs satisfies the COT sharing condition, and one of the conditions for satisfying the COT sharing is that the receiving end of the PSFCH is the second terminal that initiated the shared COT, then the first terminal uses the shared COT to send M1 PSFCHs; otherwise, the first terminal does not use the shared COT to send M1 PSFCHs.

[0095] If the first terminal has at least one PSFCH with a feedback type of NACK-ONLY and a feedback value of ACK, and satisfies the COT sharing condition, the first terminal will not send the PSFCH to the second terminal. However, the first terminal can use the shared COT to send M1 PSFCHs, that is, the M1 PSFCHs do not include the PSFCHs sent to the second terminal. If M1 PSFCHs are within the duration of the COT, the first terminal uses the shared COT to send M1 PSFCHs; otherwise, the first terminal does not use the shared COT to send M1 PSFCHs.

[0096] Alternatively, the M2 PSFCHs that can be sent simultaneously can be determined from the N1 PSFCHs, and the above methods can also be used, which will not be elaborated here.

[0097] For example, the first terminal needs to send N1 PSFCHs simultaneously, of which N2 PSFCHs satisfy the COT sharing condition. The first terminal determines M1 PSFCHs according to the following rules, where M1 PSFCHs are PSFCHs that can be sent simultaneously, and M1 PSFCHs contain at least one PSFCH that satisfies the COT sharing condition: The first terminal determines the M3 PSFCHs that can be sent simultaneously from the N2 PSFCHs according to the following method: if ,and The total power of the PSFCH stack does not exceed ,but = ; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Select from the PSFCHs in descending order of priority. One PSFCH, exist[ [N2] range.

[0098] if The first terminal, based on the priority of PSFCH, in Select from the PSFCHs in descending order of priority. One PSFCH.

[0099] if The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = ; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is selected in descending order of priority. One PSFCH, exist[ , ]scope.

[0100] The first terminal determines the M4 PSFCHs that can be sent simultaneously from the remaining N1-M3 PSFCHs that need to be sent: if ( (the remaining maximum number of PSFCH to send), and The total power of the PSFCH stack does not exceed ( (where the remaining maximum transmission power is), then = ; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest N' value, satisfy N' times No more than The first terminal is Select from the PSFCHs in descending order of priority. One PSFCH, M4 in [ [N1-M3] range.

[0101] if The first terminal, based on the priority of PSFCH, in Select from the PSFCHs in descending order of priority. One PSFCH.

[0102] if The total power of the PSFCH stack does not exceed ,but = ; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest N' value, satisfy N' times No more than The first terminal is selected in descending order of priority. One PSFCH, exist[ , ]scope.

[0103] The first terminal determines M1 PSFCHs as M3 PSFCHs and M4 PSFCHs.

[0104] or, The first terminal determines the M3 PSFCHs that can be sent simultaneously from the N2 PSFCHs according to the following method: if ,and The total power of the PSFCH stack does not exceed ,but = ; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH, exist[ , ]scope: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a feedback type of NACK-ONLY; In order of priority from highest to lowest.

[0105] if The terminal, based on the priority of PSFCH, in Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0106] if The total power of the superposition of PSFCHs (i.e. indivual (not exceeding) ,but = ; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest value of N, satisfying N... No more than The first terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH, exist[ , ]scope: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0107] The first terminal determines M4 PSFCHs that can be sent simultaneously from the remaining N1-M3 PSFCHs that need to be sent. if ( (the remaining maximum number of PSFCH to send), and The total power of the PSFCH stack does not exceed ( (where the remaining maximum transmission power is), then = ; if , The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest N' value, satisfy N' times No more than The first terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH, M4 in [ [N1-M3] range.

[0108] Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0109] if The terminal is Choose from the PSFCHs that satisfy at least one of the following conditions. One PSFCH: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0110] if The total power of the PSFCH stack does not exceed ,but = ; if The transmit power of each PSFCH exceeds The first terminal determines the minimum number of PSFCHs to send. , For the largest N' value, satisfy N' times No more than The terminal selects one that satisfies at least one of the following conditions. One PSFCH, exist[ , ]scope.

[0111] Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; Prioritize PSFCH with a large number of delayed transmissions; Prioritize selecting the PSFCH corresponding to the PSSCH with a transmission type of NACK-ONLY; In order of priority from highest to lowest.

[0112] The first terminal determines M1 PSFCHs as M3 PSFCHs and M4 PSFCHs.

[0113] The PSFCH transmission method provided in this application can be executed by a PSFCH transmission device. This application uses the execution of the PSFCH transmission method by a PSFCH transmission device as an example to illustrate the PSFCH transmission device provided in this application.

[0114] Figure 7 This is one of the structural schematic diagrams of the PSFCH transmitting device provided in the embodiments of this application. For example... Figure 7 As shown, the PSFCH transmitting device provided in this embodiment includes: Processing module 210 is used to determine M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; The sending module 220 is used to send the M1 PSFCHs.

[0115] Optionally, when the first terminal determines M1 PSFCHs based on N1 PSFCHs, the M1 PSFCHs are at least one PSFCH determined from M2 PSFCHs that satisfies the COT sharing condition, wherein the M2 PSFCHs are at least one PSFCH determined from N1 PSFCHs that can be sent simultaneously.

[0116] Optionally, when the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M3 PSFCHs, or include M3 and M4 PSFCHs, wherein the M3 PSFCHs are at least one PSFCH that can be sent simultaneously from the N2 PSFCHs, and the M4 PSFCHs are at least one PSFCH that can be sent simultaneously from the remaining N1-M3 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing conditions included in the N1 PSFCHs that need to be sent simultaneously.

[0117] Optionally, when the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M5 PSFCHs, or include M5 and M6 PSFCHs, wherein the M5 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from all the PSFCHs with the highest priority among the N2 PSFCHs, and the M6 ​​PSFCHs are at least one PSFCH that can be sent simultaneously, determined from the remaining N1-M5 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing condition included in the N1 PSFCHs that need to be sent simultaneously.

[0118] Optionally, when the M1 PSFCHs include M3 and M4 PSFCHs, the M4 PSFCHs are determined by the first terminal from the remaining N1-M3 or N1-N2 PSFCHs to be transmitted, provided that a first condition is met. The first condition includes: the N2 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or the M3 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M3 PSFCHs is less than the maximum transmission power of the first terminal.

[0119] Optionally, when the M1 PSFCHs include M5 and M6 PSFCHs, the M5 PSFCHs are determined by the first terminal from the remaining N1-M5 or N1-N2 PSFCHs that need to be transmitted, provided that a second condition is met. The second condition includes: the number of all PSFCHs with the highest priority among the N2 PSFCHs is less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or the M5 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M5 PSFCHs is less than the maximum transmission power of the first terminal.

[0120] Optionally, satisfying the COT sharing conditions includes at least one of the following: The second terminal that initiates the shared COT is the receiving end of the PSFCH; The second terminal that initiates the shared COT is in the same multicast as the first terminal, and the shared COT is used by the second terminal to send multicast information; The shared COT is used to initiate the second terminal of the shared COT to send broadcast information; The first terminal receives a first indication message sent by the second terminal that initiated the shared COT. The first indication message is used to indicate that the first terminal can use the shared COT to send the PSFCH. The first terminal uses the COT where the SCI demodulated by the first terminal is located to send PSFCH; The shared COT is used to send feedback information from the second terminal that initiates the shared COT. The priority of the CAPC of the PSFCH is greater than the priority of the CAPC of the shared COT.

[0121] Optionally, the first indication information is carried by PSCCH or PSSCH; and / or, The feedback information is carried by the PSFCH.

[0122] Optionally, the processing module 210 is specifically used for: If the first terminal detects a shared COT, it determines M1 PSFCHs that can be sent simultaneously.

[0123] Optionally, the processing module 210 is further configured to: The used shared COT is determined from at least one detected shared COT, said used shared COT including one of the following: The highest priority shared COT among the at least one shared COT; The shared COT that can send the most PSFCHs among the at least one shared COT; Any one or more of the at least one shared COT; The shared COT that can send the highest priority PSFCH is the one among the at least one shared COT.

[0124] Optionally, if the N1 PSFCHs include N2 PSFCHs that satisfy the COT sharing condition, the priority of the N2 PSFCHs that satisfy the COT sharing condition is obtained based on any of the following: The highest priority PSFCH among the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. At least one of the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. The priority of each of the N2 PSFCHs is the highest among the N1 PSFCHs.

[0125] Optionally, the sending module 220 is specifically used for: Determine whether to use shared COT to send the M1 PSFCHs simultaneously based on at least one of the following: If at least one PSFCH among the M1 PSFCHs satisfies the COT sharing condition, then M1 PSFCHs are sent using the shared COT. If at least one PSFCH satisfies the target condition, the M1 PSFCHs are sent using a shared COT; the M1 PSFCHs do not include the PSFCH sent to the second terminal that initiated the shared COT. If the M1 PSFCHs are within the duration of the shared COT, the M1 PSFCHs are sent using the shared COT; The target conditions include at least one of the following: the feedback type is NACK only, the feedback value is ACK, and the COT sharing conditions are met.

[0126] Optionally, the processing module 210 is further configured to: Without using shared COT to send the M1 PSFCHs, perform at least one of the following: Discard M1 PSFCHs; Discard N1 PSFCHs; If the execution of Type 1 LBT is successful, the sending module 220 will send M1 PSFCHs.

[0127] Optionally, the processing module 210 is further configured to: Determine the PSFCH that can be sent simultaneously based on the target information; The target information includes at least one of the following: The Channel Occupancy Time (COT) of the Physical Side Link Shared Channel (PSSCH) corresponding to PSFCH; The number of delayed PSFCH transmissions; The feedback type of PSFCH corresponding to PSSCH; Channel Access Priority Category (CAPC) PSFCH priority; Maximum number of PSFCH messages sent; Maximum remaining PSFCH transmission count; Maximum PSFCH transmit power; Remaining maximum PSFCH transmit power.

[0128] Optionally, if the target information includes the COT where the PSSCH corresponding to the PSFCH is located, the processing module 210 is specifically used to perform one of the following: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; The PSFCH corresponding to the PSSCH within the first COT is selected first; the first COT is the previous COT or the previous N COTs of the current COT, where N is an integer greater than 1.

[0129] Optionally, if the target information includes the number of delayed transmissions of the PSFCH, the processing module 210 is specifically configured to perform one of the following: Prioritize PSFCH with a large number of delayed transmissions; Prioritize PSFCHs with a delay count greater than the first threshold.

[0130] Optionally, when the target information includes the feedback type of PSSCH corresponding to PSFCH, the processing module 210 is specifically used for: The PSFCH corresponding to the PSSCH with the feedback type of NACK only is preferred.

[0131] Optionally, when the target information includes the CAPC, the processing module 210 is specifically configured to perform one of the following: Prioritize selecting the PSFCH with the highest priority corresponding to CAPC; Prioritize PSFCHs with a priority greater than the second threshold corresponding to CAPC.

[0132] The apparatus of this embodiment can be used to execute the method of any of the aforementioned terminal-side method embodiments. Its specific implementation process and technical effects are the same as those in the terminal-side method embodiments. For details, please refer to the detailed description in the terminal-side method embodiments, which will not be repeated here.

[0133] The PSFCH transmitting device in this application 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. The electronic device can be a terminal, or other devices besides a terminal. For example, the terminal can include, but is not limited to, the type of terminal 11 listed above; other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the type.

[0134] The PSFCH transmitting device provided in this application embodiment can implement the various processes implemented in the method embodiments of Figures N to N+x and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0135] Optionally, 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 programs or instructions that can run on the processor 801. For example, when the communication device 800 is a terminal, the program or instructions executed by the processor 801 implement the various steps of the above-described PSFCH transmission method embodiment and achieve the same technical effect. When the communication device 800 is a second terminal, the program or instructions executed by the processor 801 implement the various steps of the above-described PSFCH transmission method embodiment and achieve the same technical effect. To avoid repetition, this will not be described again here.

[0136] This application embodiment also provides a first terminal, including a processor and a communication interface. The processor is used to determine M1 PSFCHs that can be transmitted simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; the communication interface is used to transmit the M1 PSFCHs. This terminal embodiment corresponds to the above-described terminal-side method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 9 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0137] The terminal 1000 includes, but is not limited to, at least some of the following components: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.

[0138] Those skilled in the art will understand that the terminal 1000 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 1010 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 9 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0139] It should be understood that, in this embodiment, the input unit 1004 may include a graphics processing unit (GPU) 10041 and a microphone 10042. The GPU 10041 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 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 may include a touch detection device and a touch controller. Other input devices 10072 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.

[0140] In this embodiment, the radio frequency unit 1001 receives downlink data from the network-side device and transmits it to the processor 1010 for processing. Additionally, the radio frequency unit 1001 can send uplink data to the network-side device. Typically, the radio frequency unit 1001 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, and a duplexer.

[0141] The memory 1009 can be used to store software programs or instructions and various data. The memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first program or instruction storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the memory 1009 may include volatile memory or non-volatile memory, or both. It may include high-speed random access memory and may also include non-volatile memory, wherein 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 linked dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1009 in this embodiment includes, but is not limited to, these and any other suitable types of memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0142] Processor 1010 may include one or more processing units; optionally, processor 1010 may integrate an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications or instructions, 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 1010.

[0143] The processor 1010 is used to determine M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition. Radio frequency unit 1001 is used to transmit the M1 PSFCHs.

[0144] Optionally, when the first terminal determines M1 PSFCHs based on N1 PSFCHs, the M1 PSFCHs are at least one PSFCH determined from M2 PSFCHs that satisfies the COT sharing condition, wherein the M2 PSFCHs are at least one PSFCH determined from N1 PSFCHs that can be sent simultaneously.

[0145] Optionally, when the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M3 PSFCHs, or include M3 and M4 PSFCHs, wherein the M3 PSFCHs are at least one PSFCH that can be sent simultaneously from the N2 PSFCHs, and the M4 PSFCHs are at least one PSFCH that can be sent simultaneously from the remaining N1-M3 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing conditions included in the N1 PSFCHs that need to be sent simultaneously.

[0146] Optionally, when the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M5 PSFCHs, or include M5 and M6 PSFCHs, wherein the M5 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from all the PSFCHs with the highest priority among the N2 PSFCHs, and the M6 ​​PSFCHs are at least one PSFCH that can be sent simultaneously, determined from the remaining N1-M5 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing condition included in the N1 PSFCHs that need to be sent simultaneously.

[0147] Optionally, when the M1 PSFCHs include M3 and M4 PSFCHs, the M4 PSFCHs are determined by the first terminal from the remaining N1-M3 or N1-N2 PSFCHs to be transmitted, provided that a first condition is met. The first condition includes: the N2 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or the M3 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M3 PSFCHs is less than the maximum transmission power of the first terminal.

[0148] Optionally, when the M1 PSFCHs include M5 and M6 PSFCHs, the M5 PSFCHs are determined by the first terminal from the remaining N1-M5 or N1-N2 PSFCHs that need to be transmitted, provided that a second condition is met. The second condition includes: the number of all PSFCHs with the highest priority among the N2 PSFCHs is less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or the M5 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M5 PSFCHs is less than the maximum transmission power of the first terminal.

[0149] Optionally, satisfying the COT sharing conditions includes at least one of the following: The second terminal that initiates the shared COT is the receiving end of the PSFCH; The second terminal that initiates the shared COT is in the same multicast as the first terminal, and the shared COT is used by the second terminal to send multicast information; The shared COT is used to initiate the second terminal of the shared COT to send broadcast information; The first terminal receives a first indication message sent by the second terminal that initiated the shared COT. The first indication message is used to indicate that the first terminal can use the shared COT to send the PSFCH. The first terminal uses the COT where the SCI demodulated by the first terminal is located to send PSFCH; The shared COT is used to send feedback information from the second terminal that initiates the shared COT. The priority of the CAPC of the PSFCH is greater than the priority of the CAPC of the shared COT.

[0150] Optionally, the first indication information is carried by PSCCH or PSSCH; and / or, The feedback information is carried by the PSFCH.

[0151] Optionally, the processor 1010 is specifically used for: If the first terminal detects a shared COT, it determines M1 PSFCHs that can be sent simultaneously.

[0152] Optionally, the processing module 210 is further configured to: The used shared COT is determined from at least one detected shared COT, said used shared COT including one of the following: The highest priority shared COT among the at least one shared COT; The shared COT that can send the most PSFCHs among the at least one shared COT; Any one or more of the at least one shared COT; The shared COT that can send the highest priority PSFCH is the one among the at least one shared COT.

[0153] Optionally, if the N1 PSFCHs include N2 PSFCHs that satisfy the COT sharing condition, the priority of the N2 PSFCHs that satisfy the COT sharing condition is obtained based on any of the following: The highest priority PSFCH among the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. At least one of the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. The priority of each of the N2 PSFCHs is the highest among the N1 PSFCHs.

[0154] Optionally, the radio frequency unit 1001 is specifically used for: Determine whether to use shared COT to send the M1 PSFCHs simultaneously based on at least one of the following: If at least one PSFCH among the M1 PSFCHs satisfies the COT sharing condition, then M1 PSFCHs are sent using the shared COT. If at least one PSFCH satisfies the target condition, the M1 PSFCHs are sent using a shared COT; the M1 PSFCHs do not include the PSFCH sent to the second terminal that initiated the shared COT. If the M1 PSFCHs are within the duration of the shared COT, the M1 PSFCHs are sent using the shared COT; The target conditions include at least one of the following: the feedback type is NACK only, the feedback value is ACK, and the COT sharing conditions are met.

[0155] Optionally, the processor 1010 is further configured to: Without using shared COT to send the M1 PSFCHs, perform at least one of the following: Discard M1 PSFCHs; Discard N1 PSFCHs; If the execution of Type 1 LBT is successful, the sending module 220 will send M1 PSFCHs.

[0156] Optionally, the processor 1010 is further configured to: Determine the PSFCH that can be sent simultaneously based on the target information; The target information includes at least one of the following: The Channel Occupancy Time (COT) of the Physical Side Link Shared Channel (PSSCH) corresponding to PSFCH; The number of delayed PSFCH transmissions; The feedback type of PSFCH corresponding to PSSCH; Channel Access Priority Category (CAPC) PSFCH priority; Maximum number of PSFCH messages sent; Maximum remaining PSFCH transmission count; Maximum PSFCH transmit power; Remaining maximum PSFCH transmit power.

[0157] Optionally, when the target information includes the COT where the PSSCH corresponding to the PSFCH is located, the processor 1010 is specifically configured to perform one of the following: Prioritize selecting the PSFCH corresponding to the PSSCH within the current COT; The PSFCH corresponding to the PSSCH within the first COT is selected first; the first COT is the previous COT or the previous N COTs of the current COT, where N is an integer greater than 1.

[0158] Optionally, if the target information includes the number of delayed transmissions of the PSFCH, the processor 1010 is specifically configured to perform one of the following: Prioritize PSFCH with a large number of delayed transmissions; Prioritize PSFCHs with a delay count greater than the first threshold.

[0159] Optionally, when the target information includes the feedback type of PSSCH corresponding to PSFCH, the processor 1010 is specifically used for: The PSFCH corresponding to the PSSCH with the feedback type of NACK only is preferred.

[0160] Optionally, when the target information includes the CAPC, the processor 1010 is specifically configured to perform one of the following: Prioritize selecting the PSFCH with the highest priority corresponding to CAPC; Prioritize PSFCHs with a priority greater than the second threshold corresponding to CAPC.

[0161] 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 PSFCH transmission method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0162] 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.

[0163] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described PSFCH transmission method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0164] 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.

[0165] 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 PSFCH transmission method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0166] This application also provides a communication system, including a first terminal and a second terminal, wherein the first terminal can be used to perform the steps of the PSFCH transmission method as described above, and the second terminal can be used to perform the steps of the PSFCH transmission method as described above.

[0167] 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.

[0168] 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.

[0169] 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 method for transmitting a Physical Side Link Feedback Channel (PSFCH), characterized in that, include: The first terminal determines M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; The first terminal uses a shared COT to simultaneously send the M1 PSFCHs; the M1 PSFCHs are PSFCHs sent to multiple terminals.

2. The PSFCH transmission method according to claim 1, characterized in that, When the first terminal determines M1 PSFCHs based on N1 PSFCHs, the M1 PSFCHs are at least one PSFCH determined from M2 PSFCHs that satisfies the COT sharing condition, wherein the M2 PSFCHs are at least one PSFCH determined from N1 PSFCHs that can be sent simultaneously.

3. The PSFCH transmission method according to claim 1, characterized in that, When the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M3 PSFCHs, or, include M3 and M4 PSFCHs, wherein the M3 PSFCHs are at least one PSFCH that can be sent simultaneously from the N2 PSFCHs, and the M4 PSFCHs are at least one PSFCH that can be sent simultaneously from the remaining N1-M3 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing conditions included in the N1 PSFCHs that need to be sent simultaneously.

4. The PSFCH transmission method according to claim 1, characterized in that, When the first terminal determines M1 PSFCHs based on N2 PSFCHs, the M1 PSFCHs include M5 PSFCHs, or, include M5 and M6 PSFCHs, wherein the M5 PSFCHs are at least one PSFCH that can be sent simultaneously, determined from all the PSFCHs with the highest priority among the N2 PSFCHs, and the M6 ​​PSFCHs are at least one PSFCH that can be sent simultaneously, determined from the remaining N1-M5 or N1-N2 PSFCHs that need to be sent; the N2 PSFCHs are PSFCHs that satisfy the COT sharing conditions included in the N1 PSFCHs that need to be sent simultaneously.

5. The PSFCH transmission method according to claim 3, characterized in that, When the M1 PSFCHs include M3 and M4 PSFCHs, the M4 PSFCHs are determined by the first terminal from the remaining N1-M3 or N1-N2 PSFCHs to be transmitted, provided that a first condition is met. The first condition includes: the N2 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously, or the M3 PSFCHs are less than the maximum number of PSFCHs that the first terminal can transmit simultaneously and the total power of the M3 PSFCHs is less than the maximum transmission power of the first terminal.

6. The PSFCH transmission method according to claim 4, characterized in that, When the M1 PSFCHs include M5 and M6 PSFCHs, the M5 PSFCHs are determined by the first terminal from the remaining N1-M5 or N1-N2 PSFCHs that need to be sent, provided that the second condition is met. The second condition includes: the number of all PSFCHs with the highest priority among the N2 PSFCHs is less than the maximum number of PSFCHs that the first terminal can send simultaneously, or the M5 PSFCHs are less than the maximum number of PSFCHs that the first terminal can send simultaneously and the total power of the M5 PSFCHs is less than the maximum transmission power of the first terminal.

7. The PSFCH transmission method according to any one of claims 1-6, characterized in that, The conditions for satisfying COT sharing include at least one of the following: The second terminal that initiates the shared COT is the receiving end of the PSFCH; The second terminal that initiates the shared COT is in the same multicast as the first terminal, and the shared COT is used by the second terminal to send multicast information; The shared COT is used to initiate the second terminal of the shared COT to send broadcast information; The first terminal receives a first indication message sent by the second terminal that initiated the shared COT. The first indication message is used to indicate that the first terminal can use the shared COT to send the PSFCH. The first terminal uses the COT where the SCI demodulated by the first terminal is located to send PSFCH; The shared COT is used to send feedback information from the second terminal that initiates the shared COT. The priority of the channel access priority category CAPC of the PSFCH is greater than the priority of the CAPC of the shared COT.

8. The PSFCH transmission method according to claim 7, characterized in that, The first indication information is carried by PSCCH or PSSCH; and / or, The feedback information is carried by the PSFCH.

9. The PSFCH transmission method according to any one of claims 1-6, characterized in that, The first terminal determines M1 PSFCHs that can be sent simultaneously, including: When the first terminal detects a shared COT, the first terminal determines M1 PSFCHs that can be sent simultaneously.

10. The PSFCH transmission method according to any one of claims 1-6, characterized in that, The method further includes: The first terminal determines the used shared COT from at least one detected shared COT, the used shared COT including one of the following: The highest priority shared COT among the at least one shared COT; The shared COT that can send the most PSFCHs among the at least one shared COT; Any one or more of the at least one shared COT; The shared COT that can send the highest priority PSFCH is the one among the at least one shared COT.

11. The PSFCH transmission method according to any one of claims 3-6, characterized in that, The priorities of the N2 PSFCHs that satisfy the COT sharing condition are obtained based on any of the following: The highest priority PSFCH among the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. At least one of the N2 PSFCHs has the highest priority among the N1 PSFCHs, and the remaining PSFCHs among the N2 PSFCHs have the same priority as their respective corresponding PSSCHs. The priority of each of the N2 PSFCHs is the highest among the N1 PSFCHs.

12. The PSFCH transmission method according to any one of claims 1-6, characterized in that, The first terminal sends the M1 PSFCHs, including: The first terminal determines to simultaneously send the M1 PSFCHs using a shared COT based on at least one of the following: If at least one PSFCH among the M1 PSFCHs satisfies the COT sharing condition, the first terminal sends the M1 PSFCHs using the shared COT. If at least one PSFCH satisfies the target condition, the first terminal sends the M1 PSFCHs using a shared COT; the M1 PSFCHs do not include the PSFCHs sent to the second terminal that initiated the shared COT; If the M1 PSFCHs are within the duration of the shared COT, the first terminal uses the shared COT to send the M1 PSFCHs; The target conditions include at least one of the following: the feedback type is NACK only, the feedback value is ACK, and the COT sharing conditions are met.

13. The PSFCH transmission method according to claim 12, characterized in that, The method further includes: If the first terminal does not use shared COT to send the M1 PSFCHs, the first terminal performs at least one of the following: Discard M1 PSFCHs; Discard N1 PSFCHs; Execute Type 1 LBT. If Type 1 LBT executes successfully, send M1 PSFCHs.

14. The PSFCH transmission method according to any one of claims 1-6, characterized in that, The method further includes: The first terminal determines the PSFCH that can be sent simultaneously based on the target information; The target information includes at least one of the following: The Channel Occupancy Time (COT) of the Physical Side Link Shared Channel (PSSCH) corresponding to PSFCH; The number of delayed PSFCH transmissions; The feedback type of PSFCH corresponding to PSSCH; Channel Access Priority Category (CAPC) PSFCH priority; Maximum number of PSFCH messages sent; Maximum remaining PSFCH transmission count; Maximum PSFCH transmit power; Remaining maximum PSFCH transmit power.

15. The PSFCH transmission method according to claim 14, characterized in that, When the target information includes the COT where the PSSCH corresponding to the PSFCH is located, the first terminal determines the PSFCH that can be sent simultaneously based on the target information, including one of the following: The first terminal preferentially selects the PSFCH corresponding to the PSSCH within the current COT; The first terminal preferentially selects the PSFCH corresponding to the PSSCH within the first COT; the first COT is the previous COT or the previous N COTs of the current COT, where N is an integer greater than 1.

16. The PSFCH transmission method according to claim 14, characterized in that, When the target information includes the number of delayed transmissions of the PSFCH, the first terminal determines the PSFCH that can be transmitted simultaneously based on the target information, including one of the following: The first terminal preferentially selects the PSFCH with the largest number of delayed transmissions; The first terminal preferentially selects PSFCHs whose number of delayed transmissions is greater than a first threshold.

17. The PSFCH transmission method according to claim 14, characterized in that, When the target information includes the feedback type of the PSSCH corresponding to the PSFCH, the first terminal determines the PSFCH that can be sent simultaneously based on the target information, including: The first terminal preferentially selects the PSFCH corresponding to the PSSCH with feedback type NACK only.

18. The PSFCH transmission method according to claim 14, characterized in that, When the target information includes the CAPC, the first terminal determines the PSFCH that can be sent simultaneously based on the target information, including one of the following: The first terminal preferentially selects the PSFCH with higher priority corresponding to CAPC; The first terminal preferentially selects the PSFCH corresponding to CAPC whose priority is greater than the second threshold.

19. A physical side link feedback channel (PSFCH) transmitting apparatus, characterized in that, include: The processing module is used to determine M1 PSFCHs that can be sent simultaneously; the M1 PSFCHs include at least one PSFCH that satisfies the COT sharing condition; The sending module is used to simultaneously send the M1 PSFCHs using a shared COT, wherein the M1 PSFCHs are PSFCHs sent to multiple terminals.

20. A first terminal, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the PSFCH transmission method as described in any one of claims 1 to 18.

21. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the PSFCH transmission method as described in any one of claims 1 to 18.

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