Communication method, communication device, and communication system

Abstract

To provide a communication method, a communication device, and a communication system that reduce resource overhead for transmitting cooperation information.SOLUTION: A method includes a step S1501 of determining cooperation information by a first terminal device. The cooperation information is used to assist a second terminal device in determining a sidelink transmission resource. The method also includes a step S1502 of transmitting the cooperation information to the second terminal device by the first terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource that is a subset of a second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.SELECTED DRAWING: Figure 15

Description

[Technical field]

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

[0002] With the development of wireless communication technology, vehicle-to-everything (V2X) communication is becoming more and more popular. By using V2X communication, road condition information around the vehicle can be obtained in real time, which can better assist the vehicle's driving and even realize autonomous driving.

[0003] Currently, the transmission modes of V2X communication include transmission mode 1, which is based on the base station's scheduling, and transmission mode 2, in which the user equipment (UE) autonomously selects the SL transmission resource. In transmission mode 1, the base station uniformly allocates sidelink (SL) transmission resources based on the buffer status report (BSR) of each UE. The advantage of transmission mode 1 is that resource collision can be avoided because the SL transmission resource of each UE is uniformly scheduled by the base station. In transmission mode 2, the transmitting end UE first selects the SL transmission resource of the transmitting end UE from the V2X communication resource pool, and then transmits a physical sidelink control channel (PSCCH) and a physical sidelink shared channel (PSSCH) to the receiving end UE on the SL transmission resource selected by the transmitting end UE. Since the UE selects the SL transmission resource based on the UE's sensing result without relying on the base station's scheduling, transmission mode 2 is not limited by network coverage. That is, the transmitting end UE can also communicate without network coverage.

[0004] In the hidden terminal scenario shown in FIG. 1, the transmitting end UE-B and the transmitting end UE-C are far away from each other and cannot sense the signals transmitted by each other, but the receiving end UE-A is located between the transmitting end UE-B and the transmitting end UE-C and can receive the signals transmitted by the transmitting end UE-B and the transmitting end UE-C. When the transmission mode 2 of the existing V2X communication is used, the transmitting end UE-B and the transmitting end UE-C cannot recognize each other's existence by sensing, so when the transmitting end UE-B transmits signal 1 to the receiving end UE-A and the transmitting end UE-C transmits signal 2 to the receiving end UE-A, the SL transmission resource of signal 1 and the SL transmission resource of signal 2 may overlap. As a result, the signal 1 collides with the signal 2, which affects the signal reception of the receiving end UE-A. To solve this problem, the receiving end UE-A may transmit cooperation information to the transmitting end UE-B to help the transmitting end UE-B select SL transmission resources. Alternatively, the receiving end UE-A may send coordination information to the transmitting end UE-C to assist the transmitting end UE-C in selecting SL transmission resources.

[0005] Currently, in the transmission mode 2 of the existing V2X communication, both PSSCH and PSCCH need to be transmitted for information transmission between UEs. When the cooperative information is transmitted via the PSSCH and / or PSCCH in the V2X communication resource pool, one PSSCH and / or one PSCCH occupies at least one subchannel in one SL slot, so each cooperative information needs to occupy the SL transmission resource of at least one subchannel in one SL slot. In this way, the resource overhead for transmitting the cooperative information is high. In particular, when multiple cooperative information needs to be transmitted, a large number of physical resources are occupied, and the transmission efficiency of other information is affected. Summary of the Invention [Means for solving the problem]

[0006] SUMMARY OF THE DISCLOSURE The embodiments of the present application provide a communication method, a communication device, and a communication system that reduce resource overhead for transmitting coordination information.

[0007] In order to achieve the aforementioned objectives, the following technical solutions are used in the embodiments of this application.

[0008] According to a first aspect, a communication method is provided. A communication device performing the communication method may be a first terminal device or a module, such as a chip or chip system, used in the first terminal device. An example in which the execution entity is the first terminal device is used in the following description. The first terminal device determines cooperation information, and the cooperation information is used to assist the second terminal device to determine sidelink transmission resources. The first terminal device transmits the cooperation information to the second terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. Since the physical sidelink feedback resource is less than one SL transmission slot in the time domain, the cooperation information is transmitted by using a subset of the second time-frequency resource that overlaps with the physical sidelink feedback resource in the time domain. Since the transmission of the cooperative information only needs to occupy a part of the time domain resources in one SL transmission slot, instead of occupying at least one subchannel in the entire slot, the resource overhead for transmitting and transmitting the cooperative information can be reduced. In particular, when multiple cooperative information needs to be transmitted and transmitted, the transmission efficiency of other information transmission can be guaranteed.

[0009] With regard to the first aspect, in one possible implementation, the slot in which the second time-frequency resource is located is a slot after the first slot, the first physical sidelink feedback resource is a slot located at a gap of more than K1 slots from the last symbol in the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. Alternatively, the slot in which the second time-frequency resource is located is a slot before the second slot, the first physical sidelink feedback resource is a slot located at a gap of more than K2 slots from the first symbol in the second slot. The second slot is a slot in which the first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and K1 or K2 is the minimum time gap configured by higher layers for transmitting the cooperation information. When the slot in which the second time-frequency resource determined by using K1 is located is before the slot in which the second time-frequency resource determined by using K2 is located, the advantage of selecting the slot in which the second time-frequency resource determined by using K1 is located to transmit the cooperation information is that the second terminal device can be notified as early as possible to trigger the second terminal device to perform SL resource selection, reselection or collision confirmation as early as possible. The advantage of selecting the slot in which the second time-frequency resource determined by using K2 is located to transmit the cooperation information is that the first terminal device can be provided with more time, so that the first terminal device generates more comprehensive and reliable cooperation information.

[0010] Regarding the first aspect, in one possible implementation, the second time-frequency resource includes J*M third time-frequency resources. The J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain first and then time domain manner. The J slots are slots corresponding to the second time-frequency resource determined based on K1 or K2, and M is the number of subchannels configured in the resource pool. Since the third time-frequency resource is contiguous in the frequency domain of the second time-frequency resource in a frequency domain first and then time domain manner, the time domain peak-to-average ratio of the signal to be transmitted can be reduced, so that the average power of the signal can be increased when the cooperation information is transmitted. In this way, the actual power of each transmission sequence is increased, and the technical effect of expanding the signal coverage area is finally achieved.

[0011] Regarding the first aspect, in one possible implementation, the first time-frequency resource includes M1 third time-frequency resources in the J*M third time-frequency resources, where M1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M1 is a positive integer less than or equal to M. The third time-frequency resource is the smallest granularity of the second time-frequency resource. Since the first time-frequency resource includes M1 third time-frequency resources, one third time-frequency resource can be assigned to each subchannel in each slot occupied for transmitting the physical sidelink channel. Thus, it can be ensured that the resource allocation for transmitting the cooperation information is appropriate.

[0012] With regard to the first aspect, in one possible implementation, the cooperation information comprises first information, the first information indicating resource usage in the first slot, and the second terminal device transmitting a physical sidelink channel in the first slot. Since the first information indicates resource usage in the first slot, when subsequently performing resource selection, the second terminal device may select transmission resources not occupied by another terminal device or may select transmission resources occupied by another terminal device but with a lower data priority, instead of excluding all candidate resources in the slot in the resource selection window corresponding to the slot for transmitting the physical sidelink channel by the second terminal device, in order to avoid possible resource contention, thereby improving resource utilization.

[0013] Regarding the first aspect, in one possible implementation, the first information indicating resource usage in the first slot includes: the first information indicates resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; alternatively, the first information indicates resource usage of subchannels other than M1 subchannels in the M subchannels in the first slot, where M is the number of subchannels configured in the resource pool, where M is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot; M bits or M-M1 bits may be used for the first information. An advantage of using M bits for the first information is that the usage of each subchannel in the first slot can be indicated more accurately and comprehensively. An advantage of using M-M1 bits for the first information is that the frequency domain resources required for transmitting the cooperative information can be saved. In this way, the resource overhead for transmitting the cooperative information is reduced.

[0014] Regarding the first aspect, in one possible implementation, the cooperation information further includes second information. The second information indicates that a first reserved resource of the second terminal device collides with a reserved resource of another terminal device. The first reserved resource is a reserved resource closest to the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. In other words, in this solution, the first terminal device may determine the cooperation information including the second information to trigger the second terminal device to perform a collision check or to reselect a transmission resource, thereby achieving the technical effect of reducing the collision probability.

[0015] With regard to the first aspect, in one possible implementation, the first reserved resources are used for a retransmission of the first transport block TB on the physical sidelink channel of the second terminal device and / or the first reserved resources are used for a new transmission of the service to which the second TB belongs on the physical sidelink channel of the second terminal device in the next period. Since the first reserved resources may be used for a retransmission of the same TB or for a new transmission of a different TB, the communication method provided in this application is applicable to multiple TB transmission scenarios.

[0016] Regarding the first aspect, in one possible implementation, the first reserved resources include M3 reserved sub-channel resources.

[0017] Regarding the first aspect, in one possible implementation, the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device. Alternatively, the first reserved resource is indicated by a resource reservation period on the physical sidelink channel of the second terminal device. In other words, in this embodiment of the present application, the first reserved resource may be indicated by multiple parameters.

[0018] Regarding the first aspect, in one possible implementation, the cooperation information further includes indication information. The indication information indicates that the cooperation information includes the first information and / or the second information. The first information indicates a resource usage status in the first slot. The second information indicates that a first reserved resource of the second terminal device collides with a reserved resource of another terminal device. The first reserved resource is a reserved resource closest to the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. Since the cooperation information includes the indication information, the second terminal device can identify different types included in the reserved cooperation information and identify corresponding cooperation information based on the type in order to select a sidelink transmission resource based on the cooperation information. In this way, a technical effect of improving resource utilization and / or reducing collision probability is implemented.

[0019] According to a second aspect, a communication method is provided. A communication device performing the communication method may be a second terminal device or a module, such as a chip or chip system, used in the second terminal device. An example in which the performing entity is the second terminal device is used in the following description. The second terminal device receives cooperation information from the first terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. The second terminal device determines a sidelink transmission resource based on the cooperation information.

[0020] In relation to the second aspect, in one possible implementation, the slot in which the second time-frequency resource is located is after the first slot, the first physical sidelink feedback resource is located at a gap of more than K1 slots from the last symbol in the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. Alternatively, the slot in which the second time-frequency resource is located is before the second slot, the first physical sidelink feedback resource is located at a gap of more than K2 slots from the first symbol in the second slot, the second slot is the slot in which the first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and K1 or K2 is the minimum time gap configured by higher layers for transmitting the cooperation information.

[0021] In relation to the second aspect, in one possible implementation, the second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain-first-then-time domain manner, where the J slots are slots corresponding to the second time-frequency resource determined based on K1 or K2, and M is the number of subchannels configured in the resource pool.

[0022] In relation to the second aspect, in one possible implementation, the first time-frequency resource comprises M1 third time-frequency resources among the J*M third time-frequency resources, where M1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M1 is a positive integer less than or equal to M.

[0023] In relation to the second aspect, in one possible implementation, the cooperation information comprises first information indicating resource usage in a first slot, the second terminal device transmitting a physical sidelink channel in the first slot.

[0024] In relation to the second aspect, in one possible implementation, the first information indicating resource usage in the first slot includes: the first information indicating resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; alternatively, the first information indicating resource usage of subchannels other than M1 subchannels among the M subchannels in the first slot, where M is the number of subchannels configured in the resource pool, where M is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot.

[0025] In relation to the second aspect, in one possible implementation, the cooperation information further comprises second information, the second information indicating that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being a reserved resource closest to the first slot, and the second terminal device transmitting a physical sidelink channel in the first slot.

[0026] In relation to the second aspect, in one possible implementation, the first reserved resources are used for a retransmission of the first transport block TB on a physical sidelink channel of the second terminal device and / or the first reserved resources are used for a new transmission of the service to which the second TB belongs on a physical sidelink channel of the second terminal device in the next period.

[0027] With respect to the second aspect, in one possible implementation, the first reserved resources include M3 reserved sub-channel resources.

[0028] In relation to the second aspect, in one possible implementation, the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device or, alternatively, by a resource reservation period on the physical sidelink channel of the second terminal device.

[0029] In relation to the second aspect, in one possible implementation, the cooperation information further includes indication information. The indication information indicates that the cooperation information includes first information and / or second information. The first information indicates a resource usage status in the first slot. The second information indicates that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device. The first reserved resource is a reserved resource closest to the first slot, and the second terminal device transmits a physical sidelink channel in the first slot.

[0030] For technical effects provided by any possible implementation of the second aspect, please refer to the technical effects provided by different implementations of the first aspect, which will not be described again in detail here.

[0031] According to a third aspect, there is provided a communication device for implementing the aforementioned method. The communication device includes corresponding modules, units, or means for implementing the aforementioned method. The modules, units, or means may be implemented by hardware or software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0032] In relation to the third aspect, in one possible implementation, a communication device includes a transceiver module and a processing module. The processing module is configured to determine cooperation information, the cooperation information being used to assist a second terminal device in determining sidelink transmission resources. The transceiver module is configured to transmit the cooperation information to the second terminal device, such that a sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.

[0033] In relation to the third aspect, in one possible implementation, the slot in which the second time-frequency resource is located is after the first slot, the first physical sidelink feedback resource is located at a gap of more than K1 slots from the last symbol in the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. Alternatively, the slot in which the second time-frequency resource is located is before the second slot, and the first physical sidelink feedback resource is located at a gap of more than K2 slots from the first symbol in the second slot. The second slot is the slot in which the first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and K1 or K2 is the minimum time gap configured by higher layers for transmitting the cooperation information.

[0034] In relation to the third aspect, in one possible implementation, the second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain-first-then-time domain manner, where the J slots are slots corresponding to the second time-frequency resource determined based on K1 or K2, and M is the number of subchannels configured in the resource pool.

[0035] In relation to the third aspect, in one possible implementation, the first time-frequency resource comprises M1 third time-frequency resources among the J*M third time-frequency resources, where M1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M1 is a positive integer less than or equal to M.

[0036] In relation to the third aspect, in one possible implementation, the cooperation information comprises first information indicating resource usage in a first slot, the second terminal device transmitting a physical sidelink channel in the first slot.

[0037] In relation to the third aspect, in one possible implementation, the first information indicating resource usage in the first slot includes: the first information indicating resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; alternatively, the first information indicating resource usage of subchannels other than M1 subchannels in the M subchannels in the first slot, where M is the number of subchannels configured in the resource pool, where M is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot.

[0038] In relation to the third aspect, in one possible implementation, the cooperation information further comprises second information, the second information indicating that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being a reserved resource closest to the first slot, and the second terminal device transmitting a physical sidelink channel in the first slot.

[0039] In relation to the third aspect, in one possible implementation, the first reserved resources are used for a retransmission of the first transport block TB on a physical sidelink channel of the second terminal device and / or the first reserved resources are used for a new transmission of the service to which the second TB belongs on a physical sidelink channel of the second terminal device in the next period.

[0040] In relation to the third aspect, in one possible implementation, the first reserved resources include M3 reserved sub-channel resources.

[0041] In relation to the third aspect, in one possible implementation, the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device or, alternatively, by a resource reservation period on the physical sidelink channel of the second terminal device.

[0042] In relation to the third aspect, in one possible implementation, the cooperation information further comprises indication information. The indication information indicates that the cooperation information comprises first information and / or second information. The first information indicates a resource usage status in the first slot. The second information indicates that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device. The first reserved resource is a reserved resource closest to the first slot, and the second terminal device transmits a physical sidelink channel in the first slot.

[0043] In relation to the third aspect, in one possible implementation, the processing module may be a processor and the transceiver module may be a communication module connected by using a communication interface.

[0044] According to a fourth aspect, there is provided a communication device for implementing the aforementioned method. The communication device includes corresponding modules, units, or means for implementing the aforementioned method. The modules, units, or means may be implemented by hardware or software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0045] In relation to the fourth aspect, in one possible implementation, a communication device includes a transceiver module and a processing module. The transceiver module is configured to receive cooperation information from a first terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of the second time-frequency resource. The second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. The processing module is configured to determine sidelink transmission resources based on the cooperation information.

[0046] In relation to the fourth aspect, in one possible implementation, the slot in which the second time-frequency resource is located is a slot after the first slot, the first physical sidelink feedback resource is a slot located at a gap of more than K1 slots from the last symbol in the first slot, and the second terminal device transmits a physical sidelink channel in the first slot. Alternatively, the slot in which the second time-frequency resource is located is a slot before the second slot, the first physical sidelink feedback resource is a slot located at a gap of more than K2 slots from the first symbol in the second slot. The second slot is a slot in which the first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and K1 or K2 is the minimum time gap configured by higher layers for transmitting the cooperation information.

[0047] In relation to the fourth aspect, in one possible implementation, the second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain-first-then-time domain manner, where the J slots are slots corresponding to the second time-frequency resource determined based on K1 or K2, and M is the number of subchannels configured in the resource pool.

[0048] In relation to the fourth aspect, in one possible implementation, the first time-frequency resource comprises M1 third time-frequency resources among the J*M third time-frequency resources, where M1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M1 is a positive integer less than or equal to M.

[0049] In relation to the fourth aspect, in one possible implementation, the cooperation information comprises first information indicating resource usage in a first slot, the second terminal device transmitting a physical sidelink channel in the first slot.

[0050] In relation to the fourth aspect, in one possible implementation, the first information indicating resource usage in the first slot includes: the first information indicating resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; alternatively, the first information indicating resource usage of subchannels other than M1 subchannels in the M subchannels in the first slot, where M is the number of subchannels configured in the resource pool, where M is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot.

[0051] In relation to the fourth aspect, in one possible implementation, the cooperation information further comprises second information, the second information indicating that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being a reserved resource closest to the first slot, and the second terminal device transmitting a physical sidelink channel in the first slot.

[0052] In relation to the fourth aspect, in one possible implementation, the first reserved resources are used for a retransmission of the first transport block TB on a physical sidelink channel of the second terminal device and / or the first reserved resources are used for a new transmission of the service to which the second TB belongs on a physical sidelink channel of the second terminal device in the next period.

[0053] In relation to the fourth aspect, in one possible implementation, the first reserved resources include M3 reserved sub-channel resources.

[0054] In relation to the fourth aspect, in one possible implementation, the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device or, alternatively, by a resource reservation period on the physical sidelink channel of the second terminal device.

[0055] In relation to the fourth aspect, in one possible implementation, the cooperation information further comprises indication information. The indication information indicates that the cooperation information comprises first information and / or second information. The first information indicates a resource usage status in the first slot. The second information indicates that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device. The first reserved resource is a reserved resource closest to the first slot, and the second terminal device transmits a physical sidelink channel in the first slot.

[0056] According to a fifth aspect, there is provided a communications device, the communications device including a processor, the processor being coupled to a memory and configured to read computer instructions in the memory and then perform a method according to any one of the previous aspects according to the instructions.

[0057] In relation to the fifth aspect, in one possible implementation, the communication device further comprises a memory configured to store computer instructions.

[0058] In relation to the fifth aspect, in one possible embodiment, the communication device further includes a communication interface. The communication interface is used by the communication device to communicate with another device. For example, the communication interface may be a transceiver, an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or related circuitry.

[0059] In relation to the fifth aspect, in one possible implementation, the communication device may be a chip or a chip system. When the communication device is a chip system, the communication device may include a chip or may include a chip and another separate device.

[0060] In relation to the fifth aspect, in one possible implementation, when the communication device is a chip or chip system, the communication interface may be an input / output interface, interface circuitry, output circuitry, input circuitry, pins, associated circuitry, etc. on the chip or chip system. The processor may be embodied as a processing circuit or a logic circuit.

[0061] According to a sixth aspect, there is provided a computer readable storage medium storing instructions which, when executed on a computer, enable the computer to perform a method according to any one of the preceding aspects.

[0062] According to a seventh aspect there is provided a computer program product comprising instructions, which when run on a computer enable the computer to perform a method according to any one of the preceding aspects.

[0063] For technical effects provided by any possible implementations of the third to seventh aspects, please refer to the technical effects provided by different implementations of the first or second aspects, which will not be described in detail again here.

[0064] According to an eighth aspect, there is provided a communication system, the communication system including a first terminal device for performing the method according to the first aspect, and a second terminal device for performing the method according to the second aspect. [Brief description of the drawings]

[0065] [Figure 1] FIG. 2 is a schematic diagram of a hidden terminal scenario according to an embodiment of the present application; [Diagram 2] FIG. 1 is a schematic diagram of a V2V communication scenario in the prior art. [Diagram 3] FIG. 1 is a schematic diagram of signal transmission in transmission mode 1 of V2X communication in the prior art. [Figure 4]FIG. 1 is a schematic diagram of a base station indicating time domain resources of a V2X communication resource pool by using a bitmap in the prior art; [Figure 5a] FIG. 2 is a schematic diagram of a base station indicating time domain resources of a V2X communication resource pool by using a bitmap in the prior art; [Figure 5b] FIG. 1 is a schematic diagram of frequency domain resources of a V2X communication resource pool in the prior art; [Figure 6] FIG. 1 is a schematic diagram of a PSFCH resource configuration within a certain period in the prior art. [Figure 7] FIG. 1 is a schematic diagram of a bitmap of PSFCH frequency domain resources configured in a V2X communication resource pool in the prior art; [Figure 8] FIG. 1 is a schematic diagram of determining a slot in which a PSFCH resource is located based on a minimum time gap K in the prior art; [Figure 9] FIG. 1 is a schematic diagram of allocating PSFCH resources to each subchannel in a bound PSSCH slot in a time domain first and then frequency domain manner in the prior art; [Figure 10] FIG. 1 is a schematic diagram of SL transmission resource selection in the prior art. [Figure 11] FIG. 1 is a schematic diagram of candidate resources within frequency domain resources of a V2X communication resource pool in the prior art; [Figure 12] FIG. 2 is a schematic diagram of SL transmission resource selection in the prior art; [Figure 13] FIG. 1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present application; [Figure 14] FIG. 2 is a schematic diagram of the structure of a terminal device according to an embodiment of the present application; [Figure 15] 1 is a communication method according to an embodiment of the present application. [Figure 16] FIG. 2 is a schematic diagram of transmitting collaboration information according to an embodiment of the present application; [Figure 17] FIG. 2 is another schematic diagram of transmitting collaboration information according to an embodiment of the present application; [Figure 18] FIG. 2 is a schematic diagram of allocating resources for transmitting cooperative information to each sub-channel in a binding PSSCH slot in a frequency domain first and then time domain manner according to one embodiment of the present application; [Figure 19] 1 is a schematic diagram of the structure of a communication device according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0066] In order to facilitate understanding of the technical solutions in the embodiments of the present application, the following first provides a brief description of technologies or terms related to the present application.

[0067] In the embodiment of the present application, the SL transmission slot is a slot available for SL transmission, the PSFCH resource is a resource available for transmitting the PSFCH, and the PSFCH slot is a slot containing the PSFCH resource. In some expressions, the meaning of "transmission" is equivalent to "transmission". For example, the "transmission resource" may be understood as the "transmission resource", and the "transmission slot" may be understood as the "transmission slot", which are uniformly described in this specification. Details will not be described below.

[0068] 1. Device-to-device (D2D) communication D2D communication enables multiple UEs supporting D2D functions to directly discover and communicate with each other regardless of whether there is a network device. Correspondingly, a vehicular Internet application scenario based on D2D communication is also provided. In the vehicular Internet application scenario, the requirements for communication delay are very high to ensure driving safety. However, existing D2D communication cannot technically meet the delay requirements in the vehicular Internet scenario.

[0069] 2nd: Vehicle-to-vehicle (V2V) communication A typical scenario of V2V communication is shown in Figure 2. A moving vehicle can directly exchange information with another nearby vehicle through V2V communication to obtain the other vehicle's situation information and road condition information in real time, to better assist the vehicle's driving and even implement autonomous driving.

[0070] 3. V2X communication V2X communication may implement interconnection between vehicles and the outside world by using devices (such as sensors and on-board terminals) configured on vehicles and various communication technologies. V2X communication may include interconnection communications such as V2V, vehicle to pedestrian (V2P), and vehicle to roadway infrastructure (V2I). Information transmission in V2X communication is based on SL transmission and may be understood as an application of SL transmission in the Internet of Vehicles.

[0071] 4. Transmission modes of V2X communication Transmission modes for V2X communication include transmission mode 1 based on base station scheduling and transmission mode 2 in which the UE autonomously selects SL transmission resources.

[0072] In transmission mode 1 shown in FIG. 3, the base station uniformly allocates SL transmission resources based on the BSR of the UE. The allocation mode of the SL transmission resources may be a dynamic mode or a pre-configuration mode. Then, the base station may inform the transmitting end UE of the SL transmission resources by using downlink control information (DCI). After receiving the DCI, the transmitting end UE transmits sidelink control information (SCI) and data to the receiving end UE on the SL transmission resources indicated by the DCI. The SCI is transmitted by using the PSCCH, and the data is transmitted by using the PSSCH. The advantage of transmission mode 1 is that the SL transmission resources of each UE are uniformly scheduled by the base station, so that resource collision can be avoided. However, when the transmitting end UE does not have network coverage, transmission mode 1 cannot be used.

[0073] In transmission mode 2, the UE autonomously selects SL transmission resources from the V2X communication resource pool for communication, without relying on uniform allocation by the base station. Specifically, the transmitting end UE first autonomously selects SL transmission resources for the transmitting end UE from the V2X communication resource pool, and then transmits SCI and data to the receiving end UE on the SL transmission resources selected by the transmitting end UE. The SCI is transmitted by using the PSCCH, and the data is transmitted by using the PSSCH. Since the UE selects the SL transmission resources based on the UE's sensing results, without relying on the base station's scheduling, transmission mode 2 is not limited by network coverage. That is, the transmitting end UE can also communicate without network coverage. However, in this transmission mode, each UE senses and selects SL transmission resources separately. Therefore, resource collision may occur.

[0074] In this embodiment of the present application, the SL transmission resource includes an initial SL transmission resource and / or a retransmission resource. A unified description is provided in this specification. Details are not described below.

[0075] 5. V2X communication resource pool The time-frequency resources required for V2X communication may be configured based on a V2X communication resource pool, which may be considered as a set including time domain resources and frequency domain resources for V2X communication.

[0076] For time domain resources used for V2X communication, the base station uses one bitmap and periodically repeats the bitmap to indicate the set of subframes used for V2X communication among all subframes in the communication system. For example, as shown in FIG. 4, the length of the bitmap is 8 bits, and the bitmap is periodically repeated in N subframes. The number of symbols occupied by SL transmission in each subframe is fixed M, and M may be regarded as the time domain transmission duration or the time domain transmission unit of one SL transmission. For example, the value of the bitmap in FIG. 5a may be "11001110", where "1" represents the subframe used for V2X communication and "0" represents the common subframe. Subframe 0 to subframe 7 are used as an example. When the value of the bitmap is “11001110”, it indicates that subframe 0, subframe 1, subframe 4, subframe 5, or subframe 6 may be used for V2X communication, and the remaining subframe 2, subframe 3, or subframe 7 are common subframes and cannot be used for V2X communication.

[0077] For the frequency domain resources used for V2V communication, the base station may divide the frequency domain resources for V2V communication into several subchannels, and each subchannel may include a fixed number of physical resource blocks (PRBs). For example, FIG. 5b may be obtained by extending subframe 4 of FIG. 5a in the frequency domain. The frequency resources used for V2X communication belong to a V2X communication resource pool, and the V2X communication resource pool has a total of N subch Each subchannel has n ch PRBs. In this embodiment of the present application, the sequence number of the starting PRB of the frequency resource used for V2X communication may be indicated by the base station. Since the granularity for scheduling frequency resources in the V2X communication resource pool may be a subchannel, one SL transmission may occupy one or multiple subchannels.

[0078] 6. Hybrid automatic repeat request-acknowledgement (HARQ-ACK) feedback In the fifth generation (5G) mobile communication system's new radio (NR) system, V2X communication supports physical layer HARQ-ACK feedback. That is, for one PSSCH and PSCCH transmission, if the transmitting end UE carries HARQ-ACK feedback enable information in the SCI included in the PSCCH, the receiving end UE needs to feed back corresponding acknowledgement / negative acknowledgement (ACK / NACK) information in turn based on the decoding result of the PSSCH. The ACK / NACK information is transmitted by using the physical sidelink feedback channel (PSFCH).

[0079] In the NR system, the V2X communication resource pool configures a periodic time domain resource of the PSFCH resource, and the periodic configuration parameter of the PSFCH resource

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[0080] In the scenario of transmission mode 2 of V2X communication, the UE needs to autonomously select SL transmission resources based on the UE's sensing results. Therefore, in order to simplify the PSFCH resource selection process, a PSFCH resource is configured in the frequency domain for each subchannel in the V2X communication resource pool of the NR system. Specifically, the process of determining the PSFCH resource corresponding to each subchannel includes the following steps:

[0081] First, a bitmap of the PSFCH frequency domain resources is constructed.

[0082] Specifically, a bitmap of PSFCH frequency domain resources is configured in the V2X communication resource pool. The bitmap indicates whether each PRB in the frequency domain resources in the V2X communication resource pool is a PSFCH resource available for HARQ-ACK feedback. In other words, the length of the bit information included in the bitmap is equal to the number of PRBs in the communication resource pool. A "1" in the bitmap indicates that the corresponding PRB is a PSFCH resource available for HARQ-ACK feedback. Meanwhile, a "0" in the bitmap indicates that the corresponding PRB is not a PSFCH resource. For example, the V2X communication resource pool has a total of 3 subchannels, and each subchannel has 10 PRBs, i.e., N suvch =3 and n ch Assume that SL transmission slots including the PSFCH slots in FIG. 6 are 10. FIG. 7 can be obtained by extending one SL transmission slot including the PSFCH slot in FIG. 6 in the time domain and the frequency domain. The bitmap of the PSFCH frequency domain resource includes 3×10=30 bits in total, i.e., the length of the bit information included in the bitmap is 30, and each bit indicates whether the corresponding PRB is available for transmitting an ACK / NACK signal. In the schematic diagram of the PSFCH resource configuration shown in FIG. 7, the bitmap indicates that the first four PRBs of each subchannel are available for transmitting an ACK / NACK signal on the PSFCH.

[0083] Then, the number of PRBs of the PSFCH resource corresponding to each subchannel is determined.

[0084]

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[0085]

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[0086] Then, the slot in which the PSFCH resource available for HARQ-ACK feedback is specifically located is determined based on the minimum time gap K.

[0087] Due to the limited decoding capability of the receiving end UE, the receiving end UE cannot provide feedback immediately after receiving the PSSCH. Therefore, a minimum time gap K may be defined, and the value of the minimum time gap is configured by the V2X communication resource pool. That is, the PSFCH is transmitted in the first available slot that contains a PSFCH resource, and this slot is located at a gap of at least K slots from the slot where the PSSCH is located.

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[0088] Finally, the PSFCH resources in one PSFCH slot are sequentially allocated to each subchannel in the PSSCH binding window in a time domain first and then frequency domain manner.

[0089] For example, in conjunction with Figs. 7 and 8, as shown in Fig. 9,

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[0090] Seventh: Service scenarios supporting PSFCH feedback In the NR system, V2X communication supports unicast, multicast, and broadcast. Multicast includes two scenarios: multicast 1 and multicast 2. Physical layer HARQ-ACK feedback is supported in unicast and multicast scenarios.

[0091] In a unicast scenario, one transmitting end UE and one receiving end UE may form a unicast connection pair. When HARQ-ACK feedback is available on the unicast link, if the receiving end UE can correctly decode the PSCCH corresponding to the PSSCH, the receiving end UE will feedback a PSFCH sequence carrying ACK information to the transmitting end UE if the PSSCH is correctly decoded. If the PSSCH is incorrectly decoded, the receiving end UE will feedback a PSFCH sequence carrying NACK information to the transmitting end UE.

[0092] In the scenario of multicast 1 (NACK-only), when HARQ-ACK feedback is available on the multicast link, if the receiving end UE in the group can correctly decode the PSCCH corresponding to the PSSCH, when the PSSCH is decoded incorrectly, the receiving end UE will feedback the PSFCH sequence carrying NACK information to the transmitting end UE. If the PSSCH is correctly decoded, the receiving end UE will not feedback any information to the transmitting end UE.

[0093] In the scenario of multicast 2 (NACK / ACK), when HARQ-ACK feedback is available on the multicast link, if the receiving end UEs in the group can correctly decode the PSCCH corresponding to the PSSCH, when the PSSCH is correctly decoded, the receiving end UE will feed back to the transmitting end UE a PSFCH sequence carrying ACK information. If the PSSCH is incorrectly decoded, the receiving end UE will feed back to the transmitting end UE a PSFCH sequence carrying NACK information.

[0094] 8. Generation of PSFCH sequence The PSFCH sequence may be generated based on a ZC sequence having a low peak-to-average ratio. The PSFCH sequence may occupy two consecutive orthogonal OFDM symbols in the time domain and one PRB in the frequency domain. Specifically, the PSFCH sequence is generated as follows:

[0095] First, a base sequence r(n) may be generated based on the sequence length, where 0≦n≦M zc Then, a phase rotation is performed on the base sequence r(n) to obtain a sequence with a low peak-to-average ratio that can be multiplexed, and the sequence with a low peak-to-average ratio satisfies the following equation (2):

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[0096] M zc = 12, l represents the number of OFDM symbols in the PSFCH transmission slot, e.g., l = 0 represents the first OFDM symbol in the current PSFCH transmission slot, and α l represents the phase rotation value. That is, multiple PRB users have different phase rotation values ​​α l Different PSFCH sequences may be generated using α, and each PSFCH sequence may be code division multiplexed onto one for transmission. Since the receiving end UE needs to feed back ACK / NACK information, different values ​​of α l At least two sequences corresponding to the phase rotation value α l may satisfy the following equation (3).

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[0097]

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[0098] [Table 1]

[0099] [Table 2]

[0100] function

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[0101]

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[0102] Length is M PN A pseudorandom sequence c (n) has length 31, n=0, 1, …, M PN The m-sequences x1(n) and x2(n) may be generated by cyclic shifts of the gold sequence, which is −1, and the gold sequence is the two m-sequences, namely x1(n) and x2(n). (n) The generation process is as follows: c(n)=(x1(n+N c )+x2(n+N c ))mod2 x1(k+31)=(x1(k+3)+x1(k))mod2 x2(k+31)=(x2(k+3)+x2(k+2)+x2(k+1)+x2(k))mod2, where: N c= 1600, x1(0) = 1, x1(0) = 0, n = 1, 2, …, 30, and x2(n) is

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[0103] 9: PSFCH resource location One PSSCH

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[0104] V2X communication resource pool

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[0105] V2X communication resource pool

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[0106] The receiving end UE feeds back the PSFCH.

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[0107] [Table 3]

[0108] From the above analysis, in the case of multicast 2, each UE in the group has different M ID It can be seen that each group of UEs uses different PSFCH resources for feedback due to M of the other group of UEs. ID The transmitting UE may receive each resource pair separately, assuming that it knows ID = 0, so the same source address P ID For a PSSCH with , UEs in each group use the same PSFCH to feed back NACK information.

[0109] 10. SL transmission resource selection process This section mainly describes the process by which the transmitting end UE selects SL transmission resources in transmission mode 2 of V2X communication in the NR system.

[0110] SL transmission supports reservation of SL transmission resources, i.e., the SCI sent by the transmitting end UE carries SL transmission resource reservation information for a future period. After another UE receives the SL transmission resource reservation information of the SCI, it excludes the reserved SL transmission resource, thereby avoiding resource collision. The SCI includes SL transmission resource reservation information, priority information of the data transmitted by the PSSCH this time, source address ID, destination address ID, etc. transmitted by the PSSCH this time.

[0111] As shown in Figure 10, the transmitting UE triggers the selection of SL transmission resources in slot n, i.e., in slot n, the transmitting UE has data to be transmitted to the receiving UE. The resource sensing window is before slot n and is defined as [n-T0, nT proc,0 ], or the resource selection window may be after slot n and may be a slot corresponding to [n+T1, n+T2], where T0, T proc,0 , T1 and T2 are all parameters configured by higher layers. In the resource sensing window, the transmitting end UE senses the SCI transmitted by another UE in the frequency domain resource pool, then excludes the corresponding candidate resource from the resource selection window based on the sensing result, and finally selects the SL transmission resource of the UE from the remaining resources to transmit the data to be transmitted to the receiving end UE by using the SL transmission resource. For example, the transmitting end UE obtains the SCI transmitted by UE1, UE2, UE3, and UE4 by sensing in the resource sensing window, and detects that the reference signal received power (RSRP) measurement results of the resources reserved by UE1, UE2, UE3, and UE4 and located in the resource selection window are greater than or equal to the threshold Th prioTX,prioRXIf it is greater than 1, the resources reserved by UE1, UE2, UE3, and UE4 are excluded from the resource selection window by the transmitting end UE. Specifically, the specific process of the transmitting end UE selecting SL transmission resources is as follows:

[0112] Step 1: The resource selection window may be defined as the slots following the trigger slot n selected by the SL transmission resource and corresponding to [n+T1, n+T2].

[0113] The total number of frequency resources in the V2X resource pool is N subch Suppose we have subchannels, the corresponding subchannel set is

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[0114] As shown in FIG. 11, the number of subchannels included in the frequency resources of the V2X resource pool, N subch If is 8, the corresponding subchannel set is S={S0, S1, ..., S7}, and the number of subchannels occupied by the PSSCH / PSCCH to be transmitted, L subch is 2. In this case, the total number of candidate SL transmission resources in each SL transmission slot is N subch -L subch +1=7.

[0115] Step 2: The resource sensing window is before the trigger slot n selected by the SL transmission resource, [n-T0, nT proc,0 ] can be defined as a slot corresponding to

[0116] T0 may be configured by the higher layer parameter t0_SensingWindow, and T proc,0 may be determined by using Table 4. SL The value of is related to the sub-carrier spacing (SCS) Δf corresponding to the SL transmission bandwidth part (BWP) as shown in Table 5.

[0117] [Table 4]

[0118] [Table 5]

[0119] Step 3: Threshold Th prioTX,prioRX can be defined as a function of the priority corresponding to the data indicated in the SCI received by the transmitting UE and the priority corresponding to the data to be transmitted from the transmitting UE.

[0120] Step 4: All M total A set containing candidate SL transmission resources is denoted by S AIt can be defined as:

[0121] Step 5: Candidate resource R x,y is the candidate resource R x,y A set S satisfies all of the following conditions: A may be excluded from

[0122] (1) The transmitting UE has no sensing slot, that is, the transmitting UE transmits the PSSCH / PSCCH in the SL transmission slot.

[0123] In the resource sensing window, the transmitting end UE may transmit data. Since the SL transmission system is half-duplex, i.e., the UE can only be in a transmitting state or a receiving state, the transmitting end UE cannot sense by receiving a signal transmitted by another UE when in a transmitting state. In this case, the V2X communication resource pool considers that the SCI transmitted by another UE in a slot includes all possible service periods, and reserves periodic SL transmission resources. Therefore, the transmitting end UE first selects all candidate SL transmission resources R in the slot corresponding to the transmission slot of the PSSCH / PSCCH of the transmitting end UE in the SL transmission resource selection window, so as to exclude all SL transmission resources that may cause collisions. x,y Exclude.

[0124] As shown in Figure 12, UE-B transmits PSSCH / PSCCH in slot m, i.e., the transmission slot of PSSCH / PSCCH of the transmitting end UE is m, and PSSCH / PSCCH occupies subchannel 4 and subchannel 5 in the frequency domain. If slot m is located within the resource sensing window, even if no UE other than UE-B transmits information in slot m, all SL transmission resources in the slot corresponding to slot m in the resource selection window, including subchannel 0 to subchannel 9, need to be excluded when UE-B subsequently selects SL transmission resources.

[0125] (2)y+j×P'rsvp_TX =m+q×P' rsvp_RX There exists an integer j such that

[0126] q = 1, 2, …, Q and j = 0, 1, …, C resel -1, and C resel P′ represents the reservation number of periodic SL transmission resources reserved by the transmitting UE and configured by higher layers. rsvp_TX is the physical period P rsvp_TX represents the logical period corresponding to P' rsvp_RX is the physical period P indicated by the received SCI. rsvp_RX represents the logical period corresponding to P rsvp_RX <T scal and n'-m≦P' rsvp_RX If

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[0127] In the above process, P rsvp_TX represents the transmission resource reservation period of the transmitting UE, and P rsvp_TX may be in milliseconds, and P rsvp_TXThe value of may be provided by a higher layer parameter. In other words, P rsvp_TX P′ represents a physical period and may include slots in the non-V2X communication resource pool. rsvp_TX is the physical period P rsvp_TX That is, P' represents the logical period corresponding to rsvp_TX contains only slots that belong to the V2X communication resource pool. Similarly, P rsvp_RX represents the resource reservation period of another UE and obtained by the transmitting UE through sensing, and P rsvp_RX may be in ms, P rsvp_RX The value of may be provided by a resource reservation period parameter in the SCI received by the transmitting UE, i.e., P rsvp_RX P′ represents a physical period and may include slots in the non-V2X communication resource pool. rsvp_RX is the physical period P rsvp_RX That is, P' represents the logical period corresponding to rsvp_RX contains only slots that belong to the V2X communication resource pool. rsvp and logical period P' rsvp The conversion relationship is as follows:

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[0128] P rsvp P rsvp_TX or P rsvp_RX P' rsvp is P' rsvp_TX or P' rsvp_RXN represents the number of slots available for SL transmission and contained within 20 ms in a particular uplink-downlink slot configuration. In the slot configuration of the NR system, the slot configuration format is repeated every 20 ms. The period of one slot configuration is P ms and is provided by the uplink-downlink transmission period DL-UL-TransmissionPeriodicity parameter in the time division multiplexed uplink-downlink common configuration tdd-UL-DL-ConfigurationCommon higher layer signaling. N represents the number of slots available for SL transmission and contained within 20 ms in a particular uplink-downlink slot configuration.

[0129] Step 6: Candidate resource R x,y is a set S if the candidate resource satisfies all of the following conditions: A may be excluded from

[0130] (1) The transmitting UE receives a sensing slot

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[0131] (2) The transmitting UE receives a sensing slot

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[0132] Step 7: Candidate resource set S A If the number of remaining candidate resources in total If it is less than X%, the pre-set RSRP threshold is increased by 3 dB, and then steps 1 to 4 are repeated, where the value of X may be 20, 35, or 50.

[0133] Step 8: The transmitting end UE selects the candidate resource set S A to the upper layer, which then reports the set S A Complete final resource selection from.

[0134] The following describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. In the description of the present application, " / " represents an "or" relationship between associated objects unless otherwise specified. For example, A / B can represent A or B. In the present application, "and / or" only describes the associated relationship to describe the associated objects and represents that three relationships may exist. For example, A and / or B can represent the following three cases: only A exists, both A and B exist, and only B exists, and A and B can be singular or plural. In addition, in the description of the present application, "multiple" means two or more than two, unless otherwise specified. At least one of the following items (parts) or similar expressions refers to any combination of these items, including any combination of a singular item (part) or multiple items (parts). For example, at least one item (part) of a, b, or c may refer to a, b, c, a and b, a and c, b and c, or a, b, and c, and a, b, and c may be singular or plural. In addition, in order to clearly describe the technical solutions in the embodiments of the present application, terms such as first and second are used in the embodiments of the present application to distinguish between the same or similar items that provide basically the same function or purpose. Those skilled in the art may understand that terms such as "first" and "second" do not limit the quantity or execution order, and terms such as "first" and "second" do not indicate clear differences.

[0135] The embodiments of the present application may be applicable to an LTE system or an NR system, or may be applicable to another future-oriented new system, etc. This is not particularly limited in the embodiments of the present application. In addition, the terms "system" and "network" are interchangeable.

[0136] 13 is a communication system 130 according to an embodiment of the present application. The communication system 130 includes a first terminal device 1301 and a second terminal device 1302. The first terminal device 1301 is configured to determine cooperation information and transmit the cooperation information to the second terminal device 1302. The second terminal device 1302 is configured to receive the cooperation information from the first terminal device 1301 and determine a sidelink transmission resource based on the cooperation information. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource is a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. The specific implementation and technical effect of this solution will be described in detail in the subsequent method embodiments. The details will not be described again here.

[0137] Optionally, as shown in Fig. 13, the communication system 130 provided in this embodiment of the present application may further include a network device 1303. The network device 1303 is configured to communicate with a first terminal device 1301 and / or a second terminal device 1302. For example, in a broadcast scenario, the first terminal device 1301 or the second terminal device 1302 may send related request information to the network device 1303 to ensure that another terminal device having a discontinuous reception (DRX) requirement of the service can receive the broadcast signal. This is not particularly limited in this embodiment of the present application.

[0138] Optionally, the network device 1303 in this embodiment of the present application is a device that accesses a terminal device (including the first terminal device 1301 or the second terminal device 1302) to a wireless network, and may be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, an access node of a wireless-fidelity (Wi-Fi) system, etc., or may be a module or unit that performs some functions of a base station, for example, a central unit (CU) or a distributed unit (DU). The specific technology and the specific device form used by the network device are not limited in this embodiment of the present application. In this application, unless otherwise specified, the network device is a radio access network device.

[0139] Optionally, the terminal device (including the first terminal device 1301 or the second terminal device 1302) in this embodiment of the present application may be a vehicle, or an in-vehicle terminal installed in a vehicle to assist the vehicle's running, or a chip in the in-vehicle terminal. Alternatively, the terminal device (including the first terminal device 1301 or the second terminal device 1302) in this embodiment of the present application may be a device configured to perform wireless communication functions, such as a terminal or a chip that can be used in a terminal. The in-vehicle terminal or terminal may be a UE, an access terminal, a terminal unit, a terminal station, a mobile station, a mobile console, a remote station, a remote terminal, a mobile device, a wireless communication device, a terminal agent, a terminal device, etc. in a 5G network or a future evolved public land mobile network (PLMN). The access terminal may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication capability, a computing device or another processing device connected to a wireless modem, an in-vehicle device or a wearable device, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control or a wireless terminal in self 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, etc. The terminal devices (including the first terminal device 1301 or the second terminal device 1302) may be located at a fixed location or may be mobile. This is not particularly limited in this embodiment of the present application.

[0140] Optionally, in this embodiment of the present application, a terminal device (including the first terminal device 1301 or the second terminal device 1302) includes a hardware layer, an operating system layer operating on the hardware layer, and an application layer operating on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called a main memory). The operating system may be any one or more types of computer operating systems that perform service processing through a process, for example, a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. The application layer includes applications such as a browser, an address book, word processing software, and instant messaging software. In addition, the specific structure of the execution body of the method provided in the embodiment of the present application is not particularly limited in the embodiment of the present application, as long as a program recording the code of the method provided in the embodiment of the present application can be executed to perform communication according to the method provided in the embodiment of the present application. For example, the method provided in this embodiment of the present application may be performed by a terminal device (including the first terminal device 1301 or the second terminal device 1302), or may be performed by a functional module located within a terminal device (including the first terminal device 1301 or the second terminal device 1302) that can call and execute a program.

[0141] In other words, the relevant functions of the terminal devices (including the first terminal device 1301 or the second terminal device 1302) in this embodiment of the present application may be implemented by one device, may be implemented jointly by multiple devices, or may be implemented by one or more functional modules in one device. This is not particularly limited in this embodiment of the present application. It should be understood that the aforementioned functions may be network elements in a hardware device, software functions running on dedicated hardware, a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

[0142] For example, the relevant functions of the terminal devices (including the first terminal device 1301 or the second terminal device 1302) in this embodiment of the present application may be implemented by using the communication device 140 in FIG.

[0143] 14 is a schematic diagram of the structure of a communication device 140 according to an embodiment of the present application. The communication device 140 includes one or more processors 141, a communication line 142, and at least one communication interface (in FIG. 14, only an example including a communication interface 144 and one processor 141 is used for explanation). Optionally, the communication device 140 may further include a memory 143.

[0144] The processor 141 may be a CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling program execution of the solutions of the present application.

[0145] The communication lines 142 may include paths configured to connect different components.

[0146] The communication interface 144 may be a transceiver module configured to communicate with another device or a communication network such as Ethernet, RAN, wireless local area networks (WLAN), etc. For example, the transceiver module may be a device such as a transceiver or a transceiver. Optionally, the communication interface 144 may alternatively be a transceiver circuit located within the processor 141 and configured to implement signal input and output of the processor.

[0147] The memory 143 may be a device having a storage function. For example, the memory may be a read-only memory (ROM) or another type of static storage device capable of storing static information and instructions, a random access memory (RAM) or another type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or another type of compact disc storage, an optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disc storage medium or another magnetic storage device, or any other medium capable of carrying or storing expected program code in the form of instructions or data structures and accessible by a computer. This is not limited to the above. The memory may exist independently and be connected to the processor via the communication line 142. The memory may alternatively be integrated with the processor.

[0148] The memory 143 is configured to store computer-executable instructions for carrying out the solutions of the present application, and the processor 141 controls the execution of the computer-executable instructions. The processor 141 is configured to execute the computer-executable instructions stored in the memory 143 to implement the communication method provided in the embodiments of the present application.

[0149] Alternatively, in this embodiment of the present application, the processor 141 may perform processing-related functions in the communication methods provided in the following embodiments of the present application, and the communication interface 144 may be responsible for communicating with another device or communication network, which is not particularly limited in this embodiment of the present application.

[0150] The computer-executable instructions in this embodiment of the present application may alternatively be referred to as application code, which is not particularly limited in this embodiment of the present application.

[0151] In a specific implementation, in one embodiment, the processor 141 may include one or more CPUs, for example CPU0 and CPU1 in FIG.

[0152] In a specific implementation, in one embodiment, communication device 140 may include multiple processors, such as processor 141 and processor 147 of FIG. 14. Each of the processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may be one or more devices, circuits, and / or processing cores configured to process data (e.g., computer program instructions).

[0153] In a specific implementation, in one embodiment, the communication device 140 may further include an output device 145 and an input device 146. The output device 145 is in communication with the processor 141 and may display information in a number of ways.

[0154] The communication device 140 may be a general-purpose device or a dedicated device. For example, the communication device 140 may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an in-vehicle terminal device, an embedded device, or a device having a similar structure in FIG. 14. The type of the communication device 140 is not limited in this embodiment of the present application.

[0155] The following describes in detail the communication method provided in the embodiment of the present application with reference to FIGS.

[0156] 15 illustrates a communication method according to an embodiment of the present application. The communication method includes the following steps:

[0157] S1501: A first terminal device determines cooperation information, which is used to assist a second terminal device in determining a sidelink transmission resource.

[0158] In one possible implementation, the cooperation information includes first information, the first information indicating resource usage in a first slot, and the second terminal device transmits a physical sidelink channel in the first slot, e.g., in an NR system, the physical sidelink channel includes a PSSCH and / or a PSCCH.

[0159] Optionally, the first information indicating resource usage in the first slot includes: the first information indicates resource usage of M subchannels in the first slot, where M is the number of subchannels configured in a resource pool; alternatively, the first information indicates resource usage of subchannels other than M1 subchannels in the M subchannels in the first slot, where M is the number of subchannels configured in a resource pool, where M is the number of subchannels occupied by the second terminal device for transmitting a physical sidelink channel in the first slot; the resource pool is a V2X communication resource pool in which the first terminal device and the second terminal device are located. This is uniformly described in this specification and will not be described in detail below.

[0160] Optionally, the resource usage of the M subchannels may be indicated by M bits. For example, assume that the value of M is 10, the first information is "1010001011", and the high-order bit to the low-order bit corresponds to subchannel 0 to subchannel 9, respectively. "1" indicates that the subchannel in the first slot is unavailable, and "0" indicates that the subchannel in the first slot is available. In this case, 1010001011 may indicate that in the first slot, subchannel 0, subchannel 2, subchannel 6, subchannel 8, and subchannel 9 are unavailable, and subchannel 1, subchannel 3, subchannel 4, subchannel 5, and subchannel 7 are available. Similarly, the resource usage of subchannels other than the M1 subchannels in the M subchannels may also be indicated by M-M1 bits. The value and meaning of each bit have been described above. Details will not be described again here. In other words, it is assumed that the number of bits included in the first information is k1, where k1=M, or k1=M-M1.

[0161] The following describes cases where the value of a bit in the first information is "0" or "1" with reference to some specific examples.

[0162] For example, the value of a bit in the first information indicates whether the terminal device transmits a PSSCH and / or a PSCCH on a subchannel in the first slot. Specifically, when the terminal device transmits a PSSCH and / or a PSCCH on a subchannel in the first slot, i.e., when the subchannel is occupied and unavailable, the value of the corresponding bit in the first information is "1". On the other hand, when the terminal device does not transmit a PSSCH and / or a PSCCH on a subchannel in the first slot, the value of the corresponding bit in the first information is "0".

[0163] For example, the value of the bit in the first information indicates whether the RSRP obtained by measurement on the subchannel in the first slot exceeds the preset threshold. The preset threshold may be determined based on the priority of the data in the PSSCH transmitted by the second terminal device in the first slot. Alternatively, the preset threshold may be determined by using a V2X communication resource pool. For example, when the RSRP obtained by measurement on the subchannel in the first slot exceeds the preset threshold, i.e., the subchannel is unavailable, the value of the corresponding bit in the first information is "1". On the other hand, when the RSRP obtained by measurement on the subchannel in the first slot does not exceed the preset threshold, the value of the corresponding bit in the first information is "0".

[0164] For example, the value of the bit in the first information indicates whether the subchannel in the first slot can be preempted. Specifically, when there is an SCI indicating that the PSSCH was transmitted on the subchannel but the PSSCH decoding failed, the subchannel is determined to be preempted, or when the PSSCH decoding on the subchannel is correct, the RSRP obtained by the measurement on the subchannel in the first slot exceeds a preset threshold, but the priority of the data on the PSSCH is lower than the priority of the data on the PSSCH transmitted by the second terminal device in the first slot, the subchannel is determined to be preempted. The preset threshold is determined based on the priority of the data on the PSSCH transmitted by the second terminal device in the first slot. In this case, the subchannel determined to be preempted is available. Therefore, the value of the corresponding bit in the first information is "0". In this example, in another case other than the above case, the value of the corresponding bit in the first information is "1".

[0165] Based on the aforementioned solution, in an NR system, when a second terminal device transmits a PSSCH and / or a PSCCH in a slot within a resource sensing window, the first terminal device in this embodiment of the present application may determine cooperation information including first information. The first information indicates resource usage in a slot for transmitting a PSSCH and / or a PSCCH by the second terminal device. In this way, when subsequently performing resource selection, the second terminal device may select a transmission resource that is not occupied by another terminal device, or a transmission resource that is occupied by another device but has a lower data priority, without excluding all candidate resources in the slot that corresponds to a slot for transmitting a PSSCH and / or a PSCCH by the second terminal device and is within the resource selection window, in order to avoid possible resource contention. Thus, resource utilization can be improved based on this solution.

[0166] In another possible implementation, the cooperation information further includes second information, the second information indicating that a first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being the closest reserved resource to the first slot, and the second terminal device transmitting a physical sidelink channel in the first slot.

[0167] Optionally, the first reserved resource includes M3 reserved sub-channel resources.

[0168] Optionally, the first reserved resource is indicated by a time domain resource indicator value (TRIV) on a physical sidelink channel of the second terminal device, or the first reserved resource is indicated by a resource reservation period on a physical sidelink channel of the second terminal device.

[0169] Optionally, in this embodiment of the present application, the first reserved resource is used for a retransmission of the first transport block TB on the physical sidelink channel of the second terminal device and / or the first reserved resource is used for a new transmission of the service to which the second TB belongs on the physical sidelink channel of the second terminal device in the next period.

[0170] For example, in an NR system, when the value of TRIV is not 0 and the value of the resource reservation period is 0, the first reserved resource may be the reserved resource closest to the first slot and used for retransmission of the first TB on the PSSCH and / or PSCCH of the second terminal device. Alternatively, when the value of TRIV is 0 and the value of the resource reservation period is not 0, the first reserved resource may be the reserved resource closest to the first slot and used for a new transmission of the service to which the second TB belongs on the PSSCH and / or PSCCH of the second terminal device in the next period. Alternatively, when the value of TRIV is not 0 and the value of the resource reservation period is not 0, the first reserved resource may be the reserved resource that is closest to the first slot and used for retransmission of the first TB on the PSSCH and / or PSCCH of the second terminal device, or the first reserved resource may be the reserved resource that is closest to the first slot and used for a new transmission of the service to which the second TB belongs on the PSSCH and / or PSCCH of the second terminal device in the next period, or the first reserved resource may be the reserved resource that is closest to the first slot and used for retransmission of the first TB on the PSSCH and / or PSCCH of the second terminal device and the reserved resource that is closest to the first slot and used for a new transmission of the service to which the second TB belongs on the PSSCH and / or PSCCH of the second terminal device in the next period.

[0171] For example, as shown in FIG. 16, assume that the transmitting end UE-B transmits PSSCH and / or PSCCH signals on subchannel 3 and subchannel 4 in slot n1, and reserves resources of subchannel 4 and subchannel 5 in slot n1+t, i.e., M3=2. Since the transmitting end UE-B cannot sense in slot n1, the transmitting end UE-B cannot obtain the resource reservation information of another UE. Assume that the transmitting end UE-C also transmits PSSCH and / or PSCCH signals on subchannel 1 in slot n1, and the transmitting end UE-C also reserves one or more resources of subchannel 4 and / or subchannel 5 in slot n1+t. In other words, the reserved resources of the transmitting end UE-B and the transmitting end UE-C in slot n1+t overlap in the frequency domain or partially overlap in the frequency domain. In this case, the transmitting end UE-B or the transmitting end UE-C cannot know that a collision may occur in the future. If the receiving end UE-A can detect a collision, the receiving end UE-A may inform the transmitting end that the reserved resource of UE-B collides with the reserved resource of another UE (e.g., the transmitting end UE-C) by using the second information. For example, the second information may indicate that the reserved resource of the transmitting end UE-B in slot n1+t collides with the reserved resource of another UE (e.g., the transmitting end UE-C). The transmission slot of the second information may be the slot shown in FIG. 16. For the selection of the transmission slot of the second information, please refer to the description of S1502. Details will not be described again here.

[0172] Alternatively, for example, as shown in FIG. 17, assume that the transmitting end UE-B transmits PSSCH and / or PSCCH signals on subchannel 3 and subchannel 4 in slot n1, and reserves resources on subchannel 4 and subchannel 5 in slot n1+t, i.e., M3=2. Since the transmitting end UE-B cannot sense in slot n1, the transmitting end UE-B cannot obtain the resource reservation information of another UE. Assume that the transmitting end UE-C also transmits PSSCH and / or PSCCH signals on subchannel 8 in the slot between slot n1 and slot n1+k, and the transmitting end UE-C also reserves one or more resources on subchannel 4 and / or subchannel 5 in slot n1+t. In other words, the reserved resources of the transmitting end UE-B and the transmitting end UE-C in slot n1+t overlap in the frequency domain or partially overlap in the frequency domain. In this case, the transmitting end UE-B or the transmitting end UE-C cannot know that a collision may occur in the future. If the receiving end UE-A can detect a collision, the receiving end UE-A may inform the transmitting end that the reserved resource of UE-B collides with the reserved resource of another UE (e.g., the transmitting end UE-C) by using the second information. For example, the second information may indicate that the reserved resource of the transmitting end UE-B in slot n1+t collides with the reserved resource of another UE (e.g., the transmitting end UE-C). The transmission slot of the second information may be slot n1+k shown in FIG. 17. For the selection of the transmission slot of the second information, please refer to the description of S1502. Details will not be described again here.

[0173] Optionally, the second information may have a length of 1 bit, indicating whether the first reserved resource of the second terminal device collides with the reserved resource of another terminal device. For example, referring to the example shown in Figure 16 or Figure 17, the second information indicates whether the reserved resource corresponding to the PSSCH and / or PSCCH transmitted by the transmitting end UE-B in slot n1 collides with the reserved resource of another UE.

[0174] Alternatively, optionally, the second information may have a length of M3 bits to indicate whether each of the M3 sub-channel resources reserved in the first reserved resource of the second terminal device collides with the reserved resource of another terminal device. For example, referring to the example shown in FIG. 16 or FIG. 17, the second information indicates whether the reserved M3 sub-channel resources corresponding to the PSSCH and / or PSCCH transmitted by the transmitting end UE-B in slot n1 collide with the reserved resource of another UE. For example, a bit value of "1" indicates that a collision occurs, and a bit value of "0" indicates that a collision does not occur. In this case, the second information "11" indicates that the sub-channel 4 and the sub-channel 5 reserved by the transmitting end UE-B collide with the sub-channel resources reserved by another UE in slot n1+t. Alternatively, the second information “10” indicates that in slot n1+t, sub-channel 4 reserved by the transmitting end UE-B may collide with sub-channel resources reserved by another UE, but sub-channel 5 reserved by the transmitting end UE-B does not collide with sub-channel resources reserved by another UE.

[0175] In one possible implementation, in the example shown in Fig. 16 or 17, the first reserved resource of the transmitting end UE-B (i.e., subchannel 4 and subchannel 5 in slot n1+t) may be used for retransmission of the same TB transmitted on the PSSCH and / or PSCCH transmitted in slot n1. In this case, the first reserved resource may be indicated by the TRIV of the first level control information corresponding to the PSSCH and / or PSCCH of the transmitting end UE-B. In this case, it is assumed that the number of bits included in the second information is k2, where k2=1, or k2=M3.

[0176] In another possible embodiment, in the example shown in Fig. 16 or 17, the first reserved resource of the transmitting end UE-B (i.e., subchannel 4 and subchannel 5 in slot n1+t) can be used for a new transmission of the service to which the TB transmitted on the PSSCH and / or PSCCH transmitted in slot n1 belongs in the next period. In this case, the first reserved resource may be indicated by the resource reservation period of the first level control information corresponding to the PSSCH and / or PSCCH of the transmitting end UE-B. In this case, it is assumed that the number of bits included in the second information is k3, where k3=1, or k3=M3.

[0177] From the above, it can be seen that in the hidden terminal scenario shown in FIG. 1, the first terminal in this embodiment of the present application may determine cooperation information including the second information. The second information indicates that the first reserved resource of the second terminal device collides with the reserved resource of another terminal device. The first reserved resource is the reserved resource closest to the slot for transmitting the physical sidelink channel. Since the second terminal device and the other terminal device cannot sense each other's existence by sensing, when the second terminal device transmits signal 1 to the first terminal device and another terminal device in the other terminal device transmits signal 2 to the first terminal device, the transmission resource of signal 1 and the transmission resource of signal 2 may overlap. As a result, signal 1 collides with signal 2, affecting the signal reception of the first terminal device. In this embodiment of the present application, the first terminal device may determine cooperation information including the second information to trigger the second terminal device or another terminal device to perform collision confirmation or reselect a transmission resource, thereby achieving the technical effect of reducing the collision probability.

[0178] The first terminal device may determine the cooperation information based on the resource reservation information included in the physical sidelink channel transmitted by the second terminal device. When the second terminal device transmits only once in the first slot, i.e., when the second terminal device does not reserve resources, the first terminal device may determine only the first information to inform the second terminal device of the resource usage status in the first slot to assist the second terminal device in selecting subsequent transmission resources. When the second terminal device reserves transmission resources on the physical sidelink channel transmitted in the first slot, the first terminal device may determine the second information indicating that the first reserved resource of the second terminal device collides with the reserved resource of the other terminal device. In this case, the two possible implementations mentioned above are included. Assume that the length of the cooperation information is S bits, and S=k1, S=k2, or S=k3.

[0179] Optionally, when the second terminal device has reserved resources, the first terminal device may determine at least one of three types of cooperation information. The three types of cooperation information correspond to two possible implementations of the first information and the second information, respectively. In one possible implementation, when the cooperation information configured in the V2X communication resource pool includes three types of cooperation information, the cooperation information may further include indication information, where the indication information indicates that the cooperation information includes the first information and / or the second information. That is, the indication information indicates whether the cooperation information includes valid first type cooperation information, whether the cooperation information includes valid second type cooperation information, and whether the cooperation information includes valid third type cooperation information. A bit value of 1 indicates that valid first type cooperation information, second type cooperation information, or third type cooperation information is included, and it is assumed that the bits corresponding to the first type cooperation information, second type cooperation information, or third type cooperation information are sorted in descending order. If the value of the indication information is "100", it indicates that the first terminal device determines only the first type cooperation information. If the indication information is "101", it indicates that the first terminal device determines the first type of cooperation information and the third type of cooperation information.

[0180] Optionally, the indication information may be placed before the three types of cooperation information, so that the second terminal device can identify different types contained in the received cooperation information and select transmission resources based on the cooperation information, thereby achieving the technical effect of improving resource utilization and / or reducing collision probability.

[0181] When the cooperation information further includes indication information, the cooperation information has a length of S bits, the indication information has a length of p bits, and S=p+sum(k i ), where sum() represents sum, i represents the type of collaboration information determined by the first terminal device, and it is assumed that the value of i can be 1, 2, or 3.

[0182] S1502: A first terminal device transmits cooperation information to a second terminal device. In response, the second terminal device receives the cooperation information from the first terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource is a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.

[0183] In one possible implementation, the slot in which the second time-frequency resource is located is after the first slot, the first physical sidelink feedback resource is a slot located at a gap of more than K1 slots from the last symbol in the first slot, and the second terminal device transmits a physical sidelink channel in the first slot.

[0184] In another possible embodiment, the slot in which the second time-frequency resource is located is a slot preceding the second slot and in which the first physical sidelink feedback resource is located with a gap larger than K2 slots from the first symbol in the second slot. The second slot is a slot in which the first reserved resource of the second terminal device is located, the first reserved resource is the reserved resource closest to the first slot, and K1 or K2 is the minimum time gap configured by the higher layer for transmitting the cooperation information. Alternatively, K1 or K2 is the minimum time gap K fed back by HARQ-ACK in the prior art.

[0185] Optionally, when both K1 and K2 are configured in the upper layer, the transmission slot determined by using K1 or the transmission slot determined by using K2 may be selected to transmit the cooperative information. In one possible embodiment, the transmission slot determined by using K1 is before the transmission slot determined by using K2. Therefore, the advantage of selecting the transmission slot determined by using K1 to transmit the cooperative information is that the second terminal device can be notified as early as possible to trigger the second terminal device to perform SL resource selection, reselection or collision confirmation as early as possible. The advantage of selecting the transmission slot determined by using K2 to transmit the cooperative information is that the first terminal device can be provided with more time, so that the first terminal device generates more comprehensive and reliable cooperative information.

[0186] It should be noted that the transmission slot determined by using K1 is more suitable for transmitting the cooperative information including the first information, and the transmission slot determined by using K2 is more suitable for transmitting the cooperative information including the second information. Of course, the cooperative information including the second information may alternatively be transmitted by using the transmission slot determined by using K1, and the cooperative information including the first information may be transmitted by using the transmission slot determined by using K2. This is not particularly limited in this embodiment of the present application.

[0187] Optionally, the second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain-then-time domain manner, where J slots are slots corresponding to the second time-frequency resource determined based on K1 or K2, and M is the number of subchannels configured in the resource pool. Here, the second time-frequency resource includes J*M third time-frequency resources may be understood as the second time-frequency resource includes J*M third time-frequency resources or the second time-frequency resource is evenly divided into J*M third time-frequency resources by the bandwidth.

[0188] Optionally, the first time-frequency resource includes M1 third time-frequency resources among the J*M third time-frequency resources, where M1 is a number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M1 is a positive integer less than or equal to M.

[0189] For example, in an NR system, the slot in which the physical sidelink feedback resource is located may be a PSFCH slot corresponding to the PSSCH and / or PSCCH transmitted by the second terminal device.

[0190] Specifically, mapping the sequence carrying cooperation information to the first time-frequency resource mainly includes the following steps:

[0191] First, a sequence for carrying the coordination information is determined.

[0192] For example, a method similar to that in Table 1 may be used, i.e., two sequences are arranged in two m CS may be generated based on the value of S. In this case, the to-be-transmitted cooperation information having a length of S bits requires a total of 2*S sequences, which may be referred to as S sequence pairs. Each sequence pair includes two sequences whose bit values ​​are "0" and "1", respectively. The sequence Seq(2*i) may be a sequence corresponding to a bit value "0", and the sequence Seq(2*i+1) may be a sequence corresponding to a bit value "1", where i represents a sequence number of the sequence pair, i=0, 1, ..., S-1. The first terminal device may select S sequences from the S sequence pairs to be transmitted based on the to-be-transmitted cooperation information.

[0193] Alternatively, a transmission scheme may be used in which, for example, four sequences correspond to two bits of cooperation information. In this case, the cooperation information to be transmitted, which has a length of S bits, requires a total of 4*ceil(S / 2) sequences, which may be referred to as a set of ceil(S / 2) sequences, where ceil indicates rounding up. Each sequence set includes four sequences with bit values ​​"00", "01", "11", and "10", respectively. The sequence Seq(4*i) may be the sequence corresponding to the bit value "00". The sequence Seq(4*i+1) may be the sequence corresponding to the bit value "01". The sequence Seq(4*i+2) may be the sequence corresponding to the bit value "11". The sequence Seq(4*i+3) may be the sequence corresponding to the bit value "10", where i represents the sequence number of the ordered set, i=0, 1, ..., ceil(S / 2)-1. The first terminal device may select ceil(S / 2) sequences to be transmitted from a set of ceil(S / 2) sequences based on the cooperation information to be transmitted.

[0194] Based on the comparison of the above two examples, the computational complexity of the two embodiments is basically equal because each sequence needs to be detected on the second terminal device side. However, on the second terminal device side, the method of selecting ceil(S / 2) sequences from a set of ceil(S / 2) sequences to be transmitted can reduce the number of sequences that need to be transmitted by half compared with the method of selecting S sequences from a pair of S sequences to be transmitted.

[0195] Then, a time domain location of the second time-frequency resource is determined.

[0196] In this embodiment of the present application, the sequence carrying the cooperation information is mapped to the first time-frequency resource, which is a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. Therefore, this step is equivalent to determining the transmission slot of the cooperation information.

[0197] In one possible implementation, the example shown in Figure 16 is used as an example. The transmission slot of the cooperative information may be slot n1+k shown in Figure 16. Slot n1+k is the first PSFCH slot in a gap larger than K1 slots from the last symbol of slot n1 after slot n1 is transmitted on the PSSCH and / or PSCCH of the transmitting end UE-B. K1 is the minimum time gap for transmitting the cooperative information. That is, k ≥ K1, and n1+k is the closest PSFCH slot to n1 after slot n1 is transmitted on the PSSCH and / or PSCCH of the transmitting end UE-B.

[0198] In another possible embodiment, the example shown in Fig. 16 is used as an example. The transmission slot of the cooperative information may alternatively be slot n1+k shown in Fig. 17. Slot n1+k is the first PSFCH slot before slot n1+t where the first reserved resource of the transmitting end UE-B is located and is in a gap of more than K2 slots from the first symbol of slot n1+t. K2 is the minimum time gap for transmitting the cooperative information. The first reserved resource may be indicated by the TRIV or resource reservation period of the first level control information corresponding to the PSSCH and / or PSCCH of the transmitting end UE-B. That is, k≦t-K2, and n1+k is the PSFCH slot before and closest to slot n1+t where the first reserved resource of the transmitting end UE-B is located.

[0199] Then, a frequency domain location of the second time-frequency resource is determined.

[0200] In this embodiment of the present application, the second time-frequency resource is orthogonal to the PSFCH resource for transmitting HARQ-ACK information in the prior art in the frequency domain. Specifically, in the prior art, as mentioned above, the V2X communication resource pool configures a bitmap for HARQ-ACK feedback, and the bitmap indicates whether each PRB is a PSFCH resource available for HARQ-ACK feedback. If a "1" in the bitmap indicates that the corresponding PRB is a PSFCH resource available for HARQ-ACK feedback, in this embodiment of the present application, a bit "0" indicates that the corresponding PRB is available for transmitting cooperative information.

[0201] For example, as shown in Figure 18, the first time-frequency resource may be understood as a set of PRBs numbered 4 and 5 in the PSFCH slot, and the second time-frequency resource may be understood as a set of PRBs numbered 0 to 15 in the PSFCH slot. The second time-frequency resource includes 15 third time-frequency resources, and each third time-frequency resource includes one PRB.

[0202] In this embodiment of the present application, the J*M third time-frequency resources are sequentially allocated to M subchannels in J slots in a frequency domain first and then time domain manner, where M is the number of subchannels configured in the resource pool. The J slots are slots corresponding to the second time-frequency resources determined based on K1 or K2. Optionally, K1 or K2 may be the minimum time gap K for HARQ-ACK feedback in the prior art. The second time-frequency resources are allocated to M subchannels in J slots in a frequency domain first and then time domain manner, where M is the number of subchannels configured in the resource pool. The J slots are slots corresponding to the second time-frequency resources determined based on K1 or K2. Optionally, K1 or K2 may be the minimum time gap K for HARQ-ACK feedback in the prior art.

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[0203] In this embodiment of the present application, it can be seen from FIG. 18 that when the transmitting end UE-B occupies two subchannels, for example PSSCHs numbered 4 and 5, in the second SL transmission slot for transmitting PSSCH, the first time-frequency resource of the sequence carrying the cooperation information corresponding to PSSCH is a set of the fourth third time-frequency resource and the fifth third time-frequency resource. The fourth third time-frequency resource is the fourth third time-frequency resource with Q PRB resources numbered 4, and the fifth third time-frequency resource is the fifth third time-frequency resource with Q PRB resources numbered 5, where Q=1. It can be seen from FIG. 18 that the third time-frequency resource numbered 4 and the third time-frequency resource numbered 5 are continuous in the frequency domain of the second time-frequency resource. However, in the prior art shown in FIG. 9, the PSFCH resources corresponding to the PSSCHs numbered 5 and 9 are not continuous in the frequency domain.

[0204] In this embodiment of the present application, when the bit "0" indicated in the bitmap is continuous, it is of a sequence carrying cooperative information, and the third time-frequency resource corresponding to PSSCH is continuous in the frequency domain in the manner of frequency domain first and then time domain. Therefore, the time domain peak-to-average ratio of the signal to be transmitted can be reduced, so that when the cooperative information is transmitted, the average power of the signal is increased, and the actual power of each transmission sequence is increased, finally achieving the technical effect of extending the signal coverage area.

[0205] Finally, a specific mapping location (ie, a first time-frequency resource) of the sequence carrying the coordination information is determined.

[0206] From the analysis of the above embodiments, it can be seen that in this embodiment of the present application, determining the first time-frequency resource is essentially determining a PRB of a sequence that is in the second time-domain frequency and can be used to carry coordination information.

[0207] As mentioned above, when the PSSCH and / or PSCCH transmitted by the transmitting end UE-B occupy one subchannel, the receiving end UE-A may transmit the cooperative information by using Q PRBs. Correspondingly, when the PSSCH and / or PSCCH transmitted by the transmitting end UE-B occupy Z subchannels, the receiving end UE-A may transmit the cooperative information by using Q*Z PRBs. In addition, the Q*Z PRBs are consecutive in the frequency domain of the second time-frequency resource. The number of sequence resource sets carrying the cooperative information is

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[0208] In a unicast scenario, only the receiving end UE-A transmits cooperation information to the transmitting end UE-B. Referring to the above example of the manner of selecting S sequences from S sequence pairs to be transmitted, in one possible embodiment, the PRB resources corresponding to the sequences Seq(2*i) and Seq(2*i+1) carrying cooperation information are

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[0209] [Table 6]

[0210] The difference between the above two embodiments is that in one embodiment, the transmitting end UE-A sequentially maps the to-be-transmitted sequence carrying the coordination information to the physical resource set of the PSFCH slot in a code domain first and then frequency domain manner, and in another embodiment, the mapping manner is frequency domain first and then code domain manner.

[0211] Referring to an example of a scheme for selecting ceil(S / 2) sequences from a set of ceil(S / 2) sequences to be transmitted, for sequences Seq(4*i), Seq(4*i+1), Seq(4*i+2), and Seq(4*i+3) carrying cooperative information, the process of determining PRB resources and cyclic shift index values ​​is the same as the process in Example 6 above, and m cs and m0 may be determined based on Tables 7 and 8 below, respectively.

[0212] [Table 7]

[0213] [Table 8]

[0214] In a multicast or broadcast scenario, that is, in addition to the receiving end UE-A, another receiving end UE may also transmit cooperation information to the transmitting end UE-B. In this case, the number of receiving end UEs relative to the transmitting end UE-B is large. Since the second time-frequency resource is limited, it may be the case that the first time-frequency resource cannot be assigned to each receiving end UE. In this embodiment of the present application, multiple receiving end UEs may transmit cooperation information together by using the same first time-frequency resource. In addition, in order to avoid ambiguity on the transmitting end UE-B side receiving the cooperation information, multiple receiving end UEs may only feed back sequences corresponding to bit "1". The process of determining a specific mapping position of a sequence is the same as the process of determining a specific mapping position of a sequence carrying cooperation information in the example in which ceil(S / 2) sequences are selected from ceil(S / 2) sequence sets to be transmitted and the example in which S sequences are selected from S sequence pairs to be transmitted. Details are not described again here.

[0215] S1503: A second terminal device determines a sidelink transmission resource based on the cooperation information.

[0216] In one possible embodiment, the second terminal device may select a transmission resource that is not occupied by another UE or a transmission resource that is occupied by another UE but has a lower data priority based on the cooperation information.

[0217] In another possible embodiment, the second terminal device may trigger a collision confirmation or transmission resource reselection process based on the resource collision result indicated in the cooperation information.

[0218] In this embodiment of the present application, the sequence carrying the cooperation information is mapped to a first time-frequency resource, which is a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. Since the physical sidelink feedback resource is less than one SL transmission slot in the time domain, the cooperation information is transmitted by using a subset of the second time-frequency resource that overlaps with the PSFCH resource in the time domain. Since the transmission of the cooperation information only needs to occupy some time domain resources in one SL transmission slot, instead of occupying at least one subchannel in the entire slot, the resource overhead for transmitting and transmitting the cooperation information can be reduced. In particular, when multiple cooperation information needs to be transmitted and transmitted, the transmission efficiency of other information transmission can be guaranteed.

[0219] It will be understood that in the above embodiments, the methods and / or steps performed by the first terminal device may be performed by components (e.g., chips or circuits) that can be used in the first terminal device, and the methods and / or steps performed by the second terminal device may be performed by components (e.g., chips or circuits) that can be used in the second terminal device.

[0220] The above describes the solution provided in the embodiments of the present application mainly from the perspective of the interaction between network elements. Correspondingly, an embodiment of the present application further provides a communication device, which is configured to implement the aforementioned method. The communication device may be the first terminal device in the aforementioned method embodiment, or a device including the aforementioned first terminal device, or a component that can be used in the first terminal device. Alternatively, the communication device may be the second terminal device in the aforementioned method embodiment, or a device including the aforementioned second terminal device, or a component that can be used in the second terminal device. It will be understood that in order to implement the aforementioned functions, the communication device includes a hardware structure and / or software modules for performing the corresponding functions. Those skilled in the art should easily recognize that the present application may be implemented by hardware or a combination of hardware and computer software in combination with the example units and algorithm steps described in the embodiments disclosed herein. Whether the functions are performed by hardware or by hardware driven by computer software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use various methods to implement the described functions for each specific application, but the implementation should not be considered to go beyond the scope of the present application.

[0221] In the embodiment of the present application, the communication device may be divided into functional modules according to the above method embodiment. For example, each functional module may be obtained by division based on each corresponding function, or two or more functions may be integrated into one processing module. The integrated module may be implemented in the form of hardware or in the form of a software function module. It should be noted that in the embodiment of the present application, the module division is an example and is merely a logical division of functions. In actual implementation, other division methods may be used.

[0222] 19 is a schematic diagram of the structure of a communication device 190. The communication device 190 includes a transceiver module 191 and a processing module 192. The transceiver module 191 may be referred to as a transceiver unit and is configured to perform a transceiver function. For example, the transceiver module may be a transceiver circuit, a transceiver machine, a transceiver, or a communication interface.

[0223] The communication device 190 is used as an example as the first terminal device in the above method embodiment.

[0224] The processing module 192 is configured to determine cooperation information, which is used to assist the second terminal device in determining sidelink channel resources. The transceiver module 191 is configured to transmit the cooperation information to the second terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, which is a subset of the second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.

[0225] The communication device 190 is used as an example to be the second terminal device in the above method embodiment.

[0226] The transceiver module 191 is configured to receive cooperation information from a first terminal device. A sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of a second time-frequency resource, and the second time-frequency resource and the physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain. The processing module 192 is configured to determine the sidelink transmission resource based on the cooperation information.

[0227] All the relevant contents of the steps in the foregoing method embodiments may be cited in the functional descriptions of the corresponding functional modules, and the details will not be described again here.

[0228] In this embodiment, the communication device 190 is presented in the form of functional modules obtained by division in an integrated manner, where the modules may be specific ASICs, circuits, processors executing one or more software or firmware programs, memories, integrated logic circuits, and / or other components capable of providing the aforementioned functions.

[0229] When the communication device 190 is the first terminal device in the above method embodiment, those skilled in the art may understand that in a simple embodiment, the communication device 190 may be in the form of the communication device shown in FIG.

[0230] For example, the processor 141 or 147 in the first terminal device shown in FIG. 14 may call computer executable instructions stored in the memory 143 to enable the first terminal device to perform the communication method in the above-mentioned method embodiment. Specifically, the function / implementation process of the transceiver module 191 and / or the processing module 192 in FIG. 19 may be implemented by the processor 141 or 147 in the first terminal device shown in FIG. 14 by calling computer executable instructions stored in the memory. Alternatively, the function / implementation process of the processing module 192 in FIG. 10 may be implemented by the processor 141 or 147 in the first terminal device shown in FIG. 14 by calling computer executable instructions stored in the memory. The function / implementation process of the transceiver module 191 in FIG. 19 may be implemented by using the communication interface 144 shown in FIG. 14.

[0231] Alternatively, when the communication device 190 is the second terminal device in the above method embodiment, those skilled in the art may understand that in a simple embodiment, the communication device 190 may be in the form shown in Fig. 14. The specific implementation is the same as when the communication device 190 is the first terminal device, and the details are not described again here.

[0232] The communication device 190 presented in this embodiment can perform the above-mentioned communication method. Therefore, for the technical effects that can be achieved by the communication device 190, please refer to the above-mentioned method embodiment. Details will not be described again here.

[0233] It should be noted that one or more of the aforementioned modules or units may be implemented by using software, hardware, or a combination thereof. When any one of the aforementioned modules or units is implemented by software, the software exists in the form of computer program instructions and is stored in a memory. The processor may be configured to execute the program instructions and perform the aforementioned method steps. The processor may be incorporated in a SoC (system on chip) or an ASIC, or may be an independent semiconductor chip. In addition to the cores used to execute the software instructions to perform operations or processes, the processor may further include necessary hardware accelerators, such as field programmable gate arrays (FPGAs), PLDs (programmable logic devices), logic circuits performing dedicated logic operations, etc.

[0234] When the aforementioned modules or units are implemented by using hardware, the hardware may be any one or any combination of a CPU, microprocessor, digital signal processing (DSP) chip, microcontroller unit (MCU), artificial intelligence processor, ASIC, SoC, FPGA, PLD, dedicated digital circuitry, hardware accelerator, or non-integrated discrete devices, and the hardware may execute software necessary to perform the aforementioned method steps, or may be independent of the software.

[0235] Optionally, an embodiment of the present application further provides a chip system. The chip system includes at least one processor and an interface. The at least one processor is coupled to a memory through the interface. When the at least one processor executes a computer program or instructions in the memory, a method according to any one of the above method embodiments is performed. In one possible implementation, the communication device further includes a memory. Optionally, the chip system may include a chip, or may include a chip and another discrete device. This is not particularly limited in the embodiment of the present application.

[0236] All or part of the above-mentioned embodiments may be implemented by using software, hardware, firmware, or any combination thereof. When a software program is used to implement the embodiments, the embodiments may be fully or partially implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are fully or partially generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio, or microwave) manner. The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device that integrates one or more available media, such as a server or a data center. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0237] Although the present application has been described with reference to embodiments, those skilled in the art may study and implement the accompanying drawings, the contents of the disclosure, and the appended claims in the course of implementing the application for which protection is claimed. In the claims, "comprising" does not exclude other elements or steps, and "a" or "a" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Although several means are recited in mutually different dependent claims, this does not mean that these means cannot be combined to produce better effects.

[0238] Although the present application has been described with reference to certain features and embodiments thereof, it is clear that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Correspondingly, this specification and the accompanying drawings are merely exemplary descriptions of the present application as defined by the appended claims, and any or all of the modifications, variations, combinations, or equivalents that are covered by the scope of the present application are considered to be within the scope of the present application. It is clear that a person skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. The present application is intended to cover these modifications and variations of the present application as long as they fall within the scope of protection defined by the following claims and their equivalent technologies. [Explanation of symbols]

[0239] 130 Communication Systems 140 Communication Equipment 141 processors 142 Communication lines 143 Memory 144 Communication Interface 145 Output Devices 146 Input Devices 147 processors 190 Communication Equipment 191 Transceiver Module 192 Processing Module 1301 First Terminal Device 1302 Second terminal device 1303 Network Devices

Claims

1. 1. A method of communication, comprising: determining, by a first terminal device, cooperation information, the cooperation information being used to assist a second terminal device in determining sidelink transmission resources; and transmitting the cooperation information by the first terminal device to the second terminal device, wherein a sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of a second time-frequency resource, and the second time-frequency resource and a physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.

2. The slot in which the second time-frequency resource is located is after the first slot, and the first physical sidelink feedback resource is located within K symbols from the last symbol in the first slot. 1 a slot located at a gap larger than a first slot, and the second terminal device transmits a physical sidelink channel in the first slot, or The slot in which the second time-frequency resource is located is before the second slot, and the first physical sidelink feedback resource is located within K symbols from the first symbol in the second slot. 2 a slot located at a gap larger than a second slot, the second slot being a slot in which a first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and 1 Or K 2 The method of claim 1 , wherein: β is a minimum time gap configured by a higher layer for transmitting the cooperation information.

3. The second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain and then time domain manner, and the J slots are assigned to K 1 or K 2 3. The method of claim 2, wherein M is a slot corresponding to the second time-frequency resource determined based on:

4. The first time-frequency resource is M of the J*M third time-frequency resources. 1 number of third time-frequency resources; 1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M 1 The method of claim 3 , wherein is a positive integer less than or equal to M.

5. 5. The method of claim 1, wherein the cooperation information includes first information, the first information indicating resource usage in the first slot, and the second terminal device transmits the physical sidelink channel in the first slot.

6. The first information indicates a resource usage status in the first slot, the first information indicates resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; or The first information is stored in the M subchannels in the M subchannels in the first slot. 1 indicating resource usage of subchannels other than the subchannels, M being the number of subchannels configured in the resource pool, 1 6. The method of claim 5, wherein: Λ is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot.

7. 7. The method of claim 1, wherein the coordination information further comprises second information indicating that the first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being a reserved resource closest to the first slot, and the second terminal device transmits the physical sidelink channel in the first slot.

8. the first reserved resource is used for a retransmission of a first transport block TB on the physical sidelink channel of the second terminal device; and / or 8. The method of claim 7, wherein the first reserved resource is used for a new transmission of a service to which a second TB belongs on the physical sidelink channel of the second terminal device in a next period.

9. The first reserved resource is M 3 The method according to claim 7 or 8, comprising reserving sub-channel resources.

10. the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device, or 10. The method according to claim 7, wherein the first reserved resource is indicated by a resource reservation period on the physical sidelink channel of the second terminal device.

11. 11. The method of claim 1, wherein the cooperation information further includes indication information indicating that the cooperation information includes the first information and / or the second information, the first information indicating the resource usage status in the first slot, and the second information indicating that the first reserved resource of the second terminal device conflicts with the reserved resource of the other terminal device, the first reserved resource being the reserved resource closest to the first slot, and the second terminal device transmitting the physical sidelink channel in the first slot.

12. 1. A method of communication, comprising: receiving, by a second terminal device, cooperation information from a first terminal device, where a sequence carrying the cooperation information is mapped to a first time-frequency resource, the first time-frequency resource being a subset of a second time-frequency resource, the second time-frequency resource and a physical sidelink feedback resource overlapping in the time domain and being orthogonal in the frequency domain; and determining, by the second terminal device, sidelink transmission resources based on the cooperation information.

13. The slot in which the second time-frequency resource is located is after the first slot, and the first physical sidelink feedback resource is located within K symbols from the last symbol in the first slot. 1 a slot located at a gap larger than a first slot, and the second terminal device transmits a physical sidelink channel in the first slot, or The slot in which the second time-frequency resource is located is before the second slot, and the first physical sidelink feedback resource is located within K symbols from the first symbol in the second slot. 2 a slot located at a gap larger than a second slot, the second slot being a slot in which a first reserved resource of the second terminal device is located, the first reserved resource being the closest reserved resource to the first slot, and 1 Or K 2 The method of claim 12 , wherein: ≠ ...

14. The second time-frequency resource includes J*M third time-frequency resources, and the J*M third time-frequency resources are sequentially assigned to M subchannels in J slots in a frequency domain and then time domain manner, and the J slots are assigned to K 1 or K 2 14. The method of claim 13, wherein M is a number of subchannels configured in a resource pool, and the second time-frequency resource determined based on M is a slot corresponding to the second time-frequency resource determined based on M.

15. The first time-frequency resource is M of the J*M third time-frequency resources. 1 number of third time-frequency resources; 1 is the number of subchannels occupied by the second terminal device for transmitting and transmitting the physical sidelink channel in the first slot, and M 1 15. The method of claim 14, wherein is a positive integer less than or equal to M.

16. 16. The method according to claim 12, wherein the cooperation information includes first information, the first information indicating resource usage in the first slot, and the second terminal device transmits the physical sidelink channel in the first slot.

17. The first information indicates a resource usage status in the first slot, the first information indicates resource usage of M subchannels in the first slot, where M is the number of subchannels configured in the resource pool; or The first information is stored in the M subchannels in the M subchannels in the first slot. 1 indicating resource usage of subchannels other than the subchannels, M being the number of subchannels configured in the resource pool, 1 17. The method of claim 16, wherein: Λ is the number of subchannels occupied by the second terminal device for transmitting the physical sidelink channel in the first slot.

18. 18. The method of claim 12, wherein the coordination information further comprises second information indicating that the first reserved resource of the second terminal device conflicts with a reserved resource of another terminal device, the first reserved resource being a reserved resource closest to the first slot, and the second terminal device transmits the physical sidelink channel in the first slot.

19. the first reserved resource is used for a retransmission of a first transport block TB on the physical sidelink channel of the second terminal device; and / or 20. The method of claim 18, wherein the first reserved resource is used for a new transmission of a service to which a second TB belongs on the physical sidelink channel of the second terminal device in a next period.

20. The first reserved resource is M 3 20. The method of claim 18 or 19, comprising reserving sub-channel resources.

21. the first reserved resource is indicated by a time resource indicator value TRIV on the physical sidelink channel of the second terminal device, or 21. The method according to claim 18, wherein the first reserved resource is indicated by a resource reservation period on the physical sidelink channel of the second terminal device.

22. 22. The method of claim 12, wherein the cooperation information further includes indication information indicating that the cooperation information includes the first information and / or the second information, the first information indicating the resource usage status in the first slot, and the second information indicating that the first reserved resource of the second terminal device conflicts with the reserved resource of the other terminal device, the first reserved resource being the reserved resource closest to the first slot, and the second terminal device transmitting the physical sidelink channel in the first slot.

23. A communication device, the communication device including a transceiver module and a processing module; the processing module is configured to determine cooperation information, the cooperation information being used to assist a second terminal device in determining sidelink transmission resources; the transceiver module is configured to transmit the cooperation information to the second terminal device, a sequence carrying the cooperation information being mapped to a first time-frequency resource, the first time-frequency resource being a subset of a second time-frequency resource, and the second time-frequency resource and a physical sidelink feedback resource overlap in the time domain and are orthogonal in the frequency domain.

24. A communication device, the communication device including a transceiver module and a processing module; the transceiver module is configured to receive cooperation information from a first terminal device, a sequence carrying the cooperation information being mapped to a first time-frequency resource, the first time-frequency resource being a subset of a second time-frequency resource, the second time-frequency resource and a physical sidelink feedback resource being overlapped in the time domain and orthogonal in the frequency domain; The communications device, wherein the processing module is configured to determine sidelink transmission resources based on the cooperation information.

25. a memory; and a processor coupled to the memory; 23. A communications device comprising: a memory configured to store a program; and a processor configured to execute the program stored in the memory, wherein when the communications device is operated, the processor executes the program, such that the communications device performs a method according to any one of claims 1 to 11 or 12 to 22.

26. 23. A computer readable storage medium storing a computer program, the computer program being executed by a computer to enable the computer to perform a method according to any one of claims 1 to 11 or 12 to 22.

27. A computer program product, which when said computer program product runs on a computer, enables said computer to perform the method according to any one of claims 1 to 11 or 12 to 22.

28. A communication system comprising a communication device according to claim 25 and at least one communication device according to claim 24 in communication with said communication device.

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