Resource determination method, related equipment and vehicle

Abstract

The embodiment of the invention discloses a resource determination method, related equipment and a vehicle. In the method, a first resource is determined and first sidewalk control information used for indicating the first resource is sent, and after a first beam is determined to fail, indication information is sent, and the indication information is used for indicating to cancel a part of or all of the reserved first resource. In other words, for the situation that the reserved resources cannot be used due to wave beam failure and the like, the unusable reserved resources are released in a mode of canceling the reservation, so that the utilization rate of the resources is improved, and resource waste is reduced.

Description

Technical Field

[0001] The present application relates to the field of wireless technology, and in particular to a resource determination method, related equipment and a vehicle. Background Art

[0002] Cellular Vehicle-To-Everything (C-V2X) is a vehicle-to-everything (V2X) communication technology developed based on cellular systems. It leverages and enhances current cellular network functions and elements to achieve low-latency and high-reliability communications between various nodes in the vehicle network, including vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-infrastructure (V2I), and vehicle-to-network (V2N). V2X communications have great potential to reduce vehicle collision accidents, thereby reducing the corresponding number of casualties. The advantages of V2X are not limited to improving safety. Vehicles that can perform V2X communications can help better manage traffic, further promoting green transportation and lower energy consumption.

[0003] V2X includes two communication interfaces: Proximity Communication (PC5) interface and UTRAN to UE (Uu) interface. Among them, the PC5 interface is a direct communication interface, a short-distance direct communication interface between vehicles, people and road infrastructure. The Uu interface is a cellular network communication interface, a communication interface between terminals and base stations. Rel-16 defines two resource allocation modes for the PC5 interface, namely mode 1 and mode 2. In mode 1, the base station allocates transmission resources to V2X through the Uu interface. In mode 2, the terminal autonomously selects resources. In addition, the 3rd generation partnership project (3GPP) mainly defines two frequency ranges for the new radio (NR): Sub6GHz and millimeter wave. Sub 6GHz is called FR1 and millimeter wave is called FR2.

[0004] The resources used by existing terminals adopt a reservation mechanism to prevent different terminals from using the same resources. However, this method may result in a situation where a terminal does not use the reserved resources, which will result in a waste of resources. Summary of the invention

[0005] The embodiment of the present application provides a resource determination method, related equipment and vehicle, which first determines a first resource and sends a first side control information for indicating the first resource, and after determining that the first beam fails, sends indication information, the indication information is used to indicate the cancellation of part or all of the reserved first resources. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0006] In a first aspect, an embodiment of the present application provides a resource determination method, which can be executed by a first terminal device, or by a component of the first terminal device (such as a processor, a chip, or a chip system, etc.). In the method, a first resource is determined, and the first resource is used for the first terminal device to transmit sidelink information with a second terminal device; a first sidelink control information SCI is sent, and the first SCI is used to indicate the first resource; it is determined that the first beam fails, and the first beam is the beam used by the first terminal device to send sidelink information to the second terminal device; and an indication information is sent, and the indication information is used to indicate the cancellation of part or all of the reserved first resources.

[0007] In the embodiment of the present application, the first resource is first determined and the first side control information for indicating the first resource is sent, and after determining that the first beam fails, the indication information is sent, and the indication information is used to indicate the cancellation of part or all of the reserved first resources. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0008] Optionally, in a possible implementation manner of the first aspect, the above indication information is carried in second sideline control information SCI.

[0009] In this possible implementation, the indication information may be carried in the SCI and broadcasted so that the terminal device receiving the SCI can use the resources canceled by the first terminal device, thereby improving resource utilization and reducing resource waste.

[0010] Optionally, in a possible implementation manner of the first aspect, the above-mentioned first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0011] In this possible implementation, the resources for which the first terminal device cancels the reservation may include retransmission resources and / or periodic resources. Accordingly, the waste of retransmission resources and / or periodic resources can be reduced and the utilization rate of retransmission resources and / or periodic resources can be improved.

[0012] Optionally, in a possible implementation of the first aspect, the above-mentioned indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the cancelled reserved resources are resources of the first resources falling within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

[0013] In this possible implementation, the indication information may also be used to indicate that resources within a certain time period can be used by other terminal devices, so as to facilitate other terminal devices to determine the scope of available resources.

[0014] Optionally, in a possible implementation manner of the first aspect, the first preset moment is a moment of sending the indication information, and the second preset moment is a moment of restoring the first beam.

[0015] In a possible implementation manner, the indication information indicates a time period, and the second terminal device determines to cancel the reserved part of the first resources according to the indicated time period.

[0016] In this possible implementation, setting the end time of the first time period as the recovery time of the first beam can give the beam sufficient recovery time and reduce the use of the resource by other terminal devices after the first beam is restored.

[0017] Optionally, in a possible implementation of the first aspect, the above-mentioned first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource; sending indication information, the indication information is used to indicate the cancellation of part or all of the reserved first resources, including: sending indication information on the second resource, the indication information is used to indicate the cancellation of the remaining resources in the first resource except the second resource.

[0018] In this possible implementation, the resource used to send the indication information is limited to the first resource after the beam failure, and other terminals are notified as soon as possible to cancel the subsequent reserved resources, so that the resources can be released and used by other terminals, thereby improving resource utilization efficiency.

[0019] Optionally, in a possible implementation of the first aspect, the above step: determining that the first beam has failed includes: no feedback information is received from the second terminal device within a first preset time period; or the number of times that feedback information is not received from the second terminal device within a second preset time period is greater than or equal to a threshold.

[0020] In this possible implementation, whether the first beam fails is determined based on whether feedback information is received and the number of times the feedback information is received, thereby enabling the information sending end to determine whether the beam fails.

[0021] Optionally, in a possible implementation manner of the first aspect, before the above step of: determining that the first beam fails, the method further includes: determining that the transmitting beam of the first terminal device is the first beam based on beam training.

[0022] In this possible implementation, the first terminal device determines the first beam by means of beam training, so that the failure of the first beam can be accurately determined subsequently.

[0023] A second aspect of the embodiment of the present application provides a resource determination method, which can be executed by a third terminal device, or by a component (such as a processor, a chip, or a chip system, etc.) of the third terminal device. In the method, first side control information SCI sent by a first terminal device is received, and the first SCI is used to indicate a first resource reserved by the first terminal device; indication information sent by the first terminal device is received, and the indication information is used to indicate the cancellation of part or all of the first resource reservation; based on the indication information, an available resource set is determined, and the available resource set includes a part of the resources indicated by the indication information to cancel the reservation.

[0024] In the embodiment of the present application, the third terminal device determines the first resource reserved by the first terminal device, and determines through the indication information that the first terminal device cancels the reservation of the resource, and then the third terminal device can determine that the available resource set includes the resource canceled by the first terminal device. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving the utilization rate of resources and reducing resource waste.

[0025] Optionally, in a possible implementation of the second aspect, the above-mentioned step: determining the available resource set based on the indication information, includes: when performing resource exclusion, not excluding a part of the resources in the first resource selection window, the first resource selection window is a time window for determining the available resource set, and determining that the available resource set includes the above-mentioned part of resources.

[0026] In this possible implementation, when excluding resources, the third terminal device may not exclude the resources whose reservations are cancelled as indicated by the indication information, thereby reducing waste of resources and improving resource utilization.

[0027] Optionally, in a possible implementation of the second aspect, the above-mentioned indication information is used to indicate the cancellation of part of the first resources, and the resources other than the part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device, and the fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0028] In this possible implementation, for resources that are canceled by the first terminal device but reserved by other terminal devices, the third terminal device may not put the entire resource back when excluding the resource, but may only use part of the resource to reduce conflicts with reserved resources of other terminal devices.

[0029] Optionally, in a possible implementation manner of the second aspect, the third terminal device and the second terminal device are the same device or different devices.

[0030] In this possible implementation, the third terminal device can be a recipient of information sent by the first beam, or it can be other terminal device that is not in the direction of the first beam and can receive control information, thereby increasing the terminal range to which the solution is applicable.

[0031] A third aspect of the embodiments of the present application provides a resource determination method, which can be executed by a second terminal device, or by a component of the second terminal device (such as a processor, a chip, or a chip system, etc.). In the method, it is determined that the first beam fails, and the first beam is a beam used by the first terminal device to send sidelink information to the second terminal device; a first resource is determined, and the first resource is a resource reserved by the first terminal device on the first beam; and an indication information is sent to the third terminal device, and the indication information is used to indicate a first resource set, and the first resource set includes all or part of the first resource resources.

[0032] In an embodiment of the present application, the receiving end (i.e., the second terminal device) determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization and reducing resource waste.

[0033] Optionally, in a possible implementation manner of the third aspect, the above step: before sending the indication information to the third terminal device, the method also includes: receiving a resource set request from the third terminal device.

[0034] In this possible implementation, after receiving a resource set request sent by other terminal devices, a resource set is provided to the other terminal devices. The resource set may include resources that were reserved by the first terminal device on the failed beam but are not used due to the beam failure, thereby improving resource utilization and reducing resource waste.

[0035] Optionally, in a possible implementation of the third aspect, the above-mentioned step: determining that the first beam has failed includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above-mentioned period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0036] In this possible implementation, whether the first beam fails is determined based on whether the periodic information is received and the number of times the periodic information is received, thereby reducing misjudgment of beam failure.

[0037] Optionally, in a possible implementation manner of the third aspect, the resources for canceling the reservation include at least one of the following: resources for information retransmission and periodic transmission resources.

[0038] In this possible implementation, the resources for which the first terminal device cancels the reservation may include retransmission resources and / or periodic resources. Accordingly, the waste of retransmission resources and / or periodic resources can be reduced and the utilization rate of retransmission resources and / or periodic resources can be improved.

[0039] Optionally, in a possible implementation of the third aspect, the above-mentioned indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment of failure of the first beam, and the preset moment is later than the failure moment.

[0040] In this possible implementation, the indication information may also be used to indicate the time after which other terminal devices can use the first terminal device to cancel the reserved resources, thereby clarifying the usage time of the resources.

[0041] Optionally, in a possible implementation manner of the third aspect, the above indication information is further used to instruct the third terminal device to preferentially use the resources canceled by the first terminal device.

[0042] In this possible implementation, the indication information may also be used to instruct other terminal devices to give priority to using the resources canceled by the first terminal device, thereby improving the resource utilization rate of the reserved resources on the failed beam.

[0043] A fourth aspect of the embodiment of the present application provides a resource determination method, which can be executed by a third terminal device, or by a component of the third terminal device (such as a processor, a chip, or a chip system, etc.). In the method, a resource set request is sent to a second terminal device; first indication information is received from the second terminal device, the first indication information is used to indicate a first resource set, and the first resource set includes a first resource; the first resource is a resource for which the reservation is canceled by the first terminal device.

[0044] In an embodiment of the present application, after the third terminal device requests a resource set from the second terminal device, it can be determined through the first indication information sent by the second terminal device that the first resource set includes the first resource for which the first terminal device has canceled its reservation. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, there is a high probability that there will be no resource usage conflict when using the resource, thereby reducing the probability of resource usage conflicts and improving system performance.

[0045] Optionally, in a possible implementation manner of the fourth aspect, the first indication information is also used to instruct the third terminal device to give priority to using the first resource.

[0046] In this possible implementation, the third terminal device can give priority to using the first resource according to the first indication information. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, it is highly likely that resource usage conflicts will not occur when the resource is given priority, thereby reducing the probability of resource usage conflicts and improving system performance.

[0047] A fifth aspect of an embodiment of the present application provides a first terminal device, which includes: a processing unit, used to determine a first resource, the first resource is used for the first terminal device to transmit sidelink information with a second terminal device; a transceiver unit, used to send a first sidelink control information SCI, the first SCI is used to indicate the first resource; the processing unit is also used to determine that the first beam fails, the first beam is used to carry sidelink information; the transceiver unit is also used to send indication information, the indication information is used to indicate the cancellation of part or all of the reserved first resources.

[0048] Optionally, in a possible implementation manner of the fifth aspect, the above indication information is carried in second sideline control information SCI.

[0049] Optionally, in a possible implementation manner of the fifth aspect, the above-mentioned first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0050] Optionally, in a possible implementation of the fifth aspect, the above-mentioned indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the canceled reservation resources are resources of the first resources falling within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

[0051] Optionally, in a possible implementation manner of the fifth aspect, the first preset moment is the moment of sending the indication information, and the second preset moment is the moment of restoring the first beam.

[0052] Optionally, in a possible implementation of the fifth aspect, the above-mentioned first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource; the transceiver unit is specifically used to send indication information on the second resource, and the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

[0053] Optionally, in a possible implementation of the fifth aspect, the above-mentioned processing unit is specifically used for not receiving feedback information from the second terminal device within a first preset time period; or the processing unit is specifically used for not receiving feedback information from the second terminal device within a second preset time period when the number of times is greater than or equal to a threshold.

[0054] Optionally, in a possible implementation manner of the fifth aspect, the above-mentioned processing unit is also used to determine that the transmitting beam of the first terminal device is the first beam based on beam training.

[0055] The sixth aspect of an embodiment of the present application provides a third terminal device, which includes: a transceiver unit, used to receive a first side control information SCI sent by a first terminal device, the first SCI is used to indicate a first resource reserved by the first terminal device; the transceiver unit is also used to receive an indication information sent by the first terminal device, the indication information is used to indicate the cancellation of part or all of the reserved first resources; a processing unit, used to determine an available resource set based on the indication information, the available resource set including a part of the resources indicated by the indication information to cancel the reservation.

[0056] Optionally, in a possible implementation of the sixth aspect, the above-mentioned processing unit is specifically used to, when performing resource exclusion, not exclude the first part of resources in the first resource selection window, the first resource selection window is a time window for determining a set of available resources, and the processing unit is specifically used to determine that the set of available resources includes a part of resources.

[0057] Optionally, in a possible implementation of the sixth aspect, the above-mentioned indication information is used to indicate the cancellation of part of the first resources, and the resources other than the part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device, and the fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0058] Optionally, in a possible implementation manner of the sixth aspect, the third terminal device and the second terminal device are the same device.

[0059] The seventh aspect of an embodiment of the present application provides a second terminal device, which includes: a processing unit, used to determine that a first beam fails, the first beam is a beam used by the first terminal device to send side link information to the second terminal device; the processing unit is also used to determine a first resource, the first resource is a resource for which the first terminal device cancels a reservation; a transceiver unit, used to send indication information to a third terminal device, the indication information is used to indicate a first resource set, and the first resource set includes all or part of the first resources.

[0060] Optionally, in a possible implementation manner of the seventh aspect, the above-mentioned transceiver unit is also used to receive a resource set request from a third terminal device.

[0061] Optionally, in a possible implementation of the seventh aspect, the above-mentioned processing unit is specifically used to determine that the first beam failure includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above-mentioned period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0062] Optionally, in a possible implementation manner of the seventh aspect, the above-mentioned resources for canceling the reservation include at least one of the following: resources for information retransmission and periodic transmission resources.

[0063] Optionally, in a possible implementation of the seventh aspect, the above-mentioned indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment when the failure of the first beam is determined, and the preset moment is later than the failure moment.

[0064] Optionally, in a possible implementation manner of the seventh aspect, the above-mentioned indication information is also used to instruct the third terminal device to give priority to using the resources canceled by the first terminal device.

[0065] In an eighth aspect of an embodiment of the present application, a third terminal device is provided, the third terminal device comprising: a transceiver unit, configured to send a resource set request to a second terminal device; the transceiver unit is further configured to receive first indication information from the second terminal device, the first indication information being used to indicate a first resource set, the first resource set including a first resource. The first resource is a resource for which the first terminal device cancels a reservation.

[0066] Optionally, in a possible implementation manner of the eighth aspect, the first indication information is also used to instruct the third terminal device to give priority to using the first resource.

[0067] A ninth aspect of an embodiment of the present application provides a communication device, comprising at least one processor, wherein the at least one processor is coupled to a memory; the memory is used to store programs or instructions; the at least one processor is used to execute the program or instructions so that the device implements the method described in any possible implementation method of any one of the first to fourth aspects.

[0068] A tenth aspect of the embodiment of the present application provides a vehicle for executing a method as described in any possible implementation of any one of the first to fourth aspects.

[0069] In an eleventh aspect of an embodiment of the present application, a communication device is provided, including at least one logic circuit and an input / output interface; the logic circuit is used to execute a method as described in any possible implementation method of any one of the first to fourth aspects.

[0070] A twelfth aspect of an embodiment of the present application provides a communication system, which includes the first terminal device of the fifth aspect and the third terminal device of the sixth aspect; or, the communication system includes the second terminal device of the seventh aspect and the third terminal device of the eighth aspect.

[0071] A thirteenth aspect of an embodiment of the present application provides a computer-readable storage medium, which is used to store one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes a method as described in any possible implementation of any one of the first to fourth aspects above.

[0072] A fourteenth aspect of an embodiment of the present application provides a computer program product (or computer program). When the computer program in the computer program product is executed by the processor, the processor executes the method described in any possible implementation of any one of the first to fourth aspects above.

[0073] A fifteenth aspect of an embodiment of the present application provides a chip system, which includes at least one processor, and is used to support a communication device to implement the method described in any possible implementation method of any aspect of the first to fourth aspects above.

[0074] In a possible design, the chip system may also include a memory for storing program instructions and data necessary for the communication device. The chip system may be composed of a chip, or may include a chip and other discrete devices. Optionally, the chip system also includes an interface circuit, which provides program instructions and / or data for the at least one processor.

[0075] Among them, the technical effects brought about by any design method in the fifth to fifteenth aspects can refer to the technical effects brought about by different design methods in the above-mentioned first to fourth aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 A schematic diagram of a V2X scenario provided in an embodiment of the present application;

[0077] Figure 2 Schematic diagrams of several communication systems provided in embodiments of the present application;

[0078] Figure 3 A schematic diagram of a terminal device resource selection process provided in an embodiment of the present application;

[0079] Figure 4 A schematic diagram of a receiving end assisting a transmitting end in selecting resources provided by an embodiment of the present application;

[0080] Figure 5 A schematic diagram of a beam scanning process provided in an embodiment of the present application;

[0081] Figure 6 A schematic diagram of a sensing window provided in an embodiment of the present application;

[0082] Figure 7 A schematic diagram of a terminal device resource selection process provided in an embodiment of the present application;

[0083] Figure 8 Another schematic diagram of a receiving end assisting a transmitting end in selecting resources provided by an embodiment of the present application;

[0084] Fig. 9 A schematic diagram of beam management provided in an embodiment of the present application;

[0085] Fig.10 A flowchart of a data processing method provided in an embodiment of the present application;

[0086] Fig.11Another flowchart of the data processing method provided in the embodiment of the present application;

[0087] Fig.12 A schematic diagram of another communication system provided in an embodiment of the present application;

[0088] Fig.13 Another flowchart of the data processing method provided in the embodiment of the present application;

[0089] Figures 14 to 16 Several structural schematic diagrams of the communication device provided in the embodiments of the present application;

[0090] Fig.17 A schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0091] First, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0092] (1) Configuration and pre-configuration: In this application, configuration and pre-configuration will be used at the same time. Configuration refers to the base station or server and other network devices sending some parameter configuration information or parameter values ​​to the terminal through messages or signaling, so that the terminal can determine the communication parameters or resources during transmission based on these values ​​or information. Pre-configuration is similar to configuration. It can be a method in which a base station or server and other network devices send parameter information or values ​​to the terminal through a communication link or carrier; it can also be a definition of corresponding parameters or parameter values ​​given in the standard, or by setting the relevant parameters or values ​​in the terminal device in advance, such as configuring the relevant parameters during factory settings. This application does not limit this. Furthermore, these values ​​and parameters can be changed or updated.

[0093] (2) In this application, "used for indication" may include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used for indicating A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A.

[0094] In this application, the information indicated by the indication information is referred to as the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated. For example, it can be implemented by direct indication, such as by indicating the information to be indicated itself or the index of the information to be indicated. It can also be implemented by indirectly indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each information agreed in advance (for example, specified by the protocol), thereby reducing the indication overhead to a certain extent.

[0095] The information to be indicated can be sent as a whole, or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in this application. Among them, the sending period and / or sending time of these sub-information can be pre-defined, for example, pre-defined according to the protocol, or configured by the transmitting device by sending configuration information to the receiving device. Among them, the configuration information can include, for example but not limited to, one or a combination of at least two of radio resource control (RRC) signaling, media access control (MAC) layer signaling and physical layer signaling. Among them, MAC layer signaling, for example, includes MAC control element (CE); physical layer signaling, for example, includes downlink control information (DCI) and sidelink control information (SCI).

[0096] (3) The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "At least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated with each other are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, "at least one of A, B and C" includes A, B, C, AB, AC, BC or ABC. And, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.

[0097] (4) "Send" and "receive" in the embodiments of the present application indicate the direction of signal transmission. For example, "send information to device X" can be understood as the destination of the information is device X, which can include direct sending through the air interface, and also include indirect sending through the air interface by other units or modules. "Receive information from device Y" can be understood as the source of the information is device Y, which can include direct receiving from device Y through the air interface, and also include indirect receiving from device Y through the air interface from other units or modules. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface.

[0098] Exemplarily, the communication process between entity A and entity B is taken as an example. In the present application, entity A sends information to entity B, which may be A directly sending to B, or A indirectly sending to B through other entities. Similarly, entity B receives information from entity A, which may be entity B directly receiving the information sent by entity A, or entity B indirectly receiving the information sent by entity A through other entities. Entities A and B here may be RAN nodes or terminals, or modules inside RAN nodes or terminals. The sending and receiving of information may be information interaction between a RAN node and a terminal, for example, information interaction between a base station and a terminal; the sending and receiving of information may also be information interaction between two RAN nodes, for example, information interaction between a CU and a DU; the sending and receiving of information may also be information interaction between different modules inside a device, for example, information interaction between a terminal chip and other modules of the terminal, or information interaction between a base station chip and other modules in the base station.

[0099] (5) Beam. Among them, beam and beam pair link (BPL) are introduced into the communication system. Beam is a communication resource. Beam can be divided into transmit beam and receive beam. The technology for forming beam can be beamforming technology or other technical means. Beamforming includes transmit beamforming and receive beamforming.

[0100] Transmit beam: The transmitting end device transmits a signal with a certain beamforming weight, so that the transmitted signal forms a beam with spatial directivity. In the uplink direction, the transmitting end device can be a terminal; in the downlink direction, the transmitting end device can be a network device.

[0101] Receive beam: The receiving device receives the signal with a certain beamforming weight, so that the received signal forms a beam with spatial directivity. In the uplink direction, the receiving device can be a network device; in the downlink direction, the receiving device can be a terminal.

[0102] Transmit beamforming: When a transmitting device with an antenna array transmits a signal, a specific amplitude and phase are set on each antenna element of the antenna array so that the transmitted signal has a certain spatial directivity, that is, the signal power is high in some directions and low in some directions. The direction with the highest signal power is the direction of the transmit beam. The antenna array includes multiple antenna elements, and the specific amplitude and phase attached are the beamforming weights.

[0103] Receive beamforming: When a receiving device with an antenna array receives a signal, a specific amplitude and phase are set on each antenna element of the antenna array so that the power gain of the received signal has directionality, that is, the power gain is high when receiving signals in certain directions, and low when receiving signals in other directions. The direction with the highest power gain when receiving a signal is the direction of the receive beam. The antenna array includes multiple antenna elements, and the specific amplitude and phase added are the beamforming weights.

[0104] Optionally, using a certain transmit beam to send a signal can be understood as using a certain beamforming weight to send a signal.

[0105] Optionally, receiving a signal using a receiving beam may be understood as receiving a signal using a certain beamforming weight.

[0106] Generally, different beams can be considered as different resources. The same information or different information can be sent using (or through) different beams. A beam pair is based on the concept of beams. A beam pair usually includes a transmit beam of a transmitting device and a receive beam of a receiving device.

[0107] (6) Sidelink Control Information (SCI). The SCI of the NR sidelink (SL) system is divided into first-level SCI and second-level SCI. The physical sidelink control channel (PSCCH) carries the first-level SCI, which is used to schedule the second-level SCI and the physical sidelink shared channel (PSSCH). Since SL is a distributed system, all UEs need to correctly decode the first-level SCI before they can decode the second-level SCI and PSSCH. However, in order to reduce the complexity of the UE's blind decoding of PSCCH, the resource location of PSCCH is relatively fixed, and the format information of the first-level SCI carried is also relatively unique, that is, the UE does not need to blindly detect the time-frequency resource location where the PSCCH is located, nor does it need to blindly detect SCIs of different formats. The UE only needs to detect whether the first-level SCI exists at the fixed PSCCH time-frequency resource location. PSCCH may exist in each subchannel in each time slot, that is, the time domain starting position of a PSCCH is the second symbol used for SL transmission in each time slot, the length is 2 or 3 symbols (determined by the resource pool configuration information), the frequency domain position is the smallest PRB index of each subchannel, and the length is at least 10 PRBs (determined by the resource pool configuration information) but not exceeding the size of the subchannel.

[0108] The Frequency resource assignment field and the Time resource assignment field in the first-level SCI are used to indicate the frequency domain resources and time domain resources for transmitting PSSCH, respectively. The Resource reservation period field is used to indicate the resources for periodic reservation of PSSCH transmission. The value of the Resource reservation period field is configured by the network device, or preconfigured, or predefined. For example, it is indicated by the first RRC signaling. The first RRC signaling can determine sl-ResourceReservePeriod1. The format of the second-level SCI is indicated by the 2nd-stageSCI format field in the first-level SCI. The existing second-level SCI format fields are shown in Table 1 below.

[0109] Table 1

[0110] The value of the second stage sci format field The second stage sci format 00 SCI format 2-A 01 SCI format 2-B 10 SCI format 2-C 11 Reserved

[0111] Cellular Vehicle-To-Everything (C-V2X) is a V2X communication technology developed based on cellular systems. Figure 1 , which is a schematic diagram of a V2X scenario provided in an embodiment of the present application. Figure 1 As shown, V2X is a technology that enables vehicles to communicate with the outside world. It utilizes and enhances current cellular network functions and elements to achieve low-latency and high-reliability communication between various nodes in the vehicle network. The X in V2X can represent vehicles, pedestrians, road facilities, or networks, etc., that is, V2X can include vehicle-to-vehicle (V2V) communication, vehicle-to-road facilities (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication, etc. As cellular systems evolve from 4G Long Term Evolution (LTE) to 5G, C-V2X evolves from LTE-V2X to New Radio V2X (NR-V2X).

[0112] In V2V communication, the terminals that communicate with each other can be located on two vehicles, and can be handheld devices or vehicle-mounted devices of users on the vehicle, etc. In V2I communication, the terminals that communicate with each other can be located on vehicles and road facilities. For example, one terminal can be a handheld device or vehicle-mounted device of users on the vehicle, and the other terminal can be a road side unit (RSU), where RSU can be understood as a facility entity that supports V2X applications and can exchange information with other terminals that support V2X communication. In V2P communication, the terminals that communicate with each other can be located on vehicles and pedestrians. In V2N communication, the terminals that communicate with each other can be located on vehicles and servers. In short, this application does not limit the form of the terminal, and the forms of the terminals that communicate with each other can be the same or different.

[0113] V2X communication has great potential in reducing vehicle collision accidents, and therefore the number of casualties. The advantages of V2X are not limited to improving safety. Vehicles that can perform V2X communication can help better manage traffic, further promote green transportation and lower energy consumption. Intelligent Transportation System (ITS) is an application that combines with V2X. Based on V2X technology, vehicle users (Vehicle UE, V-UE) can send some of their own information, such as location, speed, intention (turning, merging, reversing) and other information periodically and some non-periodic event-triggered information to the surrounding V-UE. Similarly, V-UE will also receive information from surrounding users in real time. 5G NR V2X can support lower transmission latency, more reliable communication transmission, higher throughput, better user experience, and meet the needs of a wider range of application scenarios. Furthermore, the vehicle-to-vehicle communication technology supported by V2X can be extended to device-to-device (D2D) communication under any system.

[0114] It is understandable that the communication method provided in the trial example of this application is applicable to communication scenarios with and without network coverage, and the user independently selects the resource mode. Figure 2 As shown, it can be within the coverage of the network device or outside the coverage of the network device.

[0115] The network device in the embodiment of the present application can be any device with wireless transceiver function. Including but not limited to: in the traditional universal mobile telecommunication system (UMTS) / LTE wireless communication system, it can be a traditional macro base station eNB (evolved node B), in the heterogeneous network (HetNet) scenario, it can be a micro base station eNB, in the distributed base station scenario, it can be a baseband processing unit (BBU) and a remote radio unit (RRU), in the cloud radio access network (CRAN) scenario, it can be a baseband pool BBU pool and RRU, in the future wireless communication system, it can be a gNB, a base station of subsequent evolution of 3GPP, an access node in a WiFi system, a wireless relay node, a wireless backhaul node, etc. The base station can be: a macro base station, a micro base station, a micro-micro base station, a small station, a relay station, or a balloon station, etc. The network device can also be a server, a wearable device, or a vehicle-mounted device, etc.

[0116] The user device in the embodiments of the present application may be a vehicle-mounted communication module or other embedded communication module, a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a tactile terminal device, a vehicle-mounted terminal device, a wireless terminal in unmanned driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a wearable terminal device, and the like.

[0117] At present, V2X communication can be achieved through two communication mechanisms (also called communication modes). One is a communication mechanism based on the Near Field Communication (Proximity Communication, PC5) interface, and the other is based on the terrestrial radio access network and user equipment (UTRAN to UE, Uu) interface. Among them, the PC5 interface is a direct communication interface, a short-distance direct communication interface between vehicles, people, and road infrastructure. The Uu interface is a cellular network communication interface, a communication interface between the terminal and the base station.

[0118] Rel-16 defines two resource allocation modes for the PC5 interface, namely mode 1 and mode 2. In mode 1, the base station allocates transmission resources to V2X through the Uu interface. Therefore, the user equipment (UE) under mode 1 must be within the network coverage. In mode 2, the terminal autonomously selects resources. In sidelink (SL) communications, mode 1 and mode 2 can be allocated to different resource pools or share resource pools. Resource pool sharing can improve resource utilization efficiency, but it is also easy to cause conflicts between mode 1 and mode 2. Therefore, the UE in mode 1 will notify the UE in mode 2 of the resources allocated for its future transmission.

[0119] In the V2X SL of Rel-16, the transmission resources of the UE in the user-selected resource mode (mode 2) do not depend on the base station. There are two ways for the transmitting UE to determine the resources. One is that the transmitting UE selects the transmission resources in the resource selection window according to the results of its own perception window. The other is that the receiving UE sends the candidate resource set to the transmitting UE, and the transmitting UE selects the transmission resources from the received candidate resource set.

[0120] The first type: the transmitting UE selects transmission resources within the resource selection window according to the perception results within its own perception window.

[0121] The transmitting UE selects transmission resources for communication within the resource selection window according to the results of its own perception window. Assuming that the transmitting UE triggers resource selection in time slot n, the specific resource selection process is as follows: Figure 3 As shown, Figure 3 The UE1 in the figure can be understood as the transmitting UE. The steps are described below:

[0122] Step 1: Determine a time slot and L subCH The candidate resources R are in units of consecutive sub-channels. x,y , resource selection window [n+T1,n+T2], where, Determined from Table 2, μ SL For the configured subcarrier spacing, the choice of T1 is implementation based. 2min (high-level configuration) is less than the remaining packet delay budget (PDB), then T 2min ≤T2≤Remaining PDB, T2 is chosen based on implementation; otherwise T2 is set to the remaining PDB duration.

[0123] Table 2

[0124]

[0125] Step 2: Determine the perception window Among them, T0 is configured by high-level parameters. It is determined by the following Table 3. The sensing window may also be called a listening window.

[0126] Table 3

[0127]

[0128] Step 3: Determine the threshold value Th(p i ,p j ), RSRP threshold and the prio of the data to be sent TX , and the priority level indicated by the received SCI prio RX Related. Th(p i ,p j ) is specifically the prio in the RSRP threshold value set configured for the resource pool RX +(prio TX -1)*8 threshold values.

[0129] Step 4: Initialize the available resource set S A Includes all time-frequency resources in the resource selection window.

[0130] Step 5: From S A The following time-frequency resources are excluded: the time slots of all periodic resource reservations configured by the resource pool corresponding to the unperceived time slots (transmitted time slots) in the perception window. A If the excluded time-frequency resources are less than X% of the total resources in the resource selection window, re-execute the initialization of step 4 and skip step 5.

[0131] Step 6: Continue from S A The following time-frequency resources are excluded: the decoding of the received first-level SCI is successful, and the result of RSRP measurement of the physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) of the time-frequency resources reserved by the received first-level SCI is higher than the RSRP threshold determined in step 3, and the time-frequency resources reserved by the received first-level SCI are within the resource selection window, including the retransmission resources indicated by the first-level SCI and the periodically reserved resources.

[0132] Step 7: If S AThe remaining resources in the resource selection window are less than X% of the total resources in the resource selection window. The value of X% is configured by the resource pool and is consistent with prio TX If the RSRP threshold determined in step 3 is increased (by 3 each time), until S is satisfied A The remaining resources in the resource selection window are not less than X% of the total resources, and continue to step 4.

[0133] S A Report to a higher layer, such as the Media Access Control (MAC) layer.

[0134] The MAC layer indicates the time-frequency resources (r0, r1, r2...) to the physical layer. If r i If it is not an SA, it needs to be re-evaluated before use;

[0135] The MAC layer indicates the time-frequency resources (r0′, r1′, r2′...) to the physical layer. If r i ′If it does not belong to SA, a preemption evaluation is required before use;

[0136] The re-evaluated resources must meet one of the following conditions:

[0137] 1) Provide the sl-PreemptionEnable parameter and configure it to enable, and prio TX >prio RX ;

[0138] 2) Provide the sl-PreemptionEnable parameter but do not configure it to be enabled, and satisfy prio RX >prio pre and prio TX >prio pre , where prio pre Configured by high level.

[0139] If r in (r0,r1,r2...) and (r0′,r1′,r2′...) i (r i ∈(r0,r1,r2...)) and / or r i ′(r i ′∈(r0′,r1′,r2′...)) does not belong to S A (ie r i and / or i ′ are excluded during re-evaluation and / or preemption detection, respectively), then for r i and / or i' is reselected. Wherein, time slot m is the next time slot to be transmitted, that is, time slot m belongs to (r0, r1, r2...) and (r0', r1', r2'...).

[0140] In the second method, the receiving UE sends a candidate resource set to the transmitting UE, and the transmitting UE selects a transmission resource from the received candidate resource set.

[0141] This situation can also be understood as the receiving end assisting the transmitting end in selecting resources. The following describes a method in which the receiving end assists the transmitting end in selecting resources. In actual applications, there may be other methods, which are not specifically limited here.

[0142] In FR2, all information transmission is directional, so the use of resources should be directional. The existing perception, resource exclusion and resource selection processes are designed for the FR1 low-frequency SL distributed system. Through the perception process, it excludes the resources reserved by other UEs in the resource selection window and selects the sending resources from the remaining available resource set to avoid sending conflicts. However, in the FR2 frequency band, since the beam is directional, the perception and resource exclusion of the SL mode2 resource selection process are performed in a certain beam direction. The perception results of beams in different directions may be different, and therefore correspond to different sets of available candidate resources. Moreover, the perception results of the transmitting and receiving beams may also be different. For example Figure 4 As shown in the figure, UE-A communicates with UE-B and UE-C respectively, and UE-B and UE-C are the transmitting ends, and UE-A is the corresponding receiving end. The direction of UE-B's TX beam cannot sense the interference of UE-C's transmitting beam on UE-A's RX beam, and may select resources that conflict with UE-C to send to UE-A. Therefore, the perception result of UEA as the receiving end is more accurate.

[0143] The beam scanning process can be divided into three states, such as Figure 5 As shown, the operations of each state are summarized as follows:

[0144] P-1: UE-B measures the transmit beam set of UE-A and selects the transmit beam of UE-B and the receive beam of UE-A.

[0145] P-2: Based on P-1, UE-B uses a more fine-grained transmit beam set for measurement to improve UE-B's transmit beam.

[0146] P-3: UE-A uses different receive beams to measure the same UE-B transmit beam and improve UE-A's own receive beam.

[0147] In the above beam scanning process, the scanning time of each beam direction is defined as the perception window of the beam, such as Figure 6As shown, the perception window includes the SSB transmission time of the corresponding directional beam. If beam 3 is determined to be the optimal beam direction after the SSB scanning process is completed, then when beam 3 is subsequently used for receiving / transmitting, the corresponding time is the perception window of beam 3. The specific time position such as the specific beam transmission period and pattern (SSB transmission time in the beam direction) of SSB is not limited in the present invention.

[0148] According to the above definition, when UE-A performs beam scanning using beam direction k, it also performs resource sensing while receiving / sending SSB. Figure 7 As shown, while UE-A is scanning the beam, the candidate resource set S of each beam direction can be determined according to the sensing result. A .

[0149] For beam k, the resource listening and resource selection process is as follows:

[0150] Step 1: Determine a time slot and L subCH The candidate resources R are in units of consecutive sub-channels. x,y , resource selection window [n+T a ,n+T b ], where T a The choice is implementation-dependent. If T 2min (high-level configuration) is less than the remaining PDB (data packet delay), then T 2min ≤T b ≤ Remaining PDB, T b The choice is based on implementation; otherwise T b Set to the remaining PDB duration.

[0151] Step 2: Determine the perception window Among them, T xk and T yk are the start and end time sets of multiple transmission / reception of beam k, that is, the UE The time that beam k is used within the window.

[0152] Step 3: Determine the RSRP threshold Th(p i ,p j ), RSRP threshold and the prio of the data to be sent TX , and the priority level indicated by the received SCI prio RX Related. Th(p i ,p j ) is specifically the prio in the RSRP threshold value set configured for the resource pool RX +(prio TX -1)*8 threshold values.

[0153] Step 4: Initialize the available resource set S A Includes all time-frequency resources in the resource selection window.

[0154] Step 5: From S A The following time-frequency resources are excluded: the time slots of all periodic resource reservations configured by the resource pool corresponding to the unperceived time slots in the perception window (transmitted time slots or time slots using other beams). A The excluded time-frequency resources are less than X% of the total resources in the resource selection window, and the initialization of step 4 is re-executed.

[0155] Step 6: Continue from S A The following time-frequency resources are excluded: the decoding of the received first-level SCI is successful, and the RSRP measurement result of the PSSCH DMRS of the time-frequency resources reserved by the received first-level SCI is higher than the RSRP threshold determined in step 3, and the time-frequency resources reserved by the received first-level SCI are within the resource selection window, including the retransmission resources indicated by the first-level SCI and the periodically reserved resources.

[0156] Step 7: If S A The remaining resources in the resource selection window are less than X% of the total resources in the resource selection window. The value of X% is configured by the resource pool and is consistent with prio TX If the RSRP threshold determined in step 3 is increased (by 3 each time), until S is satisfied A The remaining resources in the resource selection window are not less than X% of the total resources, and continue to step 4.

[0157] S A Report to higher layers, such as the MAC layer.

[0158] like Figure 8 As shown, when UE-B is the data transmitter (TX) and UE-A is the data receiver (RX), in order to more accurately determine the available resource set in SLFR2 and avoid resource conflicts, UE-A as the receiving end needs to set the candidate resource set S A (or S Ak ) is sent to UE-B, and UE-B selects resources to be sent to UE-A from the received candidate resource set.

[0159] It is understandable that the above two methods of determining resources are just examples. In actual applications, there may be other situations, which are not specifically limited here.

[0160] In addition, the 3rd generation partnership project (3GPP) mainly defines two frequency ranges for NR as shown in Table 4: Sub 6GHz and millimeter wave, Sub 6GHz is called FR1, and millimeter wave is called FR2. Beam management is an important technology proposed by 5G NR for FR2, which refers to the process by which 5G base stations (Next Generation NodeB, gNB) and UEs obtain and maintain beam sets for transmission and reception.

[0161] Table 4

[0162] Frequency range name Corresponding frequency range - megahertz (MHz) FR1 410MHz-7125MHz FR2 24250MHz-52600MHz

[0163] Beam management includes the following four technical points:

[0164] 1. Beam determination: refers to the process by which the gNB or UE selects its transmit or receive beam;

[0165] 2. Beam measurement: refers to the process of measuring the received beamforming signal by the gNB or UE;

[0166] 3. Beam reporting: refers to the process in which the UE reports the beam measurement results to the base station;

[0167] 4. Beam sweeping: refers to the process in which the gNB or UE selects beams for transmission or reception in a specified scanning manner within a time period to cover a spatial area.

[0168] According to the working status, beam management can be divided into three states (such as Fig. 9 The operations of each state are summarized as follows:

[0169] P-1: The gNB sends a reference signal (RS) based on a transmit beam set. The transmit beams in the set correspond to different transmit directions. The UE selects the gNB's transmit beam and the UE's receive beam by measuring and providing feedback on the beams.

[0170] P-2: Based on P-1, the gNB transmits RS based on a smaller set of transmit beams. The UE improves the gNB's transmit beam by measuring and providing feedback on the beams.

[0171] P-3: The gNB uses one transmit beam to transmit RS, and the UE measures the transmit beam of the same gNB through different receive beams to improve the UE's receive beam.

[0172] Based on the above four technical points and three state operations, downlink beam management can be carried out. The basic process is as follows: gNB configures up to 64 beam directions, each of which corresponds to a synchronization signal block (SSB) and the time-frequency resources that the UE should use when reporting the beam. The gNB sends SSBs in each direction in a scanning manner, and the UE performs beam measurement to obtain the reference signal received power (RSRP) of the SSB. The UE needs to match the measured SSB RSRP with the 6-bit SSB sequence number. To this end, it obtains the lowest 3 bits from the physical broadcast channel (PBCH) demodulation reference signal (DMRS), and also obtains the highest 3 bits from the PBCH payload bits, and then combines them to obtain the sequence number of the received SSB. Among them, the PBCH DMRS is generated based on a pseudo-random sequence, and the way it carries the lowest 3 bits of the SSB sequence number is to determine the initial value of the pseudo-random sequence through these 3 bits. The UE obtains the SSB number by blindly detecting the PBCH DMRS. After that, the UE selects an SSB set by comparing the RSRP and reports the SSB number and the corresponding RSRP in the set to the base station on the given time-frequency resources. The base station uses the reported information to perform beam determination, thus completing the initial beam selection process. The uplink beam management also uses a similar process, but uses different reference signals.

[0173] In NR Uu, the beam failure recovery for FR2 includes several processes: beam failure detection, new beam discovery, beam recovery request (BFRQ) and beam recovery response (BFRR). The specific description is as follows:

[0174] 1. Beam failure detection.

[0175] a) The high-level signaling configures the periodic CSI-RS resources set as q0 through Beam-Failure-Detection-RS-ResourceConfig for beam failure detection signals.

[0176] b) If the higher layer does not configure this information, the UE uses the TCI-StatesPDCCH information to find the periodic CSI-RS or SSB with QCL relationship as the measurement signal.

[0177] c) The UE uses the q0 signal to measure the link quality and compares it with Qout,LR (determined by RLM-IS-OOS-thresholdConfig). When the link quality measured for beamFailureInstanceMaxCount times is lower than the threshold, the physical layer reports a Beam Failure Indication to the MAC layer.

[0178] 2. New beam discovery.

[0179] a) The high-level signaling configures the CSI-RS resources or SSB resources set as q1 through candidateBeamRSList, which is used to measure the quality of the beam candidate link.

[0180] b) The UE uses the q1 signal to measure the link quality and compares it with rsrp-ThresholdSSB. When the measured link quality is higher than the threshold, the newly detected beam is reported to the MAC layer.

[0181] 3. Beam Restoration Request (BFRQ).

[0182] a) The MAC layer receives the Beam Failure indication and new candidate beam indication from the PHY layer.

[0183] b) BFRQ is transmitted on the PRACH resources configured by the higher layer, and the PRACH resources are associated with the CSI-RS resources and / or SS / PBCH blocks used for the new beam identification.

[0184] c) After MAC sends PRACH, it starts the beamFailureRecoveryTimer timer.

[0185] 4. Beamform Restoration Response (BFRR).

[0186] a) The UE starts monitoring the BFRR of the gNB on the PDCCH four time slots after sending the PRACH. The size of the monitoring window is configured by the higher layer.

[0187] b) If no successful response is received from the gNB before the beamFailureRecoveryTimer timer, a BFRQ Failure is reported to the upper layer.

[0188] c) If a BFR response message is received from the gNB on the specified PDCCH CORESET, the BFR is successful and the timer is stopped.

[0189] The resources used in the existing mode 2 are implemented by a reservation mechanism to prevent different terminals from using the same resources. In FR1, the omnidirectional antenna is used, so the reserved resources are generally not unused. However, in FR2, since all information transmission is directional, if the beam fails, the reserved resources will no longer be used. Since the terminal has already reserved the resource on the corresponding beam, other terminals will basically not use the resource, which will result in a waste of resources.

[0190] In order to solve the above technical problems, the embodiments of the present application provide a resource determination method, related equipment and vehicle. First, a first resource is determined and a first side control information for indicating the first resource is sent, and after determining that the first beam fails, an indication information is sent, and the indication information is used to indicate the cancellation of part or all of the reserved first resources. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0191] The resource determination method provided in the embodiment of the present application is described below. The method can be executed by a terminal device, or by a component of the terminal device (such as a processor, a chip, or a chip system, etc.). The terminal device includes a first terminal device and / or a third terminal device.

[0192] In the embodiment of the present application, the transmission beam of the first terminal device to the second terminal device is the first beam. The first terminal device can be understood as the transmitting end of the first beam, and the second terminal device can be understood as the receiving end of the first beam. The first terminal device is a terminal device other than the second terminal device and the third terminal device, and the third terminal device is a terminal device that communicates with the first terminal device. The third terminal device can be the second terminal device, or it can be other terminal devices other than the first terminal device and the second terminal device, and the specific details are not limited here.

[0193] In addition, when the second terminal device and the third terminal device are different terminal devices, the first terminal device communicates not only with the second terminal device but also with the third terminal device. The second terminal device may communicate with the third terminal device or may not communicate with the third terminal device, which is not limited here.

[0194] See also Fig.10 , a flow chart of a resource determination method provided in an embodiment of the present application, which method can be applied to the aforementioned Figure 3 The transmitting UE (ie Figure 3The UE 1 in the present invention selects transmission resources in the resource selection window according to the result of perception in the perception window. The method may include steps 1001 to 1005. Steps 1001 to 1005 are described in detail below.

[0195] Step 1001: A first terminal device determines a first resource.

[0196] The first terminal device determines a first resource, where the first resource is used for the first terminal device to transmit sidelink information with the second terminal device.

[0197] In the embodiment of the present application, there are many ways for the first terminal device to determine the first resource, which may be a network device configuration / preconfiguration, or the first resource determined by the first terminal device in a resource selection window, etc., which are not limited here. Among them, the resource selection window is a window for the first terminal device to select resources, which can be understood as the aforementioned Figure 3 For the specific parameters of [n+T1, n+T2] in the illustrated embodiment, reference may be made to the previous description and will not be repeated here.

[0198] It should be noted that the number of resources involved in the embodiments of the present application may be one or more, or it can be understood that resources can be replaced by the concept of resource sets. For example, the first resource may include one or more resources, and the first resource may be equivalent to the first resource set.

[0199] Optionally, when the first terminal device is within the coverage of the network device, the first terminal device can obtain the first resource by receiving a system information block (SIB), cell-level (cell-specific) radio resource control (RRC) signaling, or terminal device user level (UE-specific) RRC signaling sent by the network device.

[0200] Optionally, the first terminal device may also use a preconfigured first resource.

[0201] Optionally, the first terminal device may determine the first resource in the resource selection window by referring to the aforementioned Figure 3 Description of the illustrated embodiment. That is, the first terminal device selects the transmission resource by itself within the resource selection window. It should be noted that although this method selects the first resource within the resource selection window, it does not mean that the first resource must be a resource within the resource selection window. Alternatively, it can be understood that the first terminal device determines the resource in the resource selection window to perform resource reservation, and reserves the resource within or outside the resource selection window as the first resource.

[0202] The first resource in the embodiment of the present application may include at least one of the following: resources for retransmission of sidelink information, resources for periodic transmission of sidelink information, etc.

[0203] In a possible implementation, the first resource includes a resource for retransmitting the sidelink information. It can also be understood that the first terminal device reserves the resource for retransmitting the sidelink information.

[0204] In another possible implementation, the first resource includes resources for periodic transmission of sidelink information. It can also be understood that the first terminal device reserves resources for periodic transmission of sidelink information.

[0205] In another possible implementation, the first resource includes not only resources for retransmission of the sidelink information, but also resources for periodic transmission of the sidelink information. It can also be understood that the first terminal device not only reserves resources for retransmission of the sidelink information, but also reserves resources for periodic transmission of the sidelink information.

[0206] The first resource reserved in the embodiment of the present application can be understood as the first resource selected by the first terminal device to be used. It can also be understood that after other terminal devices receive the first SCI sent by the first terminal device, if the first SCI indicates the first resource, and the RSRP measurement value of the first SCI collected by other terminal devices is greater than the RSRP threshold, then the other terminal devices determine that the first resource indicated by the first SCI is a valid resource for reservation.

[0207] Optionally, the above-mentioned periodic transmission resources of the sidelink information can also be understood as resources used for initial transmission of the sidelink information.

[0208] Optionally, the above-mentioned first resource is included in a SL resource pool, and the resource pool may be a resource pool indicated by SL resource pool (resourcepool) configuration information.

[0209] Among them, the SL resource pool configuration information is used to indicate the SL resource pool. The SL resource pool is a collection of time-frequency resources used for sideline communication between UEs. The SL resource pool may include code domain resources. The resources of the SL resource pool are used to include resources for the terminal device to send and receive at least one of the following physical channels: PSCCH (used to carry SCI), PSSCH (used to carry at least one of control information, data, sideline CSI feedback information, etc.), physical layer sidelink discovery channel (Physical Sidelink Discovery Channel, PSDCH) (used to carry discovery messages), physical layer sidelink feedback channel (Physical Sidelink Feedback Channel, PSFCH) (used for sideline feedback information).

[0210] The SL resource pool configuration information can also be used to indicate at least one of the following information, for example, energy-saving information, resource auxiliary information (including recommended resources, non-recommended resources, resource collisions, resource reservation conflicts, half-duplex conflicts that have occurred in the past or will occur in the future, etc.), Physical Sidelink Broadcast Channel (PSBCH) (used to carry information related to side synchronization), etc.

[0211] The above-mentioned side link feedback information can be used for side link information (including hybrid automatic repeat request (HARQ)) response feedback information, such as confirmation response (ACK) or negative acknowledgement (NACK), and can also include channel state indication (CSI) feedback information.

[0212] In the time domain of the SL resource pool, one or more time units are included. The time unit may be one or more symbols, one or more time slots, one or more mini-slots, one or more subframes, or one or more frames, etc. One or more time units may be continuous in time or discrete. It should be understood that the time domain units in a resource pool are logically continuous. For an understanding of the definition of symbols, mini-slots, time slots, subframes, and frames in the embodiments of the present application, reference can be made to 3GPP TS 38.211.

[0213] The SL resource pool configuration information may also include PSCCH configuration information, including the number of symbols occupied by PSCCH in a time slot and the number of RBs occupied by PSCCH in a subchannel. The SL BWP configuration information may include SL resource pool information, which is used to configure the number of resource pools included in the BWP. The SL BWP configuration information may include SL bandwidth information, which is used to indicate the bandwidth size for SL communication, for example, indicating that the SL bandwidth is 20 megahertz (MHz).

[0214] The SL BWP configuration information may also include SL symbol information, which is used to indicate the starting SL symbol position on a time slot and the number of continuous SL symbols occupied. The SL BWP configuration information may also include SL subcarrier spacing and cyclic prefix information, which are used to indicate the subcarrier spacing and cyclic prefix used for SL communication. The cyclic prefix indicates an extended cyclic prefix or a normal cyclic prefix. In one possible configuration, the SL BWP configuration information may also include SL resource pool configuration information. In this application, unless the meaning of the time unit is specifically stated, it is described in terms of time slots, but the time unit is not limited to time slots only; unless the meaning of the time-frequency domain unit is specifically stated, it is described in terms of subchannels, but the frequency domain unit is not limited to subchannels only.

[0215] Step 1002: The first terminal device sends a first SCI.

[0216] After the first terminal device determines the first resource, it sends a first SCI, where the first SCI is used to indicate the first resource. Alternatively, it can be understood that the first SCI is used to indicate the first resource that the first terminal device has reserved.

[0217] Optionally, the first resource includes at least one of the following: resources for retransmission of sidelink information, resources for periodic transmission of sidelink information, etc.

[0218] Optionally, in the case where the first resource includes resources for periodic transmission of sidelink information, the first SCI includes a period field (for example, the sl-ResourceReservePeriod1 field) for indicating the period. After other terminal devices receive the first SCI, they can determine the resources for periodic transmission of the sidelink information based on the time and period of receiving the first SCI.

[0219] For example, the time when other terminal devices receive the first SCI is T0, and the RSRP measurement value of the received first SCI is greater than the threshold, and the period indicated by the period field is P, then the other terminal devices can determine that the resources on T0+N*P are the resources reserved by the first terminal device for periodic transmission of side link information, and N is a positive integer.

[0220] Optionally, in the case where the first resource includes resources for retransmission of sidelink information, the first SCI includes a frequency domain field (e.g., Frequency resource assignment) and a time domain field (e.g., Time resource assignment), the frequency domain field is used to indicate the frequency domain resources for transmitting the sidelink information, and the time domain field is used to indicate the time domain resources for transmitting the sidelink information.

[0221] It can be understood that, when the first resources include resources for periodic transmission of sidelink information and resources for retransmission of sidelink information, the first SCI includes the above-mentioned periodic field, frequency domain field and time domain field.

[0222] The first SCI in the embodiment of the present application can be a first-level SCI, a second-level SCI, or an SCI other than the first stage and the second stage. No specific limitation is made here. For the description of the first-level SCI and the second-level SCI, please refer to the aforementioned glossary and will not be repeated here.

[0223] It is understandable that the first terminal device may send the first SCI to the third terminal device, or send the first SCI in a broadcasting manner, which is not specifically limited here.

[0224] Step 1003: The first terminal device determines that the first beam fails.

[0225] Before this step, optionally, the first terminal device determines that the transmission beam of the first terminal device to the second terminal device is the first beam based on beam training. For example, the first terminal device measures the transmission beam set of the second terminal device to obtain a measurement result; then selects the transmission beam of the first terminal device as the first beam based on the measurement result. This process can also refer to the aforementioned Figure 5 The beam scanning process shown will not be described in detail here.

[0226] In the embodiment of the present application, there are multiple situations in which the first terminal device determines that the first beam fails, which may be that the feedback information from the second terminal device is not received within the first preset time period, or the number of times that the feedback information from the second terminal device is not received within the second preset time period is greater than or equal to the threshold, or the beam recovery timer times out, etc., which are not specifically limited here. Among them, the first preset time period, the second time period and the threshold can be set according to actual needs, and the threshold can be configured or pre-configured, which is not specifically limited here.

[0227] For example, when the first terminal device uses multiple consecutive resources on a transmitting beam, it does not receive feedback information from the corresponding receiving UE, and then determines that the transmitting beam has failed.

[0228] Step 1004: The first terminal device sends indication information to the third terminal device.

[0229] After determining that the first beam fails, the first terminal device sends indication information to the third terminal device. Correspondingly, the third terminal device receives the indication information sent by the first terminal device.

[0230] It can be understood that the indication information in the embodiment of the present application can be sent in the form of broadcast, or can be sent separately to a third terminal device, etc., and the specifics are not limited here.

[0231] The indication information in the embodiments of the present application may have multiple meanings. For example, the indication information is used to indicate the cancellation of part or all of the reserved first resources. For another example, the indication information is used to indicate that the first terminal device cancels part or all of the resources reserved on the first beam. For another example, the indication information is used to indicate that the first terminal device has reserved part or all of the resources on the first beam but will not actually use them. For another example, the indication information is used to indicate that other terminal devices can use part or all of the resources reserved by the first terminal device on the first beam, and so on.

[0232] Optionally, the indication information is carried in a second SCI, and the second SCI may be a first-level SCI (or firstSCI), or a second-level SCI (or second SCI, 2nd SCI), or an SCI other than the first stage and the second stage. The specific details are not limited here. For the description of the first-level SCI and the second-level SCI, please refer to the aforementioned glossary and will not be repeated here.

[0233] The indication information in the embodiment of the present application may include a first field and / or a second field, wherein the first field includes at least one bit, and the at least one bit is used to indicate whether to cancel the reservation of all or part of the resources in the first resource.

[0234] The second field is used to indicate the first time period, that is, the indication information is used to indicate that the resources to be canceled are the resources of the first resource falling into the first time period, wherein the start time of the first time period is the first preset time, the end time of the first time period is the second preset time, and the second preset time is later than the first preset time. It can also be understood that the first time period is a shorter time window compared to the time occupied by the first resource, and the second field is used to indicate that the part of the first resource that is located in the first time period in the time domain needs to be canceled.

[0235] In the above manner, when the indication information includes the first time period, the indication information can also indicate that resources within a certain time period can be used by other terminal devices, so as to facilitate other terminal devices to determine the scope of available resources.

[0236] It is understandable that the indication information may include only the first field, or only the second field, or the first field and the second field, etc., which is not specifically limited here. For example, in the case where the resources to be canceled are all the resources of the first resource, the indication information includes the first field in a manner that saves more overhead (for example, only 1 bit is used to indicate the cancellation of the reservation). For another example, in the case where the resources to be canceled are part of the first resource, the indication information may indicate which part of the resources are to be canceled through the second field. Of course, in actual applications, the indication information may also include both the first field and the second field, which is not specifically limited here.

[0237] The first time period may be configured or preconfigured. For example, the first preset moment may be a preset moment or a moment of sending the indication information, and the second preset moment may be a preset moment or a moment of recovery of the first beam. When the end moment of the first time period is set as the moment of recovery of the first beam, sufficient recovery time may be given to the first beam, thereby reducing the use of the resource by other terminal devices after the first beam is recovered. In the time period before the first beam is recovered, the reserved resources may be indicated to other terminal devices for use through the indication information, thereby effectively improving the utilization efficiency of the resources.

[0238] It is understandable that there are multiple ways for the second field to indicate the first time period. The second field can indicate the end time of the first time period, in which case the start time of the first time period is preconfigured or pre-agreed (for example, the first preset time is the start time of the first time period by default). The second field can also directly indicate the first time period, for example, using a time resource indicator value (TRIV) and other methods, which are not specifically limited here.

[0239] In the case where the indication information includes the first time period, time may be reserved for the recovery of the first beam. If the first beam is successfully recovered, the reserved resources may still be used without canceling the reservation.

[0240] For example, the first field includes 1 bit, and 1 bit "1" is used to indicate the cancellation of the first resource previously reserved by the first terminal device, whereas "0" is used to indicate the cancellation of the first resource previously reserved by the first terminal.

[0241] Optionally, in step 1001, the first terminal device determines that the first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource. Then in this step, the first terminal device can send indication information on the second resource, and the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

[0242] In addition, the third terminal device in the embodiment of the present application may be the second terminal device, or may be a terminal device other than the first terminal device and the second terminal device, which is not specifically limited here.

[0243] Step 1005: The third terminal device determines a set of available resources based on the indication information.

[0244] After receiving the indication information, the third terminal device determines an available resource set based on the indication information, and the available resource set includes all or part of the resources indicated by the indication information to cancel the reservation. For the convenience of description, all or part of the resources indicated by the indication information to cancel the reservation are referred to as third resources.

[0245] Optionally, when performing resource exclusion, the third terminal device does not exclude the third resource in the first resource selection window, and the first resource selection window is a time window for the third terminal device to determine the available resource set, and determines that the available resource set includes the third resource. In this way, when performing resource exclusion, the third terminal device may not exclude part or all of the resources indicated by the indication information to cancel the reservation, thereby reducing resource waste and improving resource utilization.

[0246] The first resource selection window may be the aforementioned Figure 3 In the embodiment shown, [n+T1, n+T2], it can be understood that n may be different for different terminal devices. For example, n in the first resource selection window corresponding to the third terminal device in this step is different from n in the resource selection window corresponding to the first terminal device in the aforementioned step 1001. Of course, in actual applications, it is also possible that n corresponding to different terminal devices is the same, which is not limited here. The third terminal device can refer to the aforementioned process of executing resource exclusion. Figure 3 The process of step 5 and step 6 in the embodiment shown. Or it can be understood that in the aforementioned Figure 3 In the process of executing resource exclusion, steps 5 and 6 in the illustrated embodiment do not exclude the third resource indicated by the indication information. Alternatively, it can be understood that the third resource whose reservation is canceled is put back into the available resource set (i.e., it is determined that the available resource set includes all or part of the resources whose reservation is canceled indicated by the indication information).

[0247] For example, regarding the aforementioned Figure 3 There are two ways to modify step 6 in the illustrated embodiment:

[0248] In a possible implementation, the following steps are added after the existing step 6:

[0249] The step added after step 6: if the received first-level SCI or second-level SCI is decoded successfully, the first-level SCI or second-level SCI indicates the cancellation of the reservation of the first resource, and the first resource is the resource that has been excluded in the aforementioned step 5 or step 6, the first resource is put back into the available resource set.

[0250] In another possible implementation, the existing step 6 is modified, or it can be understood that the existing step 6 is replaced by the following steps:

[0251] Modified Step 6: Continue from S A The following time-frequency resources are excluded: the decoding of the received first-level SCI is successful, and the result of RSRP measurement of the PSSCH DMRS of the time-frequency resources reserved by the received first-level SCI is higher than the RSRP threshold determined in step 3, and the time-frequency resources reserved by the received first-level SCI are within the resource selection window, and the time-frequency resources reserved by the received first-level SCI are not the reserved resources indicated by the first-level SCI or the second-level SCI, including the retransmission resources indicated by the first-level SCI and the periodically reserved resources.

[0252] For example, Fig.11 As shown, the third terminal device in this example is the second terminal device (that is, the failed first beam is the beam between the third terminal device and the first terminal device). The third terminal device triggers resource selection at time n, and determines that other terminal devices and the first terminal device have reservation information and have not been canceled based on the information received before time n. Then, the third terminal device excludes resources in its own resource selection window based on the reserved retransmission resources indicated in the SCI sent by other terminal devices. And before time n, the third terminal device perceives through the indication information sent by the first terminal device that the first terminal device has canceled all or part of the subsequent reserved resources on the beam. Then, when the third terminal device makes resource selection, the resources for which the reservation is canceled and fall in its resource selection window are not excluded and are regarded as available resources. The available resources are then reported to the MAC layer as a resource set SA for MAC to select resources for data transmission. Among them, Fig.11 The first terminal device (P) in the figure represents the periodic resources reserved by the first terminal device, which can also be called the initial transmission resources in some scenarios. The first terminal device (R1) and the first terminal device (R2) represent the resources reserved by the first terminal device for data retransmission. The other terminal devices (Rx) and the other terminal devices (Ry) represent the resources reserved by other terminal devices for data retransmission.

[0253] In a possible implementation manner, the indication information includes a first field, and the first field is used to indicate whether to cancel the reservation of all or part of the first resources.

[0254] In this case, if the first field is used to indicate the cancellation of reservation of all or part of the first resources, the third terminal device determines, according to the first field, that the available resource set includes the resource whose reservation is cancelled as indicated by the indication information.

[0255] In another possible implementation, the indication information includes a second field, and the second field is used to indicate the first time period, that is, the indication information is used to indicate that the resource to be canceled is a resource of the first resource falling within the first time period.

[0256] In this case, if the second field only indicates the second preset time, the third terminal device determines the first time period that the indication information wants to indicate based on the first preset time and the second field, and determines that the indication information is used to indicate that the resource to be canceled is the resource that the first resource falls within the first time period. Then, it is subsequently determined that the available resource set includes the resource that falls within the first time period.

[0257] Of course, the indication information may also include the first field and the second field. Similarly, the third terminal device determines that the available resource set includes the resource whose reservation is canceled as indicated by the indication information.

[0258] Optionally, the indication information is used to indicate the cancellation of part of the first resources. The resources other than part of the first resources are reserved by the fourth terminal device, and have not been canceled by the fourth terminal device or the third terminal device, and the fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device. In other words, part of the resources canceled by the first terminal device are reserved by other terminal devices. Therefore, when the third terminal device determines the set of available resources, it also excludes the resources reserved by other terminal devices and not canceled. Or it can be understood that for the resources canceled by the first terminal device but reserved by other terminal devices, the third terminal device may not put the entire resource back when excluding the resource, but only use part of the resource to reduce the conflict with the reserved resources of other terminal devices.

[0259] In the embodiment of the present application, on the one hand, the first resource is first determined and the first side control information for indicating the first resource is sent, and after determining that the first beam fails, the indication information is sent, and the indication information is used to indicate the cancellation of part or all of the reserved first resources. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving resource utilization and reducing resource waste. On the other hand, when the first terminal device cancels the reservation of the first resource, but other terminal devices have reserved some resources of the first resource, the third terminal device also needs to exclude the resources reserved by other terminal devices when determining the available resource set, that is, the third terminal device determines that the available resource set includes another part of the resources in the first resource except for the part of the resources reserved by other terminal devices. Compared with the prior art, there is no resource reservation cancellation mechanism, especially for FR2, the services carried by this frequency band are all services with high throughput requirements. For example, high-definition video, etc., resources are tight. If the reserved resources are not used, the resource utilization rate will be low, and the probability of using other resources will be improved, and the overall performance of the system will not be utilized. This solution proposes a resource reservation cancellation mechanism to improve the overall resource utilization efficiency.

[0260] In addition, the present application embodiment also provides another resource determination method, which can be applied to Fig.12 The communication system shown is suitable for the case where the receiving end assists the transmitting end in making resource selection, for example, UE-1 and UE-3 are transmitting ends, UE-2 is the receiving end, and UE-1 and UE-3 request a set of available resources from UE-2. When UE1 reserves periodic resources and / or retransmission resources for sending to UE2 and other UEs, when a beam failure occurs on the beam for UE1, it means that the reserved resources on the beam will no longer be used, and UE2 can perceive this information. Because the beam for UE1 to send information and the beam for UE2 to receive information are aligned. Then when there is UE3 requesting a set of available resources from UE2, UE2 can provide UE3 with the resources that UE1 no longer uses, so that UE3 can use these resources, thereby achieving the purpose of reusing unused reserved resources.

[0261] Or, if UE-3 senses the direction of its own transmission beam and cannot sense the resource reservation of UE-1, it is very likely that the resources selected by itself will conflict with the resources selected by UE-1. However, since UE-2 is the common receiving end of UE-1 and UE-3, it can sense the reservation of UE-1 and UE-3. Then UE-2 will exclude resources and provide the available resources to UE-3 in the most appropriate way.

[0262] Combine the following Fig.13 This process is described in detail. Fig.13, another flowchart of the resource determination method provided in the embodiment of the present application, which method can be applied to the aforementioned Figure 8 or Fig.12 The receiving end is shown to assist the sending end in making resource selection.

[0263] Optionally,

[0264] The method may include steps 1301 to 1305. Steps 1301 to 1305 are described in detail below.

[0265] Step 1301: The second terminal device determines that the first beam fails.

[0266] The second terminal device determines that the first beam fails, and the first beam is the beam used by the first terminal device to send side link information to the second terminal device.

[0267] In the embodiment of the present application, there are multiple situations in which the second terminal device determines that the first beam fails, which may be that the periodic information sent from the first terminal device is not received within the first preset time period; or the number of times that the periodic information sent from the first terminal device is not received within the second preset time period is greater than or equal to the threshold; or the corresponding reference signal or reference information for beam maintenance is not received on the pre-configured beam maintenance resource; or the beam maintenance information is not received within a period of time, and the above period of time and threshold are configured or pre-configured; or the beam recovery timer for maintenance times out, etc., which are not specifically limited here. Among them, the first preset time period, the second time period and the threshold can be set according to actual needs, which are not specifically limited here.

[0268] For example, after the second terminal device sends the BFRQ information on the corresponding CSI-RS, it does not receive the BFRR information from the transmitting end (ie, the first terminal device).

[0269] This step can be understood as the situation where the receiving end of the first beam determines that the first beam fails. Accordingly, the aforementioned Fig.10 Step 1003 in the illustrated embodiment may be understood as a situation where the transmitter of the first beam determines that the first beam fails.

[0270] Step 1302: The second terminal device determines the first resource.

[0271] The second terminal device determines the first resource, which is the resource reserved by the first terminal device on the first beam, or is understood to be the resource reserved by the first terminal device on the failed beam, or is understood to be the resource canceled by the first terminal device.

[0272] Alternatively, it can be understood that the first resource is a resource reserved by the first terminal device. The first resource may include at least one of the following: a resource for retransmission of sidelink information, a resource for periodic transmission of sidelink information, etc. For a description of the first resource, please refer to the aforementioned Fig.10 The description in the illustrated embodiment will not be repeated here. Fig.13 In the embodiment shown, the first resource is Fig.10 The first resource in the illustrated embodiment differs only in that, Fig.13 The first resource in the illustrated embodiment may be Fig.10 All or part of the first resource in the illustrated embodiment.

[0273] Optionally, before this step, the second terminal device receives the first SCI sent by the first terminal device, and the first SCI is used to indicate the first resource. Specifically, the step of the second terminal device receiving the first SCI may be before step 1301 or after step 1301, which is not specifically limited here.

[0274] It should be noted that the number of resources involved in the embodiments of the present application may be one or more, or it can be understood that resources can be replaced by the concept of resource sets. For example, the first resource may include one or more resources, and the first resource may be equivalent to the first resource set.

[0275] Step 1303: The third terminal device sends a resource set request to the second terminal device. This step is optional.

[0276] Optionally, the third terminal device sends a resource set request to the second terminal device, and correspondingly, the second terminal device receives the resource set request sent by the third terminal device. The resource set request is used by the second terminal device to assist the third terminal device in making resource selection.

[0277] Step 1304: The second terminal device sends indication information to the third terminal device.

[0278] The second terminal device sends indication information to the third terminal device, and correspondingly, the third terminal device receives the indication information sent by the second terminal device. The indication information is used to indicate the first resource set, and the first resource set includes all or part of the resources of the resources canceled by the first terminal device.

[0279] In this case, the receiving end (i.e., the second terminal device) determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization and reducing resource waste.

[0280] Optionally, if some of the first resources whose reservation is canceled by the first terminal device have been reserved by other terminal devices and have not been canceled, the first resource set includes the remaining resources in the first resources except the some of the resources.

[0281] Alternatively, it can be understood that after the second terminal device determines that the first beam fails, when providing resources to other terminal devices, the resources reserved by the first terminal device on the first beam are not excluded. That is, the first resource set includes resources reserved by other terminal devices on the failed beam.

[0282] In a possible implementation, this step may be actively triggered. For example, after the second terminal device determines that the first beam fails, the indication information is sent to the third terminal device. For another example, after the second terminal device receives the indication information sent by the first terminal device to cancel the reservation, the indication information is sent to the third terminal device.

[0283] In another possible implementation, this step may be passively triggered. For example, after receiving the resource collection request sent by the third terminal device, the second terminal device sends the indication information to the third terminal device.

[0284] Optionally, the unreserved resources include at least one of the following: resources used for information retransmission and periodic transmission resources.

[0285] Optionally, the indication information may also be used to indicate that a third terminal device uses the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment of failure to determine the first beam, and the preset moment is later than the moment of failure. In this case, the indication information may be used to indicate the moment after which other terminal devices can use the resources canceled by the first terminal device, thereby clarifying the usage time of the resources.

[0286] Optionally, the indication information is also used to instruct a third terminal device to give priority to the resources canceled by the first terminal device. For example, the indication can be made in the form of a resource set, such as prefer resource set. In this case, the indication information can also be used to instruct other terminal devices to give priority to the resources canceled by the first terminal device, thereby improving the resource utilization of the reserved resources on the failed beam.

[0287] In the embodiment of the present application, the first resource set indicated by the indication information may be an existing resource set or another independent resource set, such as a prefer resource set. Of course, the first resource set may also be a part of the existing resource set, but the preferred resource (i.e., indicating that other terminal devices give priority to the resource for which the reservation is canceled) may be indicated by additional indication information. It is understandable that the existing resource set and the prefer resource set may exist separately or simultaneously, which is not specifically limited here.

[0288] Step 1305: The third terminal device preferentially uses the resources indicated by the indication information to transmit information. This step is optional.

[0289] Optionally, after receiving the indication information, the third terminal device preferentially uses the resources indicated by the indication information for information transmission.

[0290] Optionally, when the third terminal device performs resource preemption evaluation, if it is determined that the resource to be preempted is in the first resource set or the prefer resource set, no priority comparison is performed and the resource is used directly.

[0291] In the embodiment of the present application, on the one hand, relative to Fig.10 In the illustrated embodiment, the transmitting end sends an indication message for canceling the reserved resources. The embodiment of the present application proposes to directly cancel the reserved resources of the transmitting end with the failed beam when the receiving end performs resource exclusion, and not exclude them, so that the unused reserved resources can still be used by other terminals. On the other hand, when the second terminal device provides a resource set to the third terminal device, it does not exclude the reserved resources on the failed beam, that is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the reserved resources are released by configuring the resources for other terminal devices, thereby improving resource utilization and reducing resource waste. On the other hand, the second terminal device can give priority to the third terminal device to use the resources reserved by other terminal devices on the failed beam, and provide a resource plan for using invalid reservations to improve resource utilization efficiency.

[0292] The resource determination method in the embodiment of the present application is described above. The communication device in the embodiment of the present application is described below. Fig.14 An embodiment of the communication device 1400 in the embodiment of the present application includes: a processing unit 1401 and a transceiver unit 1402.

[0293] In a possible implementation, the communication device 1400 may be the aforementioned Figure 5 In the first terminal device in the embodiment shown, the functions of each unit in this case are as follows:

[0294] The processing unit 1401 is configured to determine a first resource, where the first resource is used for transmitting sidelink information between a first terminal device and a second terminal device;

[0295] The transceiver unit 1402 is configured to send first sidelink control information SCI, where the first SCI is used to indicate a first resource;

[0296] The processing unit 1401 is further configured to determine that the first beam fails, the first beam being used to carry the sidelink information;

[0297] The transceiver unit 1402 is further configured to send indication information, where the indication information is used to indicate cancellation of a portion or all of the reserved first resources.

[0298] Optionally, the indication information is carried in the second sideline control information SCI.

[0299] Optionally, the first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0300] Optionally, the indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the cancelled reserved resources are resources of the first resources falling within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

[0301] Optionally, the first preset time is the time for sending the indication information, and the second preset time is the time for restoring the first beam.

[0302] Optionally, the first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource; the transceiver unit 1402 is specifically used to send indication information on the second resource, and the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

[0303] Optionally, the processing unit 1401 is specifically used to receive no feedback information from the second terminal device within a first preset time period; or the processing unit 1401 is specifically used to receive no feedback information from the second terminal device within a second preset time period when the number of times is greater than or equal to a threshold.

[0304] Optionally, the processing unit 1401 is further used to determine that the transmission beam of the first terminal device is the first beam based on beam training.

[0305] In this embodiment, the operations performed by each unit in the first terminal device are the same as those described above. Figure 5 The description in the illustrated embodiment is similar and will not be repeated here.

[0306] In this embodiment, the processing unit 1401 first determines the first resource and sends the first side control information for indicating the first resource, and after determining that the first beam fails, sends the indication information, the indication information is used to indicate the cancellation of part or all of the reserved first resources. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving the utilization rate of resources and reducing resource waste.

[0307] In another possible implementation, the communication device 1400 may be the aforementioned Figure 5 The third terminal device in the illustrated embodiment, in this case, the functions of each unit are as follows:

[0308] The transceiver unit 1402 is configured to receive first sidelink control information SCI sent by a first terminal device, where the first SCI is used to indicate a first resource reserved by the first terminal device;

[0309] The transceiver unit 1402 is further configured to receive indication information sent by the first terminal device, where the indication information is used to indicate cancellation of a reservation of part or all of the first resource;

[0310] The processing unit 1401 is configured to determine an available resource set based on the indication information, where the available resource set includes a portion of resources of the resources whose reservation is canceled as indicated by the indication information.

[0311] Optionally, processing unit 1401 is specifically used to, when performing resource exclusion, not exclude a part of resources in the first resource selection window, where the first resource selection window is a time window for determining a set of available resources; processing unit 1401 is specifically used to determine that the set of available resources includes a part of resources.

[0312] Optionally, the indication information is used to indicate cancellation of part of the first resources, where resources other than part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device, and the fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0313] Optionally, the third terminal device and the second terminal device are the same device.

[0314] In this embodiment, the operations performed by each unit in the third terminal device are the same as those described above. Figure 5 The description in the illustrated embodiment is similar and will not be repeated here.

[0315] In this embodiment, the processing unit 1401 determines the first resource reserved by the first terminal device, and determines through the indication information that the first terminal device cancels the reservation of the resource, and then the third terminal device can determine that the available resource set includes the resource canceled by the first terminal device. That is, in the case where the reserved resources cannot be used due to beam failure and other reasons, the unusable reserved resources are released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0316] In another possible implementation, the communication device 1400 may be the aforementioned Fig.13 In the second terminal device in the embodiment shown, the functions of each unit in this case are as follows:

[0317] The processing unit 1401 is configured to determine that a first beam fails, where the first beam is a beam used by the first terminal device to send sidelink information to the second terminal device;

[0318] The processing unit 1401 is further configured to determine a first resource, where the first resource is a resource reserved by a first terminal device on a first beam;

[0319] The transceiver unit 1402 is used to send indication information to the third terminal device, where the indication information is used to indicate the first resource set, and the first resource set includes all or part of the first resources.

[0320] Optionally, the transceiver unit 1402 is further configured to receive a resource set request from a third terminal device.

[0321] Optionally, the processing unit 1401 is specifically used to determine that the first beam failure includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0322] Optionally, the unreserved resources include at least one of the following: resources used for information retransmission and periodic transmission resources.

[0323] Optionally, the indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment when the failure of the first beam is determined, and the preset moment is later than the failure moment.

[0324] Optionally, the indication information is further used to instruct the third terminal device to preferentially use the resources canceled by the first terminal device.

[0325] In this embodiment, the operations performed by each unit in the second terminal device are the same as those described above. Fig.13 The description in the illustrated embodiment is similar and will not be repeated here.

[0326] In this embodiment, the processing unit 1401 determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization and reducing resource waste.

[0327] In another possible implementation, the communication device 1400 may be the aforementioned Fig.13 The third terminal device in the illustrated embodiment, in this case, the functions of each unit are as follows:

[0328] The transceiver unit 1402 is configured to send a resource set request to the second terminal device;

[0329] The transceiver unit 1402 is further used to receive first indication information from the second terminal device, where the first indication information is used to indicate a first resource set, where the first resource set includes a first resource, and the first resource is a resource for which the reservation is canceled by the first terminal device.

[0330] Optionally, the processing unit 1401 is configured to preferentially use the first resource for information transmission.

[0331] In this embodiment, the operations performed by each unit in the third terminal device are the same as those described above. Fig.13 The description in the illustrated embodiment is similar and will not be repeated here.

[0332] In this embodiment, the transceiver unit 1402 can determine through the first indication information sent by the second terminal device that the first resource set includes the first resource for which the first terminal device has canceled its reservation. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, there is a high probability that there will be no resource usage conflict when using the resource, thereby reducing the probability of resource usage conflicts and improving system performance.

[0333] See also Fig.15 , is another schematic structural diagram of the communication device 1500 provided in the present application, the communication device 1500 includes a logic circuit 1501 and an input / output interface 1502. The communication device 1500 may be a chip or an integrated circuit.

[0334] The communication device 1500 may be the aforementioned Figures 5 to 13 The first terminal device, the second terminal device or the third terminal device in the illustrated embodiment.

[0335] in, Fig.14 The transceiver unit 1402 shown may be a communication interface, which may be Fig.15 The input / output interface 1502 in the embodiment may include an input interface and an output interface. Alternatively, the communication interface may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0336] Optionally, the input / output interface 1502 is used to receive or send the aforementioned Figures 5 to 13 Data in the illustrated example.

[0337] Optionally, the logic circuit 1501 is used to determine the beam failure, the first resource or the priority resource, etc. Figures 5 to 13 The illustrated embodiments involve steps related to determination, use, etc.

[0338] Among them, the logic circuit 1501 and the input-output interface 1502 can also execute other steps executed by the terminal device in any embodiment and achieve corresponding beneficial effects, which will not be repeated here.

[0339] In one possible implementation, Fig.14 The processing unit 1401 shown can be Fig.15 The logic circuit 1501 in.

[0340] Optionally, the logic circuit 1501 may be a processing device, and the functions of the processing device may be partially or completely implemented by software. The functions of the processing device may be partially or completely implemented by software.

[0341] Optionally, the processing device may include a memory and a processor, wherein the memory is used to store a computer program, and the processor reads and executes the computer program stored in the memory to perform corresponding processing and / or steps in any one of the method embodiments.

[0342] Alternatively, the processing device may include only a processor. A memory for storing a computer program is located outside the processing device, and the processor is connected to the memory via a circuit / wire to read and execute the computer program stored in the memory. The memory and the processor may be integrated together, or may be physically independent of each other.

[0343] Optionally, the processing device may be one or more chips, or one or more integrated circuits. For example, the processing device may be one or more field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), system on chip (SoC), central processor unit (CPU), network processor (NP), digital signal processor (DSP), microcontroller unit (MCU), programmable logic device (PLD) or other integrated chips, or any combination of the above chips or processors.

[0344] See also Fig.16 , is a communication device 1600 involved in the above embodiment provided in an embodiment of the present application, and the communication device 1600 may specifically be the above Figures 5 to 13 The communication device in the illustrated embodiment serves as the first terminal device, the second terminal device or the third terminal device.

[0345] Among them, a possible logical structure diagram of the communication device 1600 is shown, and the communication device 1600 may include but is not limited to at least one processor 1601 and a communication port 1602.

[0346] in, Fig.14 The transceiver unit 1402 shown may be a communication interface, which may be Fig.16 The communication port 1602 in the embodiment may include an input interface and an output interface. Alternatively, the communication port 1602 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0347] Further optionally, the device may also include at least one of a memory 1603 and a bus. In an embodiment of the present application, the at least one processor 1601 is used to control and process the actions of the communication device 1600.

[0348] In addition, the processor 1601 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0349] It should be noted that Fig.16 The communication device 1600 shown can be specifically used to implement the steps implemented by the terminal device in the aforementioned method embodiment, and achieve the corresponding technical effects of the terminal device. Fig.16 The specific implementation methods of the communication device shown can all refer to the description in the aforementioned method embodiment, and will not be described in detail here.

[0350] In order to facilitate the understanding of this solution, the present application embodiment first combines Fig.17 For an introduction to the structure of the vehicle, please refer to Fig.17 , Fig.17 A schematic diagram of a structure of a vehicle 1700 provided in an embodiment of the present application. The vehicle 1700 may be specifically Figures 5 to 13 The terminal in the illustrated embodiment serves as the first terminal device, the second terminal device or the third terminal device.

[0351] The vehicle 1700 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, and a power source 110 and a user interface 116. Optionally, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle may be interconnected by wire or wirelessly (e.g., Bluetooth).

[0352] The travel system 102 may include components that provide powered movement for the vehicle. In one embodiment, the travel system 102 may include an engine 118 , a power source 119 , a transmission 120 , and wheels 121 .

[0353] Among them, the engine 118 can be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, for example, a hybrid engine consisting of a gasoline engine and an electric motor, and a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy. Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 119 can also provide energy for other systems of the vehicle. The transmission 120 can transmit the mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to the wheels 121.

[0354] The sensor system 104 may include several sensors that sense information about the vehicle's location. For example, the sensor system 104 may include a positioning system 122 (the positioning system may be a global positioning GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may also include sensors of the internal systems of the monitored vehicle (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensing data from one or more of these sensors may be used to detect objects and their corresponding characteristics (e.g., position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of autonomous vehicles.

[0355] Among them, the positioning system 122 can be used to estimate the geographic location of the vehicle, such as the latitude and longitude information of the vehicle's location. The IMU 124 is used to sense the position and orientation changes of the vehicle based on the inertial acceleration rate. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope. The radar 126 can use radio signals to sense objects in the surrounding environment of the vehicle, and can be specifically expressed as a millimeter wave radar or a laser radar. In some embodiments, in addition to sensing objects, the radar 126 can also be used to sense the speed and / or forward direction of the object. The laser rangefinder 128 can use lasers to sense objects in the environment where the vehicle is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. The camera 130 can be used to capture multiple images of the surrounding environment of the vehicle. The camera 130 can be a static camera or a video camera.

[0356] The control system 106 controls the operation of the vehicle and its components and may include various components, including a steering system 132 , an accelerator 134 , a brake unit 136 , an electronic control unit (ECU) 138 , and a body control module (BCM) 140 .

[0357] Among them, the steering system 132 is operable to adjust the forward direction of the vehicle. For example, in one embodiment, it can be a steering wheel system. The throttle 134 is used to control the operating rate of the engine 118 and thus control the speed of the vehicle. The brake unit 136 is used to control the deceleration of the vehicle. The brake unit 136 can use friction to slow down the wheel 121. In other embodiments, the brake unit 136 can convert the kinetic energy of the wheel 121 into electric current. The brake unit 136 can also take other forms to slow down the rotation speed of the wheel 121 to control the speed of the vehicle. The vehicle electronic control unit 138 can be implemented as a single ECU or multiple ECUs on the vehicle, and the single ECU or multiple ECUs are configured to communicate with the peripheral device 108 and the sensor system 104. The vehicle ECU 138 may include at least one processor 1381 and a memory 1382 (read-only memory, ROM). One or more general-purpose processors, content addressable memories, digital signal processors, application-specific integrated circuits, field programmable gate arrays, any appropriate programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of functions designed to perform the functions described herein can be used to implement or execute at least one processor. In particular, at least one processor may be implemented as one or more microprocessors, controllers, microcontroller units (MCUs), or state machines. In addition, at least one processor may be implemented as a combination of computing devices, such as a digital signal processor or a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other combination of such configurations. The ROM may provide storage of data, including storage of addresses, routes, and driving directions in the present application.

[0358] BCM140 can provide ECU138 with information such as vehicle engine status, speed, gear position, steering wheel angle, etc.

[0359] The vehicle interacts with external sensors, other vehicles, other computer systems, or users through the peripheral device 108. The peripheral device 108 may include a wireless communication system 146, a navigation system 148, a microphone 150, and / or a speaker 152. In some embodiments, the peripheral device 108 provides a means for the user of the vehicle to interact with the user interface 116. For example, the navigation system 148 may be implemented as part of an in-vehicle entertainment system, an in-vehicle display system, an in-vehicle instrument cluster, etc. In a practical embodiment, the navigation system 148 is implemented to include or cooperate with the sensor system 104, which derives the current geographic location of the vehicle in real time or substantially in real time. The navigation system 148 is configured to provide navigation data to the driver of the vehicle. The navigation data may include the location data of the vehicle, driving instructions for suggested route planning, and visible map information for the vehicle operator. The navigation system 148 may present the location data to the driver of the vehicle through a display element or other presentation device. The current location of the vehicle may be described by one or more of the following: a triangulated location, a latitude / longitude location, an x ​​and y coordinate, or any other symbol or measurement that indicates the geographic location of the vehicle.

[0360] The user interface 116 can also operate the navigation system 148 to receive the user's input. The navigation system 148 can be operated by a touch screen. The navigation system 148 provides the ability of route planning and navigation when the user enters the geographical location values ​​of the starting point and the end point. In other cases, the peripheral device 108 can provide a means for the vehicle to communicate with other devices located in the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio input) from the user of the vehicle. Similarly, the speaker 152 can output audio to the user of the vehicle. The wireless communication system 146 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as code division multiple access (code division multiple access, CDMA), EVDO, global system for mobile communications (global system for mobile communications, GSM) / general packet radio service technology (general packet radio service, GPRS), or 4G cellular communication, such as long term evolution (long term evolution, LTE), or 5G cellular communication. The wireless communication system 146 can use WiFi to communicate with a wireless local area network (wireless local area network, WLAN). In some embodiments, the wireless communication system 146 may utilize infrared links, Bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0361] The power source 110 can provide power to various components of the vehicle. In one embodiment, the power source 110 can be a rechargeable lithium ion or lead acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle. In some embodiments, the power source 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

[0362] Optionally, one or more of the above-mentioned components may be installed or associated separately from the vehicle. For example, the memory 1382 may be partially or completely separate from the vehicle. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0363] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Fig.17It should not be understood as limiting the embodiments of the present application.

[0364] The above-mentioned vehicle can be a car, a truck, a motorcycle, a bus, a boat, a lawn mower, an entertainment vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, and a cart, etc., and the embodiments of the present application are not particularly limited.

[0365] An embodiment of the present application further provides a computer-readable storage medium, which is used to store one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes the method described in the possible implementation method of the terminal device in the above embodiment.

[0366] An embodiment of the present application also provides a computer program product (or computer program). When the computer program product is executed by the processor, the processor executes the method of the possible implementation mode of the above-mentioned terminal device.

[0367] The embodiment of the present application also provides a chip system, which includes at least one processor for supporting a communication device to implement the functions involved in the possible implementation methods of the above-mentioned communication device. Optionally, the chip system also includes an interface circuit, which provides program instructions and / or data for the at least one processor. In one possible design, the chip system may also include a memory, which is used to store the necessary program instructions and data for the communication device. The chip system can be composed of chips, and may also include chips and other discrete devices, wherein the communication device can specifically be a terminal device in the aforementioned method embodiment.

[0368] An embodiment of the present application also provides a communication system, which includes the terminal device in any of the above embodiments.

[0369] 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 an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0370] 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.

[0371] 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.

[0372] When the above-mentioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal in the above-mentioned method embodiment. The terminal chip receives information from other terminals, which can be understood as the information is first received by other modules in the terminal (such as a radio frequency module or an antenna), and then sent to the terminal chip by these modules. The terminal chip sends information to other terminals, which can be understood as the information is first sent to other modules in the terminal (such as a radio frequency module or an antenna), and then sent to other terminals by these modules.

[0373] It is understandable that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0374] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, register, hard disk, mobile hard disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also be present in a base station or a terminal as discrete components.

[0375] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it 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 programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may 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 program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc; it may also be a semiconductor medium, for example, a solid-state hard disk. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0376] In the various embodiments of the present application, unless otherwise specified or provided in a logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0377] It is understood that the various numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.

Claims

1. A resource determination method, characterized in that: The method is applied to a first terminal device, and the method includes: Determine a first resource, where the first resource is used for transmitting sidelink information between the first terminal device and the second terminal device; Sending first side control information SCI, where the first SCI is used to indicate the first resource; determining that a first beam fails, the first beam being used to carry the sidelink information; Sending indication information, where the indication information is used to indicate cancellation of a portion or all of the reserved first resources.

2. The method according to claim 1, characterized in that: The indication information is carried in the second sideline control information SCI.

3. The method according to claim 1 or 2, characterized in that: The first resource includes at least one of the following: a resource used for retransmission of the sidelink information, and a resource for periodic transmission of the sidelink information.

4. The method according to any one of claims 1 to 3, characterized in that The indication information is used to indicate the cancellation of part or all of the reserved first resources, including: The indication information is used to indicate that the canceled reservation resource is a resource in which the first resource falls within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

5. The method according to claim 4, characterized in that The first preset time is the time of sending the indication information, and the second preset time is the time of restoring the first beam.

6. The method according to any one of claims 1 to 5, characterized in that The first resource includes a second resource, and the second resource is a first resource among multiple resources included in the first resource; The sending indication information, where the indication information is used to indicate the cancellation of part or all of the reserved first resources, includes: The indication information is sent on the second resource, where the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

7. The method according to any one of claims 1 to 6, characterized in that The determining that the first beam fails includes: No feedback information is received from the second terminal device within a first preset time period; or The number of times that feedback information is not received from the second terminal device within the second preset time period is greater than or equal to a threshold.

8. The method according to any one of claims 1 to 7, characterized in that Before determining that the first beam fails, the method further includes: Based on beam training, it is determined that the transmission beam of the first terminal device is the first beam.

9. A resource determination method, characterized in that: The method is applied to a third terminal device, and the method includes: Receiving first side control information SCI sent by a first terminal device, where the first SCI is used to indicate a first resource reserved by the first terminal device; receiving indication information sent by the first terminal device, where the indication information is used to indicate cancellation of reservation of part or all of the first resource; An available resource set is determined based on the indication information, where the available resource set includes a portion of the resources whose reservations are canceled as indicated by the indication information.

10. The method according to claim 9, characterized in that The determining of the available resource set based on the indication information includes: When performing resource exclusion, the part of resources in a first resource selection window is not excluded, the first resource selection window being a time window for determining the set of available resources; It is determined that the set of available resources includes the portion of resources.

11. The method according to claim 10, characterized in that The indication information is used to indicate the cancellation of part of the first resources, where resources other than the part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device, and the fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

12. The method according to any one of claims 9 to 11, characterized in that The third terminal device and the second terminal device are the same device.

13. A resource determination method, characterized in that: The method is applied to a second terminal device, and the method includes: Determining that a first beam fails, the first beam being a beam used by the first terminal device to send sidelink information to the second terminal device; Determine a first resource, where the first resource is a resource reserved by the first terminal device on the first beam; Indication information is sent to a third terminal device, where the indication information is used to indicate a first resource set, where the first resource set includes all or part of the first resources.

14. The method according to claim 13, characterized in that Before sending the indication information to the third terminal device, the method further includes: A resource collection request from the third terminal device is received.

15. The method according to claim 13 or 14, characterized in that The determining that the first beam fails includes: No periodic information sent from the first terminal device is received within a first preset time period; or The number of times that the periodic information sent by the first terminal device is not received within the second preset time period is greater than or equal to a threshold; A corresponding reference signal or reference information for beam maintenance is not received on a pre-configured beam maintenance resource; No beam maintenance information is received for a period of time; The maintenance beam recovery timer has expired.

16. The method according to any one of claims 13 to 15, characterized in that The resources whose reservation is canceled include at least one of the following: resources used for information retransmission and periodic transmission resources.

17. The method according to any one of claims 13 to 16, characterized in that The indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment of failure to determine the first beam, and the preset moment is later than the failure moment.

18. The method according to any one of claims 13 to 17, characterized in that The indication information is further used to instruct the third terminal device to preferentially use the resources canceled by the first terminal device.

19. A resource determination method, characterized in that: The method is applied to a third terminal device, and the method includes: Sending a resource collection request to the second terminal device; Receive first indication information from the second terminal device, where the first indication information is used to indicate a first resource set, where the first resource set includes a first resource, and the first resource is a resource for which the first terminal device cancels its reservation.

20. A communication device, characterized in that: Comprising modules for executing the method according to any one of claims 1 to 8.

21. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 9 to 12.

22. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 13 to 18.

23. A communication device, characterized in that: Comprises means for performing the method of claim 19.

24. A vehicle, characterized in that: The vehicle is configured to perform the method according to any one of claims 1 to 18 or comprises a module for performing the method according to claim 19 .

25. A communication system, characterized in that: Comprising the communication device as claimed in claim 20 and / or the communication device as claimed in claim 21.

26. A communication system, characterized in that: Comprising the communication device as claimed in claim 22 and / or the communication device as claimed in claim 23.

27. A communication device, characterized in that: The method comprises at least one processor coupled to a memory; the at least one processor is configured to execute the method according to any one of claims 1 to 19.

28. A readable storage medium, characterized in that: The storage medium stores a computer program or an instruction, and when the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 19 is implemented.

29. A computer program product, characterized in that The method comprises instructions which, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 19.

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