Communication method and device

Abstract

The invention provides a communication method and device, belongs to the technical field of communication, and is used for realizing communication perception integration through a new sidelink SL time slot structure. In the method, a terminal device can multiplex a time domain resource of a sidelink for perception, that is, the terminal device can perform perception on a first time domain resource and / or a second time domain resource of an SL time slot by sending a perception sequence and / or receiving a perception echo, that is, the terminal device can perform perception while communicating with other terminal devices. Therefore, communication sensing integration can be realized through the SL time slot structure.

Description

Technical Field

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

[0002] Integrated sensing and communications (ISAC) refers to a new information processing technology that realizes the coordination of perception and communication functions based on software and hardware resource sharing or information sharing. ISAC can share spectrum, hardware platform, and even baseband waveform and signal processing methods between communication and perception, thereby improving the system's spectrum efficiency, energy efficiency and hardware efficiency to obtain integration gain. At present, communication and perception integration can be achieved through the air interface.

[0003] However, the existing time slot structure cannot achieve communication perception integration. Summary of the invention

[0004] The embodiments of the present application provide a communication method and device for realizing communication perception integration through a new SL time slot structure.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a communication method is provided, which is executed by a terminal device, and the method includes: determining a side link SL time slot, and sending a perception sequence on a first time domain resource, and / or receiving a perception echo on a second time domain resource; the SL time slot includes at least one first symbol, the first symbol includes at least one time domain resource of a first time domain resource and a second time domain resource, the first time domain resource is used to send a perception sequence, and the second time domain resource is used to receive a perception echo.

[0007] Based on the method described in the first aspect, it can be known that the terminal device can reuse the time domain resources of the side link for perception, that is, the terminal device can perceive on the first time domain resources of the SL time slot, and / or the second time domain resources, that is, the terminal device can perceive while communicating with other terminal devices. For example, the terminal device can send a perception sequence during the communication process, and receive a perception echo corresponding to the perception sequence to perceive; or, the terminal device can send a perception sequence during the communication process, and other terminal devices receive a perception echo corresponding to the perception sequence to perceive; or, the terminal device can receive a perception echo corresponding to the perception sequence sent by other terminal devices during the communication process to perceive. In this way, communication and perception integration can be achieved through the above-mentioned SL time slot structure.

[0008] In a possible design, the first symbol also includes a third time domain resource, and the third time domain resource is used to switch from sending the perception sequence to starting to receive the perception echo, and the third time domain resource is adjacent to the first time domain resource and the second time domain resource. In other words, when the terminal device sends the perception sequence and receives the perception echo through a set of antennas, the third time domain resource is a time domain resource reserved for the antenna to switch from sending to receiving, thereby ensuring that the second time domain resource corresponds to the antenna when switching to receiving, thereby ensuring that the antenna can normally receive the perception echo.

[0009] Optionally, the first symbol includes M time units, the first time domain resource includes m1 continuous time units, the second time domain resource includes m2 continuous time units, and the third time domain resource includes m3 continuous time units, M is an integer greater than or equal to 3, and m1, m2, and m3 are all integers greater than or equal to 1. That is, the time domain resources can be flexibly divided into smaller granularities, so that each time domain resource can be represented with a smaller granularity. It can be understood that the time unit is only an exemplary representation, and in future communication systems, the "time unit" can also be replaced by any possible expression without limitation.

[0010] Optionally, the first symbol also includes a fourth time domain resource, and the fourth time domain resource is used to receive a perception echo. The start time of the fourth time domain resource is the same as the start time of the first time domain resource, and the end time of the fourth time domain resource is between the start time of the second time domain resource and the end time of the second time domain resource. It can be understood that when the terminal device sends a perception sequence and receives a perception echo through a set of antennas, because the perception echo cannot be received in the first time domain resource and the third time domain resource, there is a blind area range where perception cannot be performed. When there are multiple sets of antennas, the fourth time domain resource is a time domain resource set for receiving perception echoes by other antennas except the antenna that sends the perception sequence, and the fourth time domain resource includes at least the first time domain resource and the second time domain resource. In this way, it can be avoided that the time domain resources corresponding to the first time domain resource and the second time domain resource cannot receive the perception echo, thereby avoiding the occurrence of a blind area range.

[0011] Further, the first symbol includes M time units, the first time domain resource includes m1 continuous time units; the second time domain resource includes m2 continuous time units; the third time domain resource includes m3 continuous time units; the fourth time domain resource includes m1 continuous time units and m3 continuous time units, or the fourth time domain resource includes m1 continuous time units, m3 continuous time units and at least part of m2 continuous time units; M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1. That is, the time domain resources can be flexibly divided into smaller granularities, so that each time domain resource can be represented with smaller granularity. It can be understood that the time unit is only an exemplary representation, and in future communication systems, "time unit" can also be replaced by any possible expression without limitation.

[0012] In one possible design scheme, the start time of the second time domain resource is between the start time of the first time domain resource and the end time of the first time domain resource, and the end time of the second time domain resource is greater than the end time of the first time domain resource. This is used to flexibly set the duration and position of the first time domain resource and the second time domain resource when there are two sets of antennas that respectively send perception sequences and receive perception echoes.

[0013] Optionally, the first symbol includes the 1st time unit to the Mth time unit, the first time domain resource includes the ith time unit to the jth time unit, the second time domain resource includes the pth time unit to the qth time unit, the pth time unit is between the ith time unit and the jth time unit, and the qth time unit is between the jth time unit and the Mth time unit. That is, the time domain resources can be flexibly divided into smaller granularities, so that each time domain resource can be represented with a smaller granularity. It can be understood that the time unit is only an exemplary representation. In future communication systems, the "time unit" can also be replaced by any possible expression without limitation.

[0014] In a possible design scheme, the start time of the first time domain resource is greater than or equal to the start time of the first symbol. The specific time can be flexibly selected according to actual conditions and is not limited.

[0015] Optionally, the termination time of the second time domain resource is less than or equal to the termination time of the first symbol, and the specific time can be flexibly selected according to actual conditions, and there is no limitation on this.

[0016] Furthermore, the first symbol is an automatic gain control AGC symbol. The AGC symbol in the SL time slot is used by the receiving device to perform AGC adjustment, and the receiving device does not pay attention to the specific content of the AGC symbol. Therefore, the use of the AGC symbol for perception is compatible with the existing SL time slot structure, so that perception is achieved without affecting the existing communication performance.

[0017] Optionally, the first symbol also includes a fifth time domain resource, and the fifth time domain resource is used to switch from receiving the perceived echo to starting to send or receive the second symbol, and the second symbol is adjacent to the first symbol; the start time of the fifth time domain resource is the same as the end time of the second time domain resource. That is, the first symbol may be the last symbol in the time slot of the SL time slot, and the second symbol may be the first symbol of the next time slot adjacent to the time slot. When the antenna of the terminal device switches from receiving the perceived echo to starting to send or receive the second symbol, the fifth time domain resource can be used to reserve time for the antenna to switch between transceiver and transmitter, thereby ensuring that the antenna can normally send or receive the second symbol.

[0018] Furthermore, the first symbol is a guard period GAP symbol. The GAP symbol of the SL time slot is the last symbol of each time slot and is used for the transceiver conversion of the antenna of the terminal device. Because the transceiver conversion time of the antenna can only use part of the time domain resources in the GAP symbol, and does not require all the time domain resources, part of the time domain resources in the GAP symbol can be used for perception, and part of the time domain resources can be used for the transceiver conversion of the antenna, so that it can be compatible with the existing SL time slot structure, so that perception can be achieved without affecting the existing communication performance.

[0019] In a possible design scheme, the sensing echo is an echo corresponding to a sensing sequence, and the antenna of the terminal device receives the sensing echo corresponding to the sensing sequence after sending the sensing sequence, thereby achieving sensing.

[0020] In a second aspect, a communication device is provided. The communication device includes: a module for executing the method described in the first aspect, such as a transceiver module and a processing module. For example, the processing module is used to determine the side link SL time slot; the transceiver module is used to send a perception sequence on a first time domain resource, and / or receive a perception echo on a second time domain resource. The SL time slot includes at least one first symbol, the first symbol includes at least one time domain resource of the first time domain resource and the second time domain resource, the first time domain resource is used to send the perception sequence, and the second time domain resource is used to receive the perception echo.

[0021] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the fifth aspect, and the receiving module is used to implement the receiving function of the communication device described in the second aspect.

[0022] Optionally, the communication device described in the second aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the method described in the first aspect.

[0023] It can be understood that the communication device described in the second aspect can be a terminal, such as a remote device, or a chip (system) or other parts or components that can be set in the terminal, or a device including a terminal, which is not limited in this application.

[0024] In addition, the technical effects of the communication device described in the second aspect can refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0025] In a third aspect, a communication device is provided, including: a processor, the processor being configured to execute the method described in any possible implementation manner of the first aspect.

[0026] In a possible design solution, the communication device described in the third aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in the third aspect to communicate with other communication devices.

[0027] In a possible design scheme, the communication device described in the third aspect may further include a memory. The memory may be integrated with the processor or may be separately provided. The memory may be used to store the computer program and / or data involved in the method described in the first aspect.

[0028] In an embodiment of the present application, the communication device described in the third aspect may be the terminal described in the first aspect, or a chip (system) or other parts or components that may be set in the terminal, or a device including the terminal.

[0029] In addition, the technical effects of the communication device described in the third aspect can refer to the technical effects of the method described in any implementation method of the first aspect, and will not be repeated here.

[0030] In a fourth aspect, a communication device is provided, comprising: a processor, the processor being coupled to a memory, the processor being configured to execute a computer program stored in the memory, so that the communication device executes the method described in any possible implementation manner in the first aspect.

[0031] In a possible design solution, the communication device described in the fourth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in the fourth aspect to communicate with other communication devices.

[0032] In an embodiment of the present application, the communication device described in the fourth aspect may be the terminal described in the first aspect, or a chip (system) or other parts or components that may be set in the terminal, or a device including the terminal.

[0033] In addition, the technical effects of the communication device described in the fourth aspect can refer to the technical effects of the method described in any implementation method of the first aspect, and will not be repeated here.

[0034] In a fifth aspect, a communication device is provided, comprising: a processor and a memory; the memory is used to store a computer program, and when the processor executes the computer program, the communication device executes the method described in any one of the implementation methods in the first aspect.

[0035] In a possible design solution, the communication device described in the fifth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in the fifth aspect to communicate with other communication devices.

[0036] In an embodiment of the present application, the communication device described in the fifth aspect may be the terminal described in the first aspect, or a chip (system) or other parts or components that may be set in the terminal, or a device including the terminal.

[0037] In addition, the technical effects of the communication device described in the fifth aspect can refer to the technical effects of the method described in any implementation method of the first aspect, and will not be repeated here.

[0038] In a sixth aspect, a communication chip is provided, in which instructions are stored, and when the communication chip runs on a communication device, the method described in any possible implementation manner in the first aspect is implemented.

[0039] In a seventh aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer executes the method described in any possible implementation manner in the first aspect.

[0040] In an eighth aspect, a computer program product is provided, comprising a computer program or instructions, which, when executed on a computer, causes the computer to execute the method described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the SL time slot structure provided in the embodiment of the present application Figure 1 ;

[0042] Figure 2 Schematic diagram of the SL time slot structure provided in the embodiment of the present application Figure 2;

[0043] Figure 3 Schematic diagram of the SL time slot structure provided in the embodiment of the present application Figure 3 ;

[0044] Figure 4 A schematic diagram of the time slot structure of the SL SSB provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0046] Figure 6 A flow chart of a communication method provided in an embodiment of the present application;

[0047] Figure 7 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 1 ;

[0048] Figure 8 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0049] Fig. 9 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 3 ;

[0050] Fig.10 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 4 ;

[0051] Fig.11 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 5 ;

[0052] Fig.12 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 6 ;

[0053] Fig.13 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 7 ;

[0054] Fig.14 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 8 ;

[0055] Fig.15 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 9 ;

[0056] Fig.16 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 10 ;

[0057] Fig.17 The location of the time domain resources provided in the embodiment of the present application is shown in FIG. Figure 10 one;

[0058] Fig.18 AGC symbol structure diagram provided in the embodiment of the present application Figure 1 ;

[0059] Fig.19 AGC symbol structure diagram provided in the embodiment of the present application Figure 2 ;

[0060] Fig. 20 Schematic diagram of the structure of the GAP symbol provided in the embodiment of the present application Figure 1 ;

[0061] Fig.21 Schematic diagram of the structure of the GAP symbol provided in the embodiment of the present application Figure 2 ;

[0062] Fig. 22 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 1 ;

[0063] Fig.23 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0064] For ease of understanding, the technical terms involved in the embodiments of the present application are first introduced below.

[0065] 1.SL time slot

[0066] SL communication can be achieved by sending and receiving SL time slots between terminals. The structure of SL time slots is described below.

[0067] like Figure 1-Figure 3As shown, the SL time slot structure generally includes: automatic gain control (AGC) symbol, demodulation reference signal (DMRS) symbol, physical sidelink shared channel (PSSCH) symbol, physical sidelink control channel (PSCCH) symbol, physical sidelink feedback channel (PSFCH) symbol and guard symbol. It can be understood that the above time slot structure can be understood as a physical layer frame structure containing 14 symbols.

[0068] The AGC symbol is the first symbol of each SL time slot, that is, the first symbol of each time slot. The current protocol stipulates that the AGC symbol is a complete copy mapping of the second symbol in the same time slot. The sending device sends a signal on the AGC symbol, which enables the receiving device to perform AGC adjustment by receiving the signal. For the receiving device, it only pays attention to the signal energy received on the AGC symbol to adjust its own power control according to the signal energy. It does not pay attention to the specific content sent by the sending device on the AGC symbol, nor does it perform decoding. For the specific principles of AGC adjustment, please refer to the principles in the prior art, which will not be repeated here.

[0069] DMRS symbols are used by devices to perform operations such as channel estimation.

[0070] The PSSCH symbol is used to carry at least one type of information such as control information, data, or sidelink channel state information (CSI) feedback information.

[0071] The PSCCH symbol is used to carry sidelink control information (SCI).

[0072] The PSFCH symbol is used to carry side feedback information, which may include hybrid automatic repeat request (HARQ) response feedback information, such as acknowledgement (ACK) or negative acknowledgement (NACK); the side feedback information may also include CSI feedback information; and the side feedback information may also be used to indicate at least one of the following information: energy saving information, or resource assistance information, etc.

[0073] The Guard symbol can be set between the PSSCH symbol and the PSFCH symbol as a GP symbol; the Guard symbol can also be the last symbol of each SL time slot, serving as a protection symbol (guard period, GAP) between time slots, and when used as a GAP symbol, it is used for antenna transceiver conversion of the terminal device.

[0074] like Figure 4 As shown, the time slot structure of the sidelink synchronization signal block (SLSSB) generally includes: physical layer sidelink broadcast channel (PSBCH) symbols, physical layer sidelink primary synchronization signal (S-PSS), physical layer sidelink secondary synchronization signal (S-SSS) and Guard symbols.

[0075] The PSBCH symbol is used to carry information related to sideline synchronization, and the service types carried by the PSBCH may include unicast, multicast, and / or broadcast communications.

[0076] The S-PSS and S-SSS constitute a sidelink synchronization signal (SLSS), and the SL synchronization signal is used for time and frequency synchronization of a receiving device.

[0077] For the description of the Guard symbol, please refer to the above introduction, which will not be repeated here.

[0078] It can be understood that the specific principles of the above symbols can be referred to the relevant introduction of protocol TS 38.211, which will not be repeated here.

[0079] 2.ISAC

[0080] ISAC refers to a new information processing technology that realizes the coordination of perception and communication functions based on software and hardware resource sharing or information sharing. ISAC can share spectrum, hardware platform, and even baseband waveform and signal processing methods between communication and perception, thereby improving the system's spectrum efficiency, energy efficiency and hardware efficiency to obtain integration gain.

[0081] At present, communication and perception integration can be achieved through the air interface. However, the existing time slot structure cannot achieve communication and perception integration. Therefore, how to achieve communication and perception integration through a new frame structure is a hot topic in current research.

[0082] In response to the above technical problems, the embodiments of the present application propose the following technical solutions to achieve communication perception integration through a new SL time slot structure.

[0083] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0084] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as wireless network (Wi-Fi) systems, vehicle to everything (V2X) communication systems, device-to-device (D2D) communication systems, Internet of Vehicles communication systems, fourth generation (4G) mobile communication systems, such as long term evolution (LTE) systems, worldwide interoperability for microwave access (WiMAX) communication systems, fifth generation (5G) systems, such as new radio (NR) systems, and future communication systems.

[0085] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0086] In addition, in the embodiments of the present application, words such as "exemplary" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0087] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. "Of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. In addition, the " / " mentioned in the embodiments of the present application can be used to indicate an "or" relationship. In addition, the embodiments of the present application mention sending to A, sending to A, or sending to A, etc., which refers to the sending behavior with A as the destination address, which can be directly or indirectly sent to A. Similarly, the embodiments of the present application mention receiving from A or from A, etc., which refers to the receiving behavior with A as the source address, which can be directly or indirectly received from A.

[0088] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0089] To facilitate understanding of the embodiments of the present application, first Figure 5 The communication system shown in the example is used to describe in detail the communication system applicable to the embodiment of the present application. Figure 5 A schematic diagram of the architecture of a communication system applicable to the communication method provided in an embodiment of the present application.

[0090] like Figure 5 As shown, the communication system mainly includes: a plurality of terminal devices. And the plurality of terminal devices can communicate with each other through SL time slots.

[0091] The terminal device may be a terminal device with transceiver functions, or may be a chip or chip system provided in the terminal device. The terminal device may also be referred to as user equipment (UE), vehicle, access terminal, subscriber unit (subscriber unit), user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smartphone, a tablet computer, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a computer with a wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a smart home device (for example, a refrigerator, a television, an air conditioner, an electric meter, etc.), an intelligent robot, a robotic arm, a workshop equipment, a wireless terminal in unmanned driving, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a vehicle-mounted terminal, a roadside unit with a terminal function, and a wireless terminal in a smart city. unit, RSU), etc., flying equipment (e.g., intelligent robot, hot air balloon, drone, airplane), etc. The terminal device of the present application may also be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit built into the vehicle as one or more components or units. The terminal device may also be other devices with terminal functions, for example, the terminal device may also be a device that serves as a terminal function in D2D communication.

[0092] In the communication system, the terminal device can sense while communicating with other terminal devices, such as the terminal device can sense by sending a sensing sequence and / or receiving a sensing echo on the first symbol of the SL time slot. That is, the terminal device can sense through the side link. In this way, the integration of communication and perception can be achieved through the above-mentioned SL time slot structure.

[0093] It should be pointed out that the solutions in the embodiments of the present application can also be applied to other communication systems, and the corresponding names can also be replaced by the names of corresponding functions in other communication systems.

[0094] For ease of understanding, the following will combine Figure 6 The communication method provided in the embodiment of the present application is specifically described. Figure 6 The communication method can be executed by the terminal device.

[0095] For example, Figure 6 A flow chart of a communication method provided in an embodiment of the present application. The method can be applied to communication between multiple terminal devices in the above communication system.

[0096] like Figure 6 As shown, the process of the above communication method is as follows:

[0097] S601, determine the SL time slot. S601 may be executed by the terminal device.

[0098] The SL time slot can be used for communication between terminal devices, and the SL time slot structure can refer to the aforementioned related introduction, which will not be repeated here.

[0099] The SL time slot may include at least one first symbol, which is used for perception, and the first symbol may be a symbol with idle time domain resources in the aforementioned SL time slot structure, that is, the terminal device can perceive through the idle time domain resources. Idle time domain resources may refer to unused time domain resources, such as time domain resources in GAP symbols except for time domain resources used for antenna switching; they may also refer to time domain resources that are ready to be used but can be used for other operations, such as all time domain resources of AGC symbols. It can be understood that the current protocol stipulates that the AGC symbol is a complete copy mapping of the second symbol in the same time slot, but for the receiving device, it does not pay attention to the specific content on the AGC symbol; therefore, the content sent on the AGC symbol can be changed, that is, all time domain resources of the AGC symbol can be used as idle time domain resources for perception, which is described in detail below.

[0100] The first symbol may include at least one of the first time domain resource and the second time domain resource (ie, the idle time domain resource mentioned above), that is, the first symbol may include the first time domain resource, or the second time domain resource, or the first time domain resource and the second time domain resource.

[0101] The first time domain resource is used to send a perception sequence. The perception sequence may be a Gold sequence, a Zadoff-chu (ZC) sequence, or a pseudo-random (PN) sequence. The duration of the first time domain resource is related to the antenna used to send the perception sequence, that is, when the perception signal energy is constant, the duration of the first time domain resource can be determined according to the radio frequency index.

[0102] For example, the start time of the first time domain resource is t11, and its duration is 1.04 microseconds (us). The terminal device may start sending the perception sequence when the start time is t11, and stop sending the perception sequence after 1.04us.

[0103] It can be seen that the first time domain resource is a partial time domain resource of the first symbol, that is, the first time domain resource is a time domain resource with a smaller granularity than the symbol, such as containing m1 continuous time units. For the position distribution of this time unit, please refer to the following text for details.

[0104] The second time domain resource is used to receive the perception echo. The perception echo refers to the echo reflected by the object when the perception sequence encounters the object after the antenna sends the perception sequence. The duration of the second time domain resource is related to the maximum distance that the terminal device can perceive, that is, the longer the duration of the second time domain resource, the farther the terminal device can perceive, and the maximum perception distance is: Wherein, t2 is the duration corresponding to the second time domain resource, and c is the speed of light. Therefore, the duration of the second time domain resource can be set according to the farthest distance that the terminal device needs to perceive.

[0105] For example, the start time of the second time domain resource is t12, and its duration is 2us, then the terminal device may start receiving the perceived echo at the start time t12, and stop receiving the perceived echo after 2us.

[0106] It can be seen that the second time domain resource is part or all of the time domain resource of the first symbol, that is, the second time domain resource can be a time domain resource with smaller granularity than the symbol, such as containing m2 continuous time units. For the position distribution of these time units, please refer to the following text for details.

[0107] It is understandable that when the terminal device receives the sensing echo on the second time domain resource, it may not necessarily receive the sensing echo reflected based on the sensing sequence. That is, if the sensing sequence does not encounter an object, the corresponding sensing echo will not be reflected. In this case, the terminal device will not receive the sensing echo.

[0108] It can also be understood that the perception echo corresponding to the second time domain resource may be the echo corresponding to the perception sequence corresponding to the first time domain resource, for example: after sending the perception sequence, the terminal device receives the perception echo corresponding to the perception sequence; it may also not be the echo corresponding to the perception sequence corresponding to the first time domain resource, such as after other terminal devices send the perception sequence, the terminal device receives the perception echo corresponding to the perception sequence. In this case, the perception echo corresponding to the second time domain resource is not the echo corresponding to the perception sequence corresponding to the first time domain resource.

[0109] In the case where the first symbol includes the first time domain resource or the second time domain resource, the first time domain resource or the second time domain resource can be set in the idle time domain resource according to the actual situation. For example, the first time domain resource or the second time domain resource can be set on all the time domain resources of the idle time domain resources; or, the first time domain resource or the second time domain resource can be set on part of the time domain resources of the idle time domain resources, which is not limited in the embodiments of the present application.

[0110] In the case where the first symbol includes the first time domain resource and the second time domain resource, the setting of the first time domain resource and the second time domain resource in the idle time domain resource of the first symbol is related to the antenna setting of the terminal device. The antenna setting of the terminal device can be: different antennas send the perception sequence and receive the perception echo respectively; or a set of antennas send the perception sequence and receive the perception echo; or a set of antennas send the perception sequence and receive the perception echo, and at least one other set of antennas is set to receive the perception echo separately. The time domain position relationship of the first time domain resource and the second time domain resource corresponding to three different antenna settings is described below.

[0111] Case 1:

[0112] In the case where the perception sequence is sent and the perception echo is received by different antennas respectively, the first symbol may include: a first time domain resource and a second time domain resource. The start time of the second time domain resource is between the start time of the first time domain resource and the end time of the first time domain resource. The end time of the second time domain resource is greater than the end time of the first time domain resource. That is, the first time domain resource and the second time domain resource may overlap or not overlap. For the description of the first time domain resource and the second time domain resource, please refer to the aforementioned related introduction, which will not be repeated here.

[0113] For example, Figure 7 As shown, the second time domain resource ( Figure 7 The starting time of t2) is the first time domain resource ( Figure 7The end time of the second time domain resource is greater than the end time of the first time domain resource. In this case, the first time domain resource and the second time domain resource partially overlap. In this way, the terminal device can start receiving the sensing echo while sending the sensing sequence, so that the terminal device does not have a blind area.

[0114] For example, Figure 8 As shown, the start time of the second time domain resource ( Figure 8 Where t2) is the first time domain resource ( Figure 8 The termination time of the second time domain resource is greater than the termination time of the first time domain resource. In this case, the first time domain resource and the second time domain resource do not overlap.

[0115] For example, Fig. 9 As shown, the start time of the second time domain resource ( Fig. 9 In the first time domain resource (t2) Fig. 9 The termination time of the second time domain resource is greater than the termination time of the first time domain resource. In this case, the first time domain resource and the second time domain resource partially overlap.

[0116] It can be understood that when the start time of the second time domain resource is the start time of the first time domain resource, the distance of the perceptible range of the terminal device is: Among them, t2 is the duration corresponding to the second time domain resource, and c is the speed of light. That is, the longer the duration corresponding to the second time domain resource, the farther the distance that the terminal device can perceive. However, for the terminal device, it may not need to perceive objects that are too far away, so the value of t2 can be set according to the distance that the terminal device wants to perceive.

[0117] When the start time of the second time domain resource is not the start time of the first time domain resource, that is, when the start time of the second time domain resource is the end time of the first time domain resource, or the start time of the second time domain resource is within the range corresponding to the first time domain resource, the terminal device has a blind area, that is, the terminal device cannot perceive objects within the blind area. The distance of the blind area is: Among them, t is the length of the time period corresponding to the start time of the first time domain resource to the start time of the second time domain resource, and c is the speed of light.

[0118] It can also be understood that in the embodiment of the present application, time #1 being greater than time #2 means that time #1 starts later than time #2, and correspondingly, time #2 being less than time #1 means that time #2 starts earlier than time #1, for example: if time #1 is 14:10, then time #2 can be 14:00.

[0119] In a possible implementation, the time domain resources may be divided into smaller granularities and represented by time units, which refer to a unit in time, that is, in the embodiment of the present application, each time domain resource may also be represented by a time unit. Fig.10 As shown, the first symbol may include the 1st time unit to the Mth time unit, the first time domain resource may include the ith time unit to the jth time unit, and the second time domain resource may include the pth time unit to the qth time unit. The pth time unit is located between the ith time unit and the jth time unit, and the qth time unit is located between the jth time unit and the Mth time unit.

[0120] The value of M is related to the duration of the time domain resource of the first symbol and the duration of a time unit, and can be set according to actual conditions. Since the first symbol includes the first time domain resource and the second time domain resource, the values ​​of i, j, p and q are all less than M.

[0121] For example, the first symbol includes the 1st time unit to the 10th time unit, and the first time domain resource includes the 3rd time unit to the 5th time unit. In this case, the second time domain resource may include the 3rd time unit to the 9th time unit, or the 4th time unit to the 9th time unit, or the 5th time unit to the 9th time unit.

[0122] It can be understood that the "time unit" mentioned in the embodiments of the present application is only an exemplary expression, and the "time unit" can also be replaced by any possible expression, such as "sub-symbol", "time granularity" or "time sub-unit", etc., without limitation.

[0123] Case 2:

[0124] like Fig.11 As shown, in the case where a set of antennas sends a sensing sequence and receives a sensing echo, the first symbol may include: a first time domain resource ( Fig.11 t1), the second time domain resource ( Fig.11 t2) and the third time domain resource ( Fig.11 For the description of the first time domain resource and the second time domain resource, please refer to the above related introduction, which will not be repeated here.

[0125] The third time domain resource is used for the antenna of the terminal device to switch from sending the perception sequence to starting to receive the perception echo, and the third time domain resource can refer to the antenna transceiver conversion (general on / off time mask). The description of the antenna transceiver conversion can refer to the relevant introduction of the protocol TS 38101, which will not be repeated here. The third time domain resource is adjacent to the first time domain resource and the second time domain resource, that is, the third time domain resource is located between the first time domain resource and the second time domain resource. In other words, in this case, the antenna can receive the perception echo only after sending the perception sequence, so there is no overlap between the first time domain resource and the second time domain resource. And because the antenna needs a certain time to switch from sending the perception sequence to receiving the perception echo, that is, it is impossible to start receiving the perception echo immediately at the moment of stopping sending the perception sequence, therefore, it is also necessary to set the time for the antenna to switch from sending to receiving, that is, the third time domain resource. In this case, there is no overlap between the first time domain resource, the second time domain resource and the third time domain resource. The duration of the third time domain resource is related to the antenna, that is, the conversion time of different antennas may be different, so the duration of the third time domain resource can be set according to the actual situation.

[0126] For example, if the duration of the idle time domain resource of the first symbol is 5us and the duration of the antenna switching is at least 1us, the first time domain resource can be set to 1us, the second time domain resource can be set to 3us, and the third time domain resource can be set to 1us according to actual conditions.

[0127] It can be understood that in the above case, the terminal device first sends a perception sequence and then receives a perception echo. That is, the terminal device cannot receive a perception echo in the time period corresponding to the first time domain resource and the third time domain resource. Therefore, for the terminal device, there is a blind area range, that is, it cannot perceive objects within the blind area range, and can only perceive objects outside the blind area range. The distance of the blind area range is: Among them, t1 is the duration corresponding to the first time domain resource, t3 is the duration corresponding to the third time domain resource, and c is the speed of light.

[0128] In a possible implementation, each time domain resource can be represented by a time unit. For the description of the time unit, please refer to the above related introduction, which will not be repeated here. Fig.12 As shown, the first symbol may include M time units, the first time domain resource may include m1 consecutive time units, the second time domain resource may include m2 consecutive time units, and the third time domain resource may include m3 consecutive time units, where M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

[0129] For the description of M, please refer to the relevant introduction in the above situation 1, which will not be explained here. The values ​​of m1, m2 and m3 are related to the first time domain resources, the second time domain resources and the third time domain resources, and can be set according to the actual situation. Because the first time domain resources, the second time domain resources and the third time domain resources are set using the idle time domain resources of the first symbol, the idle time domain resources can be all or part of the time domain resources of the first symbol. Therefore, the sum of m1, m2 and m3 is less than or equal to M. And when m1, m2 or m3 is 1, it means that there is only one time unit. In this case, one time unit is discontinuous.

[0130] For example, the first symbol may include 10 time units, i.e., from the 1st time unit to the 10th time unit, and the idle time domain resources of the first symbol are all the time domain resources of the first symbol. In this case, the first time domain resources may include 3 consecutive time units, i.e., from the 1st time unit to the 3rd time unit; the third time domain resources may include two consecutive time units, i.e., from the 4th time unit to the 5th time unit; and the second time domain resources may include 5 time units, i.e., from the 6th time unit to the 10th time unit.

[0131] Case 3:

[0132] When a set of antennas (represented as antenna #1) is used to transmit a sensing sequence and receive a sensing echo, and at least one other set of antennas is set to receive a sensing echo separately, the first symbol may include: a first time domain resource, a second time domain resource, a third time domain resource, and a fourth time domain resource. For the description of the first time domain resource, the second time domain resource, and the third time domain resource, please refer to the above related introduction.

[0133] The fourth time domain resource is used to receive the perceived echo. That is, the fourth time domain resource is the time domain resource corresponding to the above-mentioned at least one set of antennas. The start time of the fourth time domain resource is the same as the start time of the first time domain resource, and the end time of the fourth time domain resource is between the start time of the second time domain resource and the end time of the second time domain resource. In other words, the fourth time domain resource may include the first time domain resource and the third time domain resource. In this case, the fourth time domain resource overlaps with the first time domain resource and the third time domain resource; or, the fourth time domain resource may include the first time domain resource, the third time domain resource and at least part of the second time domain resource. In this case, the fourth time domain resource overlaps with the first time domain resource, the third time domain resource and at least part of the second time domain resource, and the at least part of the second time domain resource refers to part of the second time domain resource or all of the second time domain resource.

[0134] For example, Fig.13 As shown, the fourth time domain resource ( Fig.13 The starting time of t4) and the first time domain resource ( Fig.13The start time of the fourth time domain resource is the same as the start time of the second time domain resource ( Fig.13 In this way, the blind area can be avoided by receiving the sensing echo on the fourth time domain resource.

[0135] For example, Fig.14 As shown, the fourth time domain resource ( Fig.14 The starting time of t4) and the first time domain resource ( Fig.14 The start time of the fourth time domain resource is the same as the start time of the second time domain resource ( Fig.14 The end time of t2) is the same.

[0136] For example, Fig.15 As shown, the fourth time domain resource ( Fig.15 The starting time of t4) and the first time domain resource ( Fig.15 The start time of the fourth time domain resource is the same as the start time of the second time domain resource ( Fig.15 The range corresponding to t2).

[0137] It can be understood that the terminal device can process the relevant information of the perception echo received by at least one set of antennas in the fourth time domain resource and the relevant information of the perception echo received by antenna #1 in the second time domain resource to obtain the perception result. Please refer to the principles in the prior art for the specific principle of the processing, which will not be repeated here.

[0138] In a possible implementation, each time domain resource can be represented by a time unit. For the description of the time unit, please refer to the above related introduction, which will not be repeated here. Fig.16 and Fig.17 As shown, the first symbol may include M time units, the first time domain resource may include m1 continuous time units; the second time domain resource may include m2 continuous time units; the third time domain resource may include m3 continuous time units; the fourth time domain resource may include m1 continuous time units and m3 continuous time units, or the fourth time domain resource may include m1 continuous time units, m3 continuous time units and at least part of m2 continuous time units; M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

[0139] For the description of M, m1, m2 and m3, please refer to the above related introduction, which will not be described here. Since m4 may include m1 continuous time units and m3 continuous time units, or m1 continuous time units, m3 continuous time units and at least part of m2 continuous time units, the value of m4 is less than or equal to M.

[0140] For example, the first symbol includes 12 time units, i.e., the 1st time unit to the 12th time unit; the first time domain resource includes 3 time units, i.e., from the 2nd time unit to the 4th time unit; the third time domain resource includes 1 time unit, i.e., the 5th time unit; the second time domain resource includes 5 time units, i.e., from the 6th time unit to the 10th time unit. In this case, the fourth time domain resource may include: 4 time units, i.e., from the 2nd time unit to the 5th time unit; or, 6 time units, i.e., from the 2nd time unit to the 7th time unit; or, 9 time units, i.e., from the 2nd time unit to the 10th time unit.

[0141] It can be understood that when m2 consecutive time units are 1 time unit, at least part of the m2 consecutive time units refers to this 1 time unit.

[0142] It can also be understood that the above-mentioned cases 1 to 3 overall introduce the time domain position relationship between time domain resources for easy understanding. The following introduces the time domain position relationship between time domain resources and symbols.

[0143] The first time domain resource and the second time domain resource can use all or part of the idle time domain resources of the first symbol. The idle time domain resources of the first symbol can be all or part of the time domain resources of the first symbol. In other words, the first time domain resource and the second time domain resource can use all or part of the time domain resources of the first symbol, that is, the time domain resources used for perception can be all or part of the time domain resources of the first symbol. Therefore, by setting the start time of the first time domain resource and the end time of the second time domain resource, the time domain resources used for perception in the first symbol can be determined. The relationship between the start time of the first time domain resource, the end time of the second time domain resource and the first symbol is explained below.

[0144] In a possible design, the start time of the first time domain resource is greater than or equal to the start time of the first symbol. When part or all of the time domain resources starting from the start time of the first symbol are idle, the start time of the first time domain resource may be greater than or equal to the start time of the first symbol; when part of the time domain resources starting from the start time of the first symbol are used, the start time of the first time domain resource is greater than the start time of the first symbol.

[0145] For example, the idle time domain resources of the first symbol are all its time domain resources, and its starting time is t13 and its duration is 10us, then the starting time of the first time domain resources can be t13, or a moment within 10us after the starting time of the first symbol.

[0146] In a possible implementation, the termination time of the second time domain resource is less than or equal to the termination time of the first symbol. When part or all of the time domain resources before the termination time of the first symbol are idle, the termination time of the second time domain resource may be less than or equal to the termination time of the first symbol; when part of the time domain resources before the termination time of the first symbol are used, the termination time of the second time domain resource is less than the termination time of the first symbol.

[0147] In the above possible implementation, the first symbol may be an AGC symbol. Since all time domain resources of the AGC symbol are available, all or part of the time domain resources of the AGC symbol may be used for sensing. The duration corresponding to all time domain resources of the AGC symbol is related to the subcarrier spacing (SCS), that is, the length of the AGC symbol may be determined according to the SCS. For the description of the AGC symbol, please refer to the aforementioned related introduction, which will not be repeated here.

[0148] For example, Fig.18 As shown, the AGC symbol includes the first time domain resource and the second time domain resource, and all time domain resources of the AGC symbol are used for sensing. When the SCS is 60kHz, according to the protocol, the length of each symbol is 16.66us, that is, the length of the AGC symbol ( Fig.18 ts) is 16.66us. At this time, the duration of the second time domain resource ( Fig.18 The maximum value of t2 in the first time domain resource is 16.66us. Fig.18 The t1) in the figure is related to the RF index of the antenna and can be set according to the actual situation.

[0149] For example, Fig.19 As shown, the AGC symbol includes the first time domain resource and the second time domain resource, and all time domain resources of the AGC symbol are used for sensing. When the SCS is 120kHz, according to the protocol, the length of each symbol is 8.33us, that is, the length of the AGC symbol ( Fig.19 ts) is 8.33us. At this time, the duration of the second time domain resource ( Fig.19 The maximum value of t2 in the first time domain resource is 8.33us. Fig.19 The t1) in the figure is related to the RF index of the antenna, and can be set according to the actual situation. For example, when the SCS is 960kHz, the existing protocol supports time domain pulse or time domain resource scheduling with a granularity of 1.04us, that is, the duration of the first time domain resource can be 1.04us.

[0150] It can be understood that there may be different time domain position settings of the first time domain resource and the second time domain resource in the AGC symbol. For details, please refer to the above related introduction. The above content is only an example and is not limiting.

[0151] In another possible implementation, the first symbol may also include a fifth time domain resource, and the fifth time domain resource is used to switch from receiving the perceived echo to starting to send or receive the second symbol, that is, the fifth time domain resource can be used for antenna transceiver conversion of the terminal device. The start time of the fifth time domain resource can be the same as the end time of the second time domain resource, and the end time of the fifth time domain resource can be the same as the end time of the first symbol. The second symbol is adjacent to the first symbol, that is, the first symbol can be the last symbol in the SL time slot, and the second symbol can be the first symbol of the next time slot adjacent to the SL time slot.

[0152] In the above possible implementations, the first symbol may be a GAP symbol. The GAP symbol is the last symbol in the SL time slot and is used for antenna transceiver conversion. Therefore, part of the time domain resources before the end time of the GAP symbol need to be used as antenna transceiver conversion, that is, the fifth time domain resource mentioned above. And other time domain resources in the GAP symbol except the fifth time domain resource can be sensed. The duration corresponding to all time domain resources of the GAP symbol is related to the SCS, that is, the length of the GAP symbol can be determined based on the SCS. For the description of the GAP symbol, please refer to the aforementioned related introduction, which will not be repeated here.

[0153] For example, Fig. 20 As shown, the GAP symbol includes the first time domain resource, the second time domain resource and the fifth time domain resource, and all time domain resources except the fifth time domain resource in the GAP symbol are used for sensing. When the SCS is 60kHz, according to the protocol, the length of each symbol is 16.66us, that is, the length of the GAP symbol ( Fig. 20 The ts in the fifth time domain resource is 16.66us; and the protocol stipulates that the duration for antenna switching is at least 10us, that is, the fifth time domain resource ( Fig. 20 t5 in the example is greater than or equal to 10us. At this time, the duration of the second time domain resource ( Fig. 20 The maximum value of t2 in the first time domain resource is 6.66us. Fig. 20 The t1) in the figure is related to the RF index of the antenna and can be set according to the actual situation.

[0154] For example, Fig.21 As shown, the GAP symbol includes the first time domain resource, the second time domain resource and the fifth time domain resource, and all time domain resources except the fifth time domain resource in the GAP symbol are used for sensing. When the SCS is 120kHz, according to the protocol, the length of each symbol is 8.33us, that is, the length of the GAP symbol ( Fig.21 The ts in the fifth time domain resource is 8.33us; and the protocol stipulates that the duration for antenna switching is at least 5us, that is, the fifth time domain resource ( Fig. 20 In this case, the duration of the second time domain resource ( Fig.21 The maximum value of t2 in the first time domain resource is 3.33us. Fig.21 The t1) in the figure is related to the RF index of the antenna, and can be set according to the actual situation. For example, when the SCS is 960kHz, the existing protocol supports time domain pulse or time domain resource scheduling with a granularity of 1.04us, that is, the duration of the first time domain resource can be 1.04us.

[0155] It can be understood that there may be different position settings of the first time domain resource and the second time domain resource in the GAP symbol. For details, please refer to the above related introduction. The above content is only an example and is not limiting.

[0156] It can also be understood that the various parameters involved in the protocol in the above examples may be changed accordingly according to the changes in the protocol, and the present application does not impose any restrictions on this. In addition, in the case where the existing SL time slot includes an AGC symbol and a GAP symbol, the AGC symbol and / or the GAP symbol in the SL time slot can be selected as the first symbol according to actual conditions. And in order to ensure a better perception effect, the same symbol can be selected as the first symbol in multiple adjacent SL time slots, so that the duration between each first symbol is the same, that is, it can be perceived periodically, such as: setting the AGC symbol in each SL time slot in multiple adjacent SL time slots as the first symbol, or setting the GAP symbol in each SL time slot in multiple adjacent SL time slots as the first symbol.

[0157] The terminal device may determine the SL time slot according to the specific situation perceived, and after determining the SL time slot, it may proceed to S602.

[0158] S602: Send a perception sequence on a first time domain resource, and / or receive a perception echo on a second time domain resource. S602 may be executed by a terminal device.

[0159] That is, the terminal device has three ways to sense, namely: sending a sensing sequence on a first time domain resource and receiving a sensing echo on a second time domain resource; or sending a sensing sequence on a first time domain resource; or receiving a sensing echo on a second time domain resource. Each of the following is described separately.

[0160] Mode 1: The terminal device sends a perception sequence on a first time domain resource, and receives a perception echo on a second time domain resource.

[0161] In this method, the terminal device sends a sensing sequence and receives a sensing echo corresponding to the sensing sequence. The sensing target can be identified based on information such as the time when the sensing sequence is sent and the time when the sensing echo is received. For the specific principle of determining the sensing target based on this information, please refer to the principle in the prior art, which will not be repeated here.

[0162] The time domain position setting of the first time domain resource and the second time domain resource in the first symbol of the SL time slot can be referred to the aforementioned related introduction and will not be repeated here.

[0163] Mode 2: The terminal device sends a perception sequence on the first time domain resource.

[0164] In this manner, the terminal device sends a sensing sequence, and the sensing echo corresponding to the sensing sequence can be received by other terminal devices, and the sensing target can be identified by the other terminal devices.

[0165] Among them, the terminal device can send information such as the time point of sending the perception sequence and the identifier of the perception sequence to other terminal devices. After receiving the perception echo, the other terminal devices can identify the perception target based on the information received from the terminal device and the relevant information of the received perception echo. After identifying the perception target, the relevant information of the perception target is sent to the terminal device. For the specific principle of determining the perception target according to the information, please refer to the principle in the prior art, which will not be repeated here.

[0166] For example, terminal device #1 sends a perception sequence and sends the time point of sending the perception sequence, the identification of the perception sequence and other information to terminal device #2. After the perception sequence encounters object #1, it reflects the corresponding perception echo. After receiving the perception echo, terminal device #2 identifies the perception target in combination with the information sent by terminal device #1. Terminal device #2 sends the relevant information of the perception target to terminal device #1.

[0167] It can be understood that the other terminal device mentioned above can be one terminal device or multiple terminal devices, and the embodiment of the present application does not limit this. When there are multiple other terminal devices, each of the other terminal devices can receive the sensing echo and identify the sensing target based on the information received from the terminal device and the relevant information of the received sensing echo.

[0168] It can also be understood that in mode 2, the first symbol of the SL time slot may include a first time domain resource; or, the first symbol may include a first time domain resource and a second time domain resource, but in this case, the terminal device does not receive a perceived echo on the second time domain resource.

[0169] Mode 3: The terminal device receives the perception echo on the second time domain resource.

[0170] In this manner, the terminal device may receive a perception echo corresponding to a perception sequence sent by other terminal devices, and identify a perception target based on the perception echo.

[0171] Among them, the terminal device receives information such as the time point of sending the perception sequence and the identifier of the perception sequence sent by other terminal devices. After the terminal device receives the perception echo corresponding to the perception sequence, it can identify the perception target based on the information received from other terminal devices and the relevant information of the received perception echo. In addition, after identifying the perception target, the terminal device can send the relevant information of the perception target to other terminal devices. For the specific principle of determining the perception target according to each information, please refer to the principle in the prior art, which will not be repeated here.

[0172] For example, terminal device #1 receives information such as the time point at which the sensing sequence is sent and the identifier of the sensing sequence from terminal device #2. After receiving the sensing echo corresponding to the sensing sequence, terminal device #1 identifies the sensing target based on the information sent by terminal device #2 and the related information of the received sensing echo. Terminal device #1 sends the related information of the sensing target to terminal device #2.

[0173] It can be understood that the other terminal devices in this method can be one terminal device or multiple terminal devices, and the embodiments of the present application do not limit this. When there are multiple other terminal devices, the terminal device can receive information such as the time point of the perception sequence and the identifier of the perception sequence sent by each of the multiple other terminal devices. Accordingly, the terminal device can receive perception echoes corresponding to multiple different perception sequences. That is, the terminal device can identify multiple perception targets based on different perception echoes.

[0174] It can also be understood that in mode 3, the first symbol of the SL time slot may include the second time domain resource; or, the first symbol may include the first time domain resource and the second time domain resource, but in this case, the terminal device does not send the perception sequence on the first time domain resource.

[0175] In the embodiment of the present application, the terminal device can sense while communicating with other terminal devices. In other words, the terminal device can sense through the side link, thereby replacing part of the external sensing equipment, so as to reduce power consumption and sensing cost while ensuring that the vehicle has a high sensing capability.

[0176] Combination of the above Figure 6-Figure 21 The communication method provided by the embodiment of the present application is described in detail. Figure 22-Figure 23 A communication device for executing the communication method provided in an embodiment of the present application is described in detail.

[0177] Fig. 22 This is a schematic diagram of the structure of the communication device provided in the embodiment of the present application. Figure 1 For example, Fig. 22As shown, the communication device 2200 includes: a processing module 2201 and a transceiver module 2202. For ease of description, Fig. 22 Only the main components of the communication device are shown.

[0178] In some embodiments, the communication device 2200 may be adapted to Figure 5 In the communication system shown in FIG. , the above Figure 6 Functions of the terminal device in the method shown.

[0179] For example, the processing module 2201 is used to determine the sidelink SL time slot; the transceiver module 2202 is used to send a perception sequence on a first time domain resource and / or receive a perception echo on a second time domain resource. The SL time slot includes at least one first symbol, the first symbol includes at least one time domain resource of the first time domain resource and the second time domain resource, the first time domain resource is used to send the perception sequence, and the second time domain resource is used to receive the perception echo.

[0180] In a possible design scheme, the first symbol also includes a third time domain resource, and the third time domain resource is used to switch from sending the perception sequence to starting to receive the perception echo, and the third time domain resource is adjacent to the first time domain resource and the second time domain resource.

[0181] Optionally, the first symbol includes M time units, the first time domain resources include m1 consecutive time units, the second time domain resources include m2 consecutive time units, and the third time domain resources include m3 consecutive time units, M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

[0182] Optionally, the first symbol also includes a fourth time domain resource, which is used to receive the perceived echo. The start time of the fourth time domain resource is the same as the start time of the first time domain resource, and the end time of the fourth time domain resource is between the start time of the second time domain resource and the end time of the second time domain resource.

[0183] Further, the first symbol includes M time units, the first time domain resources include m1 continuous time units; the second time domain resources include m2 continuous time units; the third time domain resources include m3 continuous time units; the fourth time domain resources include m1 continuous time units and m3 continuous time units, or the fourth time domain resources include m1 continuous time units, m3 continuous time units and at least part of m2 continuous time units; M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

[0184] In a possible design scheme, the start time of the second time domain resource is between the start time of the first time domain resource and the end time of the first time domain resource, and the end time of the second time domain resource is greater than the end time of the first time domain resource.

[0185] Optionally, the first symbol includes the 1st time unit to the Mth time unit, the first time domain resources include the ith time unit to the jth time unit, the second time domain resources include the pth time unit to the qth time unit, the pth time unit is located between the ith time unit and the jth time unit, and the qth time unit is located between the jth time unit and the Mth time unit.

[0186] In a possible design scheme, the start time of the first time domain resource is greater than or equal to the start time of the first symbol.

[0187] Optionally, the termination time of the second time domain resource is less than or equal to the termination time of the first symbol.

[0188] Furthermore, the first symbol is an automatic gain control AGC symbol.

[0189] Optionally, the first symbol also includes a fifth time domain resource, which is used to switch from receiving the perceived echo to starting to send or receive a second symbol, and the second symbol is adjacent to the first symbol; the start time of the fifth time domain resource is the same as the end time of the second time domain resource.

[0190] Furthermore, the first symbol is a protection period GAP symbol.

[0191] In a possible design, the sensed echo is an echo corresponding to the sensed sequence.

[0192] Optionally, the transceiver module 2202 may include a sending module ( Fig. 22 ) and a receiving module ( Fig. 22 The sending module is used to implement the sending function of the communication device 2200, and the receiving module is used to implement the receiving function of the communication device 2200.

[0193] Optionally, the communication device 2200 may further include a storage module ( Fig. 22 When the processing module 2201 executes the program or instruction, the communication device 2200 can execute the above method. Figure 7 Functions of the remote UE or remote device in the method shown.

[0194] It can be understood that the communication device 2200 can be a terminal, such as a remote UE or a remote device, or a chip (system) or other parts or components that can be set in a terminal, or a device including a terminal, which is not limited in this application.

[0195] In addition, the technical effects of the communication device 2200 can be referred to Figure 6 The technical effects of the communication method shown will not be repeated here.

[0196] Fig.23 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 2 For example, the communication device may be a terminal, or a chip (system) or other components or assemblies that may be provided in the terminal. Fig.23 As shown, the communication device 2300 may include a processor 2301. Optionally, the communication device 2300 may also include a memory 2302 and / or a transceiver 2303. The processor 2301 is coupled with the memory 2302 and the transceiver 2303, such as being connected via a communication bus.

[0197] Combine the following Fig.23 The components of the communication device 2300 are described in detail:

[0198] The processor 2301 is the control center of the communication device 2300, and may be a processor or a general term for multiple processing elements. For example, the processor 2301 is one or more central processing units (CPUs), or may be an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0199] Optionally, the processor 2301 can execute various functions of the communication device 2300 by running or executing the software program stored in the memory 2302 and calling the data stored in the memory 2302, such as executing the above Figure 10-15 The communication method shown.

[0200] In a specific implementation, as an embodiment, the processor 2301 may include one or more CPUs, such as Fig.23 CPU0 and CPU1 are shown in FIG.

[0201] In a specific implementation, as an embodiment, the communication device 2300 may also include multiple processors, such as Fig.23 2301 and processor 2304 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0202] Among them, the memory 2302 is used to store the software program for executing the solution of the present application, and the execution is controlled by the processor 2301. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0203] Optionally, the memory 2302 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2302 may be integrated with the processor 2301, or may exist independently and be communicated to the computer through the interface circuit ( Fig.23 ) is coupled to the processor 2301, which is not specifically limited in the embodiment of the present application.

[0204] The transceiver 2303 is used for communication with other communication devices. For example, if the communication device 2300 is a terminal, the transceiver 2303 can be used to communicate with a network device, or with another terminal device. For another example, if the communication device 2300 is a network device, the transceiver 2303 can be used to communicate with a terminal, or with another network device.

[0205] Optionally, the transceiver 2303 may include a receiver and a transmitter ( Fig.23 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0206] Optionally, the transceiver 2303 may be integrated with the processor 2301, or may exist independently and communicate with the processor 2301 through the interface circuit ( Fig.23 ) is coupled to the processor 2301, which is not specifically limited in the embodiment of the present application.

[0207] Understandably, Fig.23 The structure of the communication device 2300 shown in the figure does not constitute a limitation on the communication device. The actual communication device may include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0208] In addition, the technical effects of the communication device 2300 can refer to the technical effects of the method described in the above method embodiment, and will not be repeated here.

[0209] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0210] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0211] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0212] An embodiment of the present application also provides a communication chip, in which instructions are stored. When the communication chip runs on a communication device, the method provided in the embodiment of the present application is implemented.

[0213] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0214] In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0215] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0216] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0217] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0218] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0219] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0220] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0221] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0222] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A communication method, characterized in that: The method comprises: Determine a sidelink SL time slot; the SL time slot includes at least one first symbol, the first symbol includes at least one time domain resource of a first time domain resource and a second time domain resource, the first time domain resource is used to send a perception sequence, and the second time domain resource is used to receive a perception echo; The sensing sequence is sent on the first time domain resource, and / or the sensing echo is received on the second time domain resource.

2. The method according to claim 1, characterized in that The first symbol also includes a third time domain resource, where the third time domain resource is used to switch from sending the perception sequence to starting to receive the perception echo, and the third time domain resource is adjacent to the first time domain resource and the second time domain resource.

3. The method according to claim 2, characterized in that The first symbol includes M time units, the first time domain resources include m1 consecutive time units, the second time domain resources include m2 consecutive time units, and the third time domain resources include m3 consecutive time units, where M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

4. The method according to claim 2, characterized in that: The first symbol also includes a fourth time domain resource, which is used to receive the perceived echo. The start time of the fourth time domain resource is the same as the start time of the first time domain resource, and the end time of the fourth time domain resource is between the start time of the second time domain resource and the end time of the second time domain resource.

5. The method according to claim 4, characterized in that The first symbol includes M time units, the first time domain resources include m1 continuous time units; the second time domain resources include m2 continuous time units; the third time domain resources include m3 continuous time units; the fourth time domain resources include the m1 continuous time units and the m3 continuous time units, or the fourth time domain resources include the m1 continuous time units, the m3 continuous time units and at least part of the m2 continuous time units; M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

6. The method according to claim 1, characterized in that The start time of the second time domain resource is between the start time of the first time domain resource and the end time of the first time domain resource, and the end time of the second time domain resource is greater than the end time of the first time domain resource.

7. The method according to claim 6, characterized in that The first symbol includes the 1st time unit to the Mth time unit, the first time domain resource includes the ith time unit to the jth time unit, the second time domain resource includes the pth time unit to the qth time unit, the pth time unit is located between the ith time unit and the jth time unit, and the qth time unit is located between the jth time unit and the Mth time unit.

8. The method according to any one of claims 1 to 7, characterized in that The starting time of the first time domain resource is greater than or equal to the starting time of the first symbol.

9. The method according to claim 8, characterized in that The termination time of the second time domain resource is less than or equal to the termination time of the first symbol.

10. The method according to claim 9, characterized in that The first symbol is an automatic gain control AGC symbol.

11. The method according to claim 8, characterized in that The first symbol also includes a fifth time domain resource, and the fifth time domain resource is used to switch from receiving the perceived echo to starting to send or receive a second symbol, and the second symbol is adjacent to the first symbol; the start time of the fifth time domain resource is the same as the end time of the second time domain resource.

12. The method according to claim 11, characterized in that The first symbol is a guard period GAP symbol.

13. The method according to any one of claims 1 to 12, characterized in that The perception echo is an echo corresponding to the perception sequence.

14. A communication device, characterized in that: The device comprises: A processing module, configured to determine a sidelink SL time slot; the SL time slot includes at least one first symbol, the first symbol includes at least one time domain resource of a first time domain resource and a second time domain resource, the first time domain resource is used to send a perception sequence, and the second time domain resource is used to receive a perception echo; The transceiver module is configured to send the sensing sequence on the first time domain resource and / or receive the sensing echo on the second time domain resource.

15. The device according to claim 14, characterized in that The first symbol also includes a third time domain resource, where the third time domain resource is used to switch from sending the perception sequence to starting to receive the perception echo, and the third time domain resource is adjacent to the first time domain resource and the second time domain resource.

16. The device according to claim 15, characterized in that The first symbol includes M time units, the first time domain resources include m1 consecutive time units, the second time domain resources include m2 consecutive time units, and the third time domain resources include m3 consecutive time units, where M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

17. The device according to claim 15, characterized in that The first symbol also includes a fourth time domain resource, which is used to receive the perceived echo. The start time of the fourth time domain resource is the same as the start time of the first time domain resource, and the end time of the fourth time domain resource is between the start time of the second time domain resource and the end time of the second time domain resource.

18. The device according to claim 17, characterized in that The first symbol includes M time units, the first time domain resources include m1 continuous time units; the second time domain resources include m2 continuous time units; the third time domain resources include m3 continuous time units; the fourth time domain resources include the m1 continuous time units and the m3 continuous time units, or the fourth time domain resources include the m1 continuous time units, the m3 continuous time units and at least part of the m2 continuous time units; M is an integer greater than or equal to 3, and m1, m2 and m3 are all integers greater than or equal to 1.

19. The device according to claim 14, characterized in that The start time of the second time domain resource is between the start time of the first time domain resource and the end time of the first time domain resource, and the end time of the second time domain resource is greater than the end time of the first time domain resource.

20. The device according to claim 19, characterized in that The first symbol includes the 1st time unit to the Mth time unit, the first time domain resource includes the ith time unit to the jth time unit, the second time domain resource includes the pth time unit to the qth time unit, the pth time unit is located between the ith time unit and the jth time unit, and the qth time unit is located between the jth time unit and the Mth time unit.

21. The device according to any one of claims 14 to 20, characterized in that The starting time of the first time domain resource is greater than or equal to the starting time of the first symbol.

22. The device according to claim 21, characterized in that The termination time of the second time domain resource is less than or equal to the termination time of the first symbol.

23. The device according to claim 22, characterized in that The first symbol is an automatic gain control AGC symbol.

24. The device according to claim 21, characterized in that The first symbol also includes a fifth time domain resource, and the fifth time domain resource is used to switch from receiving the perceived echo to starting to send or receive a second symbol, and the second symbol is adjacent to the first symbol; the start time of the fifth time domain resource is the same as the end time of the second time domain resource.

25. The device according to claim 24, characterized in that The first symbol is a guard period GAP symbol.

26. The device according to any one of claims 14 to 25, characterized in that The perception echo is an echo corresponding to the perception sequence.

27. A communication device, characterized in that: The communication device comprises: a processor coupled to a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device executes the method according to any one of claims 1 to 13.

28. A communication chip, characterized in that: Instructions are stored therein, and when the chip is run on a communication device, the method according to any one of claims 1 to 13 is implemented.

29. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises a computer program or instructions, and when the computer program or instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 13.

30. A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method according to any one of claims 1 to 13 is executed.

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