COMMUNICATION METHOD, APPARATUS, AND SYSTEM

Abstract

The present application relates to a communication method, device, and system, applicable to fields such as Internet of Vehicles, intelligent driving, assisted driving, and intelligent connected vehicles. A first terminal device detects sidelink control information from at least one second terminal device to determine a first time-frequency resource. The first terminal device transmits first information to a third terminal device to trigger determination of the second information. The first terminal device receives second information from the third terminal device to indicate the second time-frequency resource, the second time-frequency resource being used to determine a time-frequency resource for transmitting data to the third terminal device. The first terminal device determines a third time-frequency resource based on the second time-frequency resource and the first time-frequency resource, and transmits the first data to the third terminal device on the third time-frequency resource. The first terminal device can use both the detection result of the first terminal device and the detection result of the third terminal device as considerations for selecting a resource for transmitting data to improve signal reception quality.

Description

[Technical field]

[0001] The present application relates to the field of mobile communication technologies, and in particular to communication methods, devices and systems. [Background technology]

[0002] In the sidelink communication process, a terminal device acting as a transmitting end (referred to as a transmitting terminal device) can transmit sidelink control information (SCI) and sidelink data to a terminal device acting as a receiving end (referred to as a receiving terminal device) in a slot, and the receiving terminal device receives and decodes the sidelink data based on the received SCI. Two resource allocation modes are available for a transmitting terminal device in a new radio (NR) vehicle-to-everything (V2X) system. One resource allocation mode is mode-1. In mode-1, the base station allocates resources to the transmitting terminal device. The other resource allocation mode is mode-2. In mode-2, the transmitting terminal device selects resources by itself.

[0003] In mode 2, the transmitting terminal device triggers resource selection at slot n, obtains a sensing result in a resource sensing window defined by the slot range, excludes unavailable time-frequency resources in the resource selection window defined by the slot range based on the sensing result, obtains available time-frequency resources in the resource selection window, determines sidelink (SL) time-frequency resources from these available time-frequency resources, and selects time-frequency resources from the sidelink time-frequency resources for transmitting data.

[0004] Currently, the transmitting terminal device transmits data based only on the detection result of the transmitting terminal device, but it is found that the transmitting terminal device does not know the channel condition around the receiving terminal device. If the transmitting terminal device does not detect other terminal devices communicating around the receiving terminal device, the receiving terminal device may experience strong interference from the sidelink communication of other terminal devices when receiving data from the transmitting terminal device. As a result, the signal reception quality of the receiving terminal device may be poor, and even reception may fail. Summary of the Invention

[0005] The embodiments of the present application provide a communication method, apparatus, and system for improving the signal reception quality of a receiving end in a sidelink communication process. [Means for solving the problem]

[0006] According to a first aspect, a first communication method is provided, the method including the steps of: detecting sidelink control information from at least one second terminal device to determine a first time-frequency resource, the at least one second terminal device including a third terminal device, the first time-frequency resource including an unavailable time-frequency resource for transmitting data to the third terminal device; transmitting first information to the third terminal device, the first information for triggering a determination of a second information; receiving second information from the third terminal device, the second information indicating a second time-frequency resource, the second time-frequency resource for determining a time-frequency resource for transmitting data to the third terminal device; determining a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource; and transmitting the first data to the third terminal device on the third time-frequency resource.

[0007] The method may be performed by a first communication device. The first communication device may be a communication device or a communication apparatus, for example, a chip that can support the communication device in implementing the functions required in the method. For example, the first communication device is a terminal device. The terminal device is a terminal device, a chip disposed in the terminal device and configured to implement the functions of the terminal device, or another component configured to implement the functions of the terminal device. In the following description process, an example is used in which the first communication device is a first terminal device.

[0008] In this embodiment of the present application, the first terminal device serving as a data transmission end can transmit first information to the third terminal device, so that the third terminal device can transmit second information to the first terminal device. The second information may include a second time-frequency resource. The first terminal device can use the second time-frequency resource as a criterion when selecting a time-frequency resource. For example, the second time-frequency resource includes an available time-frequency resource for transmitting data to the third terminal device. This indicates that when the first terminal device transmits data to the third terminal device on the second time-frequency resource, the third terminal device has a low probability of being interfered with when receiving the data. In this case, the first terminal device can preferentially select the second time-frequency resource for transmitting data to the third terminal device to improve signal reception quality and avoid reception failure. Alternatively, the second time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device. This indicates that if the first terminal device transmits data to the third terminal device on the second time-frequency resource, the third terminal device has a high probability of being interfered with when receiving the data. In this case, the first terminal device may not select the second time-frequency resource to transmit data to the third terminal device. In this embodiment of the present application, it is found that when selecting a resource for transmitting data, the first terminal device may not only use the detection result of the first terminal device as a consideration factor, but also use the detection result of the third terminal device as a consideration factor. In this case, for the selected resource, both the channel state around the first terminal device and the channel state around the third terminal device are considered to improve the reception quality of the signal.

[0009] In an optional implementation form, the step of transmitting the first information to the third terminal device includes: transmitting first control information to a third terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information; Includes.

[0010] When transmitting sidelink information, the terminal device typically transmits a first-stage SCI and a second-stage SCI, and may further transmit data. This can be understood as follows: when transmitting sidelink information, the terminal device may transmit only control information (first-stage SCI and second-stage SCI), or may transmit only data, or may transmit the first-stage SCI, the second-stage SCI, and data. The first-stage SCI is transmitted, for example, on a control channel, and the second-stage SCI is transmitted, for example, on a data channel. In addition, the first-stage SCI may indicate a time-frequency resource for transmitting the second-stage SCI. In this case, the first terminal device may transmit the SCI to the third terminal device by including the first information in one SCI. The first-stage SCI is generally broadcast information, and the second-stage SCI is generally unicast information transmitted to a single terminal device. The first information needs to be transmitted only to the third terminal device that should receive the first data, and does not need to be transmitted to another terminal device. Therefore, the first terminal device does not need to include the first information in the SCI of the first stage, but includes the first information in the SCI of the second stage. In this unicast transmission method, the third terminal device can receive the first information, and the other terminal devices do not receive the first information, improving the success rate of the reception of the first information by the third terminal device and reducing interference to other terminal devices. In addition, if the first information is included in the SCI of the first stage, the terminal devices of the previous version cannot identify the first information. In this case, these terminal devices cannot exclude the time-frequency resources reserved by the first terminal device, and may occupy the time-frequency resources reserved by the first terminal device. When excluding time-frequency resources, the terminal device usually excludes time-frequency resources based on the SCI of the first stage. Therefore, if the second stage SCI contains the first information, the earlier version terminal device will not be affected, and both the earlier version terminal device and the new version terminal device can successfully exclude resources.This prevents a terminal device of an earlier version from occupying time-frequency resources when the terminal device of an earlier version cannot exclude time-frequency resources reserved by the first terminal device, thereby reducing the probability of resource collision.

[0011] In an optional implementation, the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

[0012] For example, the fourth time-frequency resource is an available time-frequency resource determined by the first terminal device based on the detection result, and the fourth time-frequency resource can be understood as a recommended resource in this case. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fourth time-frequency resource can meet the reception condition, i.e., whether the reception reliability meets the requirement is not affected, or indicates that the interference received by the first terminal device when the first terminal device receives data on the fourth time-frequency resource is small. Therefore, the first terminal device recommends that the third terminal device transmits the second information to the first terminal device on the fourth time-frequency resource. Alternatively, the fourth time-frequency resource is an unavailable time-frequency resource determined by the first terminal device based on the detection result. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fourth time-frequency resource cannot meet the reception condition, i.e., whether the reception reliability meets the requirement is affected, or indicates that the interference received by the first terminal device is large when the first terminal device receives data on the fourth time-frequency resource. In this case, the first information indicating the fourth time-frequency resource can be regarded as an indication to the third terminal device to minimize the use of the fourth time-frequency resource for transmitting the second information. Indicating the fourth time-frequency resource by the first information can help the third terminal device to determine the time-frequency resource for transmitting the second information as soon as possible. Thus, the efficiency of determining the time-frequency resource for transmitting the second information can be improved, and the success rate of receiving the second information by the first terminal device can be improved.

[0013] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0014] The fifth time-frequency resource is an available time-frequency resource determined by the first terminal device based on the detection result. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fifth time-frequency resource can meet the reception condition, i.e., whether the reception reliability meets the requirement is not affected, or indicates that the interference received by the first terminal device is small when the first terminal device receives data on the fifth time-frequency resource. Therefore, the first terminal device instructs the third terminal device to transmit the second information to the first terminal device on the fifth time-frequency resource. In this case, the third terminal device does not need to determine the time-frequency resource for transmitting the second information based on another factor (e.g., the detection result of the third terminal device), and directly determines that the fifth time-frequency resource is the time-frequency resource for transmitting the second information. Indicating the fifth time-frequency resource helps to reduce the load on the third terminal device, improve the efficiency of determining the time-frequency resource for transmitting the second information, and improve the success rate of receiving the second information by the first terminal device.

[0015] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0016] The first field may reuse an existing field in the first SCI, or may be a newly added field in the first SCI. The first SCI is a first-stage SCI and is transmitted in a broadcast manner. If a terminal device receiving the first SCI can identify the first field, the terminal device can determine that the second SCI includes the first information. For example, if a third terminal device receives the first SCI and the second SCI and can identify the first field, the third terminal device can determine that the second SCI includes the first information. In this case, the third terminal device obtains the first information from the second SCI when analyzing the second SCI. This allows the third terminal device to identify the format of the second SCI and correctly obtain the first information.

[0017] In an optional implementation, the method includes: retransmitting the first information to the third terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI; Further includes:

[0018] In order to improve the transmission success rate of the first information, in an optional implementation form, the first information may be repeatedly transmitted. When the first terminal device repeatedly transmits the first information, the time-frequency resource for repeatedly transmitting the first information may be indicated by the first SCI, so that the third terminal device can correctly receive the repeatedly transmitted first information. For example, after transmitting the first information to the third terminal device on the seventh time-frequency resource, the first terminal device may further retransmit the first information to the third terminal device on the sixth time-frequency resource. The first SCI may indicate the sixth time-frequency resource. Thus, the third terminal device may receive the retransmitted first information from the first terminal device on the sixth time-frequency resource based on the indication of the first SCI.

[0019] In an optional implementation form, the step of receiving the second information from the third terminal device includes: receiving second control information from a third terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; Includes.

[0020] The second information needs to be transmitted only to the first terminal device that intends to transmit the first data, and does not need to be transmitted to another terminal device. Thus, the third terminal device does not need to include the second information in the SCI of the first stage, but includes the second information in the SCI of the second stage. Thus, in an optional implementation form of transmitting the second information, the third terminal device can transmit the second information by including the second information in the SCI of the second stage. For example, the third terminal device transmits the second control information to the first terminal device, and the first terminal device receives the second control information from the third terminal device. The second control information can include a third SCI and a fourth SCI. The third SCI is a first stage SCI, and the fourth SCI is a second stage SCI. In this case, the fourth SCI may include the second information. In this unicast transmission method, the first terminal device can receive the second information, and the other terminal devices do not receive the first information, improving the success rate of the first terminal device's reception of the first information and reducing interference to other terminal devices. Also, if the first-stage SCI includes the second information, the previous version terminal devices cannot identify the second information. In this case, these terminal devices cannot exclude the time-frequency resources reserved by the first terminal device, and may occupy the time-frequency resources reserved by the first terminal device. When excluding time-frequency resources, the terminal device usually excludes the time-frequency resources based on the first-stage SCI. Therefore, if the second-stage SCI includes the second information, the previous version terminal device is not affected, and both the previous version terminal device and the new version terminal device can successfully exclude resources. This prevents the previous version terminal device from occupying the time-frequency resources when the previous version terminal device cannot exclude the time-frequency resources reserved by the first terminal device, thereby reducing the probability of resource collision.

[0021] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0022] The second field may reuse an existing field in the third SCI, or may be a newly added field in the third SCI. The third SCI is a first-stage SCI and is transmitted in a broadcast manner. If a terminal device receiving the third SCI can identify the second field, the terminal device can determine that the fourth SCI includes the second information. For example, if the third terminal device receives the third SCI and the fourth SCI and can identify the second field, the third terminal device can determine that the fourth SCI includes the second information. In this case, the third terminal device can determine that the fourth SCI includes the second information. 4 When analyzing the first SCI, the third terminal device acquires the second information from the fourth SCI. This allows the third terminal device to identify the format of the fourth SCI and correctly acquire the second information.

[0023] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, the data packet size of the first data for determining the second time-frequency resource.

[0024] The second information may be for determining a time-frequency resource for transmitting data to the third terminal device, i.e., the second information may indicate a corresponding time-frequency resource, so that the third terminal device may also determine the second information based on the detection result of the third terminal device. When performing resource exclusion based on the detection result, the third terminal device may perform resource exclusion based on the data packet size of the first data. Then, the first terminal device may notify the third terminal device of information on the data packet size of the first data, thereby causing the third terminal device to exclude resources. For example, the data packet size of the first data may include the size of a subchannel occupied by the first data, i.e., the number of subchannels occupied by the first data, or the data packet size of the first data may include a transport block size corresponding to the first data, or the data packet size of the first data may further include other information.

[0025] In an optional implementation, the third time-frequency resource is a second time-frequency resource, and the step of transmitting the first data to the third terminal device on the third time-frequency resource includes: Transmitting the first data to a third terminal device on the second time-frequency resource. Includes.

[0026] For example, if the first terminal device determines based on the detection of SCI from at least one second terminal device that the second time-frequency resource is not excluded from use, i.e., the second time-frequency resource is also an available time-frequency resource for the first terminal device, the first terminal device may determine to transmit data on the second time-frequency resource, where the second time-frequency resource and the third time-frequency resource are the same time-frequency resource.

[0027] In an optional implementation, Detecting sidelink control information from at least one second terminal device to determine the first time-frequency resource includes: detecting sidelink control information from the at least one second terminal device to determine a seventh time-frequency resource, the seventh time-frequency resource being an earliest time-frequency resource in the time domain among the available time-frequency resources determined based on the detected sidelink control information. Further comprising: The step of transmitting the first information to the third terminal device includes: transmitting the first information to the third terminal device on the seventh time-frequency resource. Includes.

[0028] The seventh time-frequency resource is for transmitting the first information to the third terminal device.

[0029] Before transmitting the first data to the third terminal device, the first terminal device needs to first transmit the first information to the third terminal device and then receive the second information from the third terminal device. However, as currently specified, when one terminal device transmits data to another terminal device, the data needs to be transmitted within the remaining packet delay budget, otherwise, the data is considered not to be transmitted. Therefore, it can be understood that an earlier time domain location of the seventh time-frequency resource is better to ensure that the first data is transmitted within the remaining packet delay budget. For example, the first terminal device determines one or more available time-frequency resources based on the sensing result. t 1 ≦t a_1 <t 2is satisfied, the seventh time-frequency resource may be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, or the seventh time-frequency resource may not be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, where t a_1 indicates the time-domain position of the seventh time-frequency resource.

[0030] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to a third terminal device; or The second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to a third terminal device.

[0031] For example, the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device. This indicates that when the first terminal device transmits data to the third terminal device on the second time-frequency resource, the probability that the third terminal device will be interfered with when receiving the data is low. In this case, the first terminal device can preferentially select the second time-frequency resource for transmitting data to the third terminal device to improve signal reception quality and avoid reception failure. Alternatively, the second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to the third terminal device. This indicates that when the first terminal device transmits data to the third terminal device on the second time-frequency resource, the probability that the third terminal device will be interfered with when receiving the data is high. In this case, the first terminal device may not select the second time-frequency resource for transmitting data to the third terminal device.

[0032] According to a second aspect, a second communication method is provided, the method including the steps of: receiving first information from a first terminal device, the first information for triggering a determination of the second information, detecting sidelink control information from at least one fourth terminal device to determine a second time-frequency resource, the at least one fourth terminal device including the first terminal device, the second time-frequency resource for determining a time-frequency resource for the first terminal device to transmit data, transmitting the second information to the first terminal device, the second information indicating the second time-frequency resource, and receiving the first data from the first terminal device.

[0033] The method may be performed by a second communication device. The second communication device may be a communication device or a communication apparatus, for example, a chip that can support the communication device in implementing the functions required in the method. For example, the second communication device is a terminal device. The terminal device is a terminal device, a chip disposed in the terminal device and configured to implement the functions of the terminal device, or another component configured to implement the functions of the terminal device. In the following description process, an example is used in which the second communication device is a third terminal device.

[0034] In an optional implementation form, the step of receiving first information from the first terminal device includes a step of receiving first control information from the first terminal device, where the first control information includes a first SCI and a second SCI, where the first SCI is a first stage SCI and the second SCI is a second stage SCI, where the second SCI includes the first information.

[0035] In an optional implementation, the second SCI further indicates a fourth time-frequency resource, where the fourth time-frequency resource is for determining a time-frequency resource for transmitting the second information.

[0036] In an optional implementation, the method includes: determining, based on detection of sidelink control information from the at least one fourth terminal device, that a fourth time-frequency resource is not excluded from use and determining to transmit second information on the fourth time-frequency resource; if it is determined based on detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit the second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority threshold, and otherwise determining to transmit the second information on the fourth time-frequency resource; if it is determined based on detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority of the first data, and otherwise determining to transmit the second information on the fourth time-frequency resource; Further comprising: The second data is data transmitted on the fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource.

[0037] If the third terminal device determines, based on detection of sidelink control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, i.e., the fourth time-frequency resource is an available time-frequency resource for the third terminal device, the third terminal device may decide to transmit the second information on the fourth time-frequency resource.

[0038] Alternatively, if the third terminal device determines based on the detection of the sidelink control information from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device may determine whether the priority of the second data is higher than the first priority threshold. If the priority of the second data is higher than the first priority threshold, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) determined based on the detection result of the third terminal device and not excluded from use. Alternatively, if the priority of the second data is equal to or lower than the first priority threshold, the third terminal device may determine to transmit the second information on the fourth time-frequency resource. The second data is data transmitted on the fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource, and the priority of the second data may be indicated by the first-stage SCI received by the third terminal device from the fourth terminal device, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, and indicates that the third terminal device has determined through detection that the fourth time-frequency resource is reserved by another terminal device, so the second data is data transmitted on the fourth time-frequency resource reserved by another terminal device. The first priority threshold may be determined by the third terminal device, may be determined by the first terminal device and the third terminal device through negotiation, may be configured by a network device, or may be specified in a protocol.

[0039] Alternatively, if the third terminal device determines based on the detection of the sidelink control information from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device may determine whether the priority of the second data is higher than the priority of the first data. If the priority of the second data is higher than the priority of the first data, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) that are determined based on the detection result of the third terminal device and are not excluded from use. Alternatively, if the priority of the second data is equal to or lower than the priority of the first data, the third terminal device may determine to transmit the second information on the fourth time-frequency resource. For a description of the contents such as the second data and the priority of the second data, please refer to the previous paragraph.

[0040] Alternatively, the fourth time-frequency resource may be a time-frequency resource that the first terminal device considers unavailable, i.e., the first terminal device instructs the third terminal device to minimize the use of the fourth time-frequency resource for transmitting the second information. In this case, when determining the time-frequency resource for transmitting the second information, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of SCI from at least one fourth terminal device, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resource (i.e., the available time-frequency resource) that is determined based on the detection result of the third terminal device and is not excluded from use. If the third terminal device determines, based on detection of sidelink control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, the third terminal device may select a time-frequency resource different from the fourth time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) that are not excluded from use determined based on the detection result of the third terminal device.

[0041] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0042] In an optional implementation, the method further includes determining to transmit the second information on a fifth time-frequency resource.

[0043] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0044] In an optional implementation, the method further includes a step of receiving first information retransmitted from the first terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

[0045] In an optional implementation, the step of transmitting the second information to the first terminal device includes: transmitting second control information to the first terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; Includes.

[0046] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0047] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the step of detecting sidelink control information from the at least one first terminal device to determine the second time-frequency resource includes: determining a second time-frequency resource based on the detection result and a data packet size of the first data; Includes.

[0048] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to a third terminal device; or The second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to a third terminal device.

[0049] In an optional implementation, the step of receiving the first data from the first terminal device includes: receiving first data from the first terminal device on a third time-frequency resource, the third time-frequency resource being determined based on the first time-frequency resource and the second time-frequency resource, the first time-frequency resource being determined by the first terminal device by detecting sidelink control information from at least one second terminal device; Includes.

[0050] For technical effects provided by the second aspect or some optional implementation forms of the second aspect, please refer to the description of the technical effects provided by the first aspect or the corresponding implementation forms.

[0051] According to a third aspect, a communication device is provided. The communication device is, for example, the first communication device described above. The first communication device is configured to execute a method according to the first aspect or any one of the possible implementations. Specifically, the first communication device may include a module configured to execute a method according to the first aspect or any one of the possible implementations, for example, including a processing module and a transceiver module. For example, the transceiver module may include a transmitting module and a receiving module. The transmitting module and the receiving module may be different functional modules, or may be the same functional module, but may implement different functions. For example, the first communication device is a communication device, or a chip or another component disposed in the communication device. For example, the communication device is a terminal device. In the following, an example is used in which the first communication device is a first terminal device. The first terminal device may be a terminal device, or may be a chip or another component disposed in the terminal device. For example, the transceiver module may be alternatively implemented as a transceiver, and the processing module may be alternatively implemented as a processor. Alternatively, the transmitting module may be implemented as a transmitter, and the receiving module may be implemented as a receiver. The transmitter and receiver may be different functional modules, or may be the same functional module, but may implement different functions. If the first communication device is a communication device, the transceiver is implemented, for example, as an antenna, a feeder, and a codec in the communication device. Alternatively, if the first communication device is a chip disposed in the communication device, the transceiver (or the transmitter and receiver) is, for example, a communication interface in the chip. The communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information via the radio frequency transceiver component. In the description process of the third aspect, the first communication device is a first terminal device, and the processing module and the transceiver module are still used as an example for description.

[0052] The processing module is configured to detect sidelink control information from at least one second terminal device to determine a first time-frequency resource, the at least one second terminal device including a third terminal device, and the first time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to the third terminal device.

[0053] The transceiver module is configured to transmit the first information to a third terminal device, the first information for triggering a determination of the second information.

[0054] The transceiver module is further configured to receive second information from a third terminal device, the second information indicating a second time-frequency resource, the second time-frequency resource for determining a time-frequency resource for transmitting data to the third terminal device.

[0055] The processing module is further configured to determine a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource.

[0056] The transceiver module is further configured to transmit the first data to a third terminal device on a third time-frequency resource.

[0057] In an optional implementation, the transceiver module comprises: Transmitting first control information to a third terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information. In this manner, the first information is transmitted to the third terminal device.

[0058] In an optional implementation, the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

[0059] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0060] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0061] In an optional implementation, the transceiver module is further configured to retransmit the first information to the third terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

[0062] In an optional implementation, the transceiver module comprises: receiving second control information from a third terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; In this manner, the second information is configured to be received from the third terminal device.

[0063] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0064] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, the data packet size of the first data for determining the second time-frequency resource.

[0065] In an optional implementation, the third time-frequency resource is the second time-frequency resource, and the transceiver module: Transmitting the first data to the third terminal device on the second time-frequency resource. In such a manner, the first data is configured to be transmitted to the third terminal device on the third time-frequency resource.

[0066] In an optional implementation, The processing module is configured to detect sidelink control information from the at least one second terminal device to determine a first time-frequency resource, and is further configured to detect sidelink control information from the at least one second terminal device to determine a seventh time-frequency resource, the seventh time-frequency resource being an earliest time-frequency resource in the time domain among the available time-frequency resources determined based on the detected sidelink control information.

[0067] The transceiver module is configured to transmit the first information to the third terminal device in a manner such that the first information is transmitted to the third terminal device on a seventh time-frequency resource.

[0068] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to a third terminal device; or The second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to a third terminal device.

[0069] For technical effects provided by the third aspect or optional implementations, please refer to the description of the technical effects provided by the first aspect or the corresponding implementations.

[0070] According to a fourth aspect, a communication device is provided. The communication device is, for example, the second communication device described above. The second communication device is configured to execute the method according to the second aspect or any one of the possible implementations. Specifically, the second communication device may include a module configured to execute the method according to the second aspect or any one of the possible implementations, for example, including a processing module and a transceiver module. For example, the transceiver module may include a transmitting module and a receiving module. The transmitting module and the receiving module may be different functional modules, or may be the same functional module, but may implement different functions. For example, the second communication device is a communication device, or a chip or another component disposed in the communication device. For example, the communication device is a terminal device. In the following, an example is used in which the second communication device is a third terminal device. The second 3 The terminal device of the second communication device may be a terminal device, or may be a chip or another component disposed in the terminal device. For example, the transceiver module may be alternatively implemented as a transceiver, and the processing module may be alternatively implemented as a processor. Alternatively, the transmission module may be implemented as a transmitter, and the reception module may be implemented as a receiver. The transmitter and receiver may be different functional modules, or may be the same functional module, but may implement different functions. If the second communication device is a communication device, the transceiver is implemented, for example, as an antenna, a feeder, and a codec in the communication device. Alternatively, if the second communication device is a chip disposed in the communication device, the transceiver (or the transmitter and receiver) is, for example, a communication interface in the chip. The communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information via the radio frequency transceiver component. In the description process of the fourth aspect, the second communication device, which is a third terminal device, the processing module, and the transceiver module are still used as an example for description.

[0071] The transceiver module is configured to receive first information from a first terminal device, the first information for triggering a determination of second information.

[0072] The processing module is configured to detect sidelink control information from at least one fourth terminal device to determine a second time-frequency resource, where the at least one fourth terminal device includes a first terminal device, and the second time-frequency resource is for determining a time-frequency resource for the first terminal device to transmit data.

[0073] The transceiver module is further configured to transmit second information to the first terminal device, the second information indicating a second time-frequency resource.

[0074] The transceiver module is further configured to receive first data from the first terminal device.

[0075] In an optional implementation, the transceiver module comprises: Receive first control information from a first terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information. In this manner, the first information is configured to be received from the first terminal device.

[0076] In an optional implementation, the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

[0077] In an optional implementation, the processing module comprises: determining, based on detection of sidelink control information from the at least one fourth terminal device, that a fourth time-frequency resource is not excluded from use and determining to transmit second information on the fourth time-frequency resource; if it is determined based on the detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit the second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority threshold, and otherwise determining to transmit the second information on the fourth time-frequency resource; if it is determined based on the detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit the second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority of the first data, and otherwise determining to transmit the second information on the fourth time-frequency resource; The second data is data transmitted on a fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource. It is further structured as follows.

[0078] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0079] In an optional implementation, the processing module is further configured to determine to transmit the second information on a fifth time-frequency resource.

[0080] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0081] In an optional implementation, the transceiver module is further configured to receive the first information retransmitted from the first terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

[0082] In an optional implementation, the transceiver module comprises: Transmitting second control information to the first terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information. In this manner, the second information is transmitted to the first terminal device.

[0083] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0084] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the processing module: determining a second time-frequency resource based on the detection result and a data packet size of the first data to determine a second time-frequency resource; In this manner, the at least one first terminal device is configured to detect sidelink control information from the at least one first terminal device.

[0085] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to a third terminal device; or The second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to a third terminal device.

[0086] In an optional implementation, the transceiver module comprises: receiving first data from a first terminal device on a third time-frequency resource, the third time-frequency resource being determined based on the first time-frequency resource and the second time-frequency resource, the first time-frequency resource being determined by the first terminal device by detecting sidelink control information from at least one second terminal device; In this manner, the first data is received from the first terminal device.

[0087] For technical effects provided by the fourth aspect or optional implementations, please refer to the description of the technical effects provided by the second aspect or corresponding implementations.

[0088] According to a fifth aspect, a communication device is provided. The communication device is, for example, the first communication device described above. The communication device includes a processor and a communication interface. The communication interface may be configured to communicate with another device or device. Optionally, the communication device may further include a memory configured to store computer instructions. The processor and the memory are coupled to each other to implement the method according to the first aspect or possible implementations. Also, the first communication device may not include a memory, and the memory may be located outside the first communication device. The processor, the memory, and the communication interface are coupled to each other to implement the method according to the first aspect or possible implementations. For example, when the processor executes the computer instructions stored in the memory, the first communication device is enabled to execute the method according to any one of the first aspect or possible implementations. For example, the first communication device is a communication device, or a chip or another component disposed in the communication device. For example, the communication device is a terminal device. For example, the first communication apparatus is a first terminal apparatus, and the first terminal apparatus is a terminal device, or a chip or another component disposed in the terminal device.

[0089] If the first communication device is a communication device, the communication interface is implemented, for example, as a transceiver (or a transmitter and a receiver) in the communication device, and the transceiver is implemented, for example, as an antenna, a feeder, and a codec in the communication device. Alternatively, if the first communication device is a chip disposed in the communication device, the communication interface is, for example, an input / output interface, such as an input / output pin of the chip. The communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information via the radio frequency transceiver component.

[0090] According to a sixth aspect, a communication device is provided. The communication device is, for example, the second communication device described above. The communication device includes a processor and a communication interface. The communication interface may be configured to communicate with another device or device. Optionally, the communication device may further include a memory configured to store computer instructions. The processor and the memory are coupled to each other to implement the method according to the second aspect or possible implementations. Also, the second communication device may not include a memory, and the memory may be located outside the second communication device. The processor, the memory, and the communication interface are coupled to each other to implement the method according to the second aspect or possible implementations. For example, when the processor executes the computer instructions stored in the memory, the second communication device is enabled to execute the method according to any one of the second aspect or possible implementations. For example, the second communication device is a communication device, or a chip or another component disposed in the communication device. For example, the communication device is a terminal device. For example, the second communication device is a third terminal device, which is a terminal device or a chip or another component disposed in the terminal device.

[0091] If the second communication device is a communication device, the communication interface is implemented, for example, as a transceiver (or a transmitter and a receiver) in the communication device, and the transceiver is implemented, for example, as an antenna, a feeder, and a codec in the communication device. Alternatively, if the second communication device is a chip disposed in the communication device, the communication interface is, for example, an input / output interface, such as an input / output pin of the chip. The communication interface is connected to a radio frequency transceiver component in the communication device to transmit and receive information via the radio frequency transceiver component.

[0092] According to a seventh aspect, a chip is provided, the chip including a processor and a communication interface, the processor being coupled to the communication interface for implementing a method according to the first aspect or any one of the optional implementations.

[0093] Optionally, the chip may further include a memory. For example, the processor may read and execute a software program stored in the memory to implement the method according to the first aspect or any one of the optional implementations. Alternatively, the memory may not be included in the chip, but may be located outside the chip. That is, the processor may read and execute a software program stored in an external memory to implement the method according to the first aspect or any one of the optional implementations.

[0094] According to an eighth aspect, a chip is provided, the chip including a processor and a communication interface, the processor being coupled to the communication interface for implementing a method according to the second aspect or any one of the optional implementations.

[0095] Optionally, the chip may further include a memory. For example, the processor may read and execute a software program stored in the memory to implement the method according to the second aspect or any one of the optional implementations. Alternatively, the memory may not be included in the chip, but may be located outside the chip. That is, the processor may read and execute a software program stored in an external memory to implement the method according to the second aspect or any one of the optional implementations.

[0096] According to a ninth aspect, there is provided a first communication system, the communication system including the communication device according to the third aspect, the communication device according to the fifth aspect, or the communication device according to the seventh aspect.

[0097] According to a tenth aspect, there is provided a second communication system, the communication system including the communication device according to the fourth aspect, the communication device according to the sixth aspect, or the communication device according to the eighth aspect.

[0098] According to an eleventh aspect, a computer-readable storage medium is provided. The computer-readable storage medium is configured to store a computer program. When the computer program is executed on a computer, the computer is enabled to execute the method according to the first aspect or any one of the possible implementations.

[0099] According to a twelfth aspect, a computer-readable storage medium is provided. The computer-readable storage medium is configured to store a computer program. When the computer program is executed on a computer, the computer is enabled to execute the method according to the second aspect or any one of the possible implementations.

[0100] According to a thirteenth aspect, there is provided a computer program product comprising instructions. The computer program product is configured to store a computer program. When the computer program is executed on a computer, the computer is enabled to execute the method according to the first aspect or any one of the possible implementations.

[0101] According to a fourteenth aspect, there is provided a computer program product comprising instructions. The computer program product is configured to store a computer program. When the computer program is executed on a computer, the computer is enabled to execute the method according to the second aspect or any one of the possible implementations.

[0102] In an embodiment of the present application, when selecting a resource for transmitting data, the first terminal device can not only use the detection result of the first terminal device as a consideration factor, but also use the detection result of the third terminal device as a consideration factor. In this case, both the channel state around the first terminal device and the channel state around the third terminal device are considered for the selected resource, thereby improving the reception quality of the signal. [Brief description of the drawings]

[0103] [Figure 1] FIG. 1 is a schematic diagram of several V2X application scenarios. [Diagram 2] 2 is a schematic diagram of a resource detection window and a resource selection window used by a terminal device to select a resource; [Diagram 3] FIG. 2 is a schematic diagram illustrating reception disturbances that occur when a transmitting terminal device transmits data without taking into account the state of a receiving terminal device; [Figure 4] FIG. 2 is a schematic diagram of excessive resource exclusion that occurs when a transmitting terminal device transmits data without considering the state of a receiving terminal device. [Diagram 5] FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present application; [Figure 6] 1 is a flowchart of a communication method according to an embodiment of the present application. [Figure 7] FIG. 2 is a schematic diagram of repeatedly transmitting first information according to an embodiment of the present application; [Figure 8] FIG. 2 is a schematic diagram illustrating time-frequency resources for transmitting second information by using a first-stage SCI according to an embodiment of the present application; [Figure 9] FIG. 2 is a schematic diagram illustrating that the slot in which the time-frequency resource for transmitting the second information is located must be before slot n+t2 according to one embodiment of the present application; [Figure 10] FIG. 2 is a schematic diagram of a first terminal device transmitting first data to a third terminal device according to an embodiment of the present application; [Figure 11] FIG. 2 is a schematic block diagram of a first terminal device according to an embodiment of the present application; [Figure 12] FIG. 11 is a schematic block diagram of a third terminal device according to an embodiment of the present application. [Figure 13] 1 is a schematic block diagram of a communication device according to an embodiment of the present application; [Figure 14] FIG. 2 is another schematic block diagram of a communication device according to an embodiment of the present application. [Figure 15] FIG. 2 is yet another schematic block diagram of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0104] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following describes the embodiments of the present application in more detail with reference to the accompanying drawings.

[0105] In the following, some terms in the embodiments of the present application will be explained in order to facilitate the understanding of those skilled in the art.

[0106] (1) The terminal equipment is, for example, a terminal device or a module configured to implement the function of a terminal device, for example, a chip system. The chip system may be disposed in the terminal device. The terminal device includes a device that provides voice and / or data connectivity to a user. Specifically, the terminal device includes a device that provides voice to a user, or includes a device that provides data connectivity to a user, or includes a device that provides voice and data connectivity to a user. For example, the terminal device may include a handheld device with wireless connectivity capability, or a processing device connected to a wireless modem. The terminal device may communicate with a core network via a radio access network (RAN) and exchange voice or data with the RAN. The terminal device may include a user equipment (UE), a wireless terminal device, a mobile terminal device, a device-to-device (D2D) terminal device, a vehicle to everything (V2X) terminal device, a machine-to-machine / machine-type communications (M2M / MTC) terminal device, an internet of things (IoT) terminal device, an optical UE, a subscriber unit, a subscriber station, a mobile station, a remote station, an access point (AP), a remote terminal, an access terminal, a user terminal, a user agent, a user device, and the like.For example, a terminal device may include a mobile phone (also referred to as a "cellular" phone), a computer with a mobile terminal device, or a portable, pocket-sized, handheld, or computer-embedded mobile device, e.g., a terminal device may be a device such as a personal communication service (PCS) phone, a cordless telephone set, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, or a personal digital assistant (PDA). A terminal device may alternatively include a limited device, e.g., a device with relatively low power consumption, a device with limited storage capability, or a device with limited computing capability. For example, a terminal device includes an information sensing device such as a barcode, a radio frequency identification (RFID), a sensor, a global positioning system (GPS), or a laser scanner.

[0107] By way of example and not limitation, in the embodiment of the present application, the terminal device may alternatively be a wearable device. A wearable device may also be referred to as a wearable intelligent device, an intelligent wearable device, etc., and is a collective term for wearable devices, such as glasses, gloves, watches, clothes, and shoes, that are intelligently designed and developed for daily wear by using wearable technology. A wearable device is a portable device that can be directly worn on the body or integrated into a user's clothes or accessories. A wearable device is not only a hardware device, but also implements powerful functions through software support, data exchange, and cloud interaction. In a broad sense, a wearable intelligent device includes a full-featured large device, such as a smart watch or smart glasses, that can implement all or part of the functions without relying on a smartphone, and includes a device that focuses only on one type of application function and needs to cooperate with other devices such as a smartphone, such as various smart bands, smart helmets, or smart jewelry for monitoring body signs.

[0108] When the above-mentioned various terminal devices are located in a vehicle (for example, arranged in a vehicle or installed in a vehicle), the terminal devices may all be regarded as in-vehicle terminal devices. For example, the in-vehicle terminal device may also be referred to as an on-board unit (OBU).

[0109] In the embodiment of the present application, the terminal device may further include a relay. Alternatively, it is understood that any device capable of performing data communication with a base station may be regarded as a terminal device.

[0110] In an embodiment of the present application, the apparatus configured to implement the function of the terminal device may be a terminal device, or may be an apparatus, such as a chip system, that can support the terminal device in implementing the function. The apparatus may be mounted on the terminal device. In an embodiment of the present application, the chip system may include a chip, or may include a chip and another discrete component. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by using an example in which the apparatus configured to implement the function of the terminal is a terminal device.

[0111] (2) The network device may be, for example, an access network (AN) device, such as a base station (e.g., an access point), that is in the access network and communicates with wireless terminal devices over the air interface through one or more cells. Alternatively, the network device may be, for example, a road side unit (RSU) in a vehicle-to-everything (V2X) technology. The base station may be configured to perform interconversion between received over-the-air frames and IP packets to act as a router between the terminal device and the rest of the access network, which may include an IP network. The RSU may be a fixed infrastructure entity supporting V2X applications and may exchange messages with other entities supporting V2X applications. The network device may further coordinate attribute management of the air interface. For example, the network device may include a next generation node B (gNB) in the 5th generation (5G) new radio (NR) system (also referred to as NR system for short), or may include a centralized unit (CU) and a distributed unit (DU) in a cloud radio access network (Cloud RAN) system. This is not limited in the embodiments of the present application.

[0112] The network device may further include a core network device, which may include, for example, an access and mobility management function (AMF), a user plane function (UPF), etc.

[0113] Since the embodiments of the present application mainly relate to access network devices, the network devices described below are access network devices unless otherwise specified.

[0114] In an embodiment of the present application, the apparatus configured to implement the functions of the network device may be a network device, or may be an apparatus, such as a chip system, that can support the network device in implementing the functions. The apparatus may be mounted on the network device. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by using an example in which the apparatus configured to implement the functions of the network device is a network device.

[0115] (3) V2X refers to the interconnection between vehicles and the outside world, and is a fundamental and key technology for future intelligent vehicles, autonomous driving, and intelligent transportation systems. V2X is based on existing device-to-device (D2D) technology and optimizes the specific application requirements of V2X. This requires that the access delay of V2X devices be further reduced and the resource collision problem be resolved.

[0116] V2X further includes multiple application requirements, specifically vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P) direct communication, as well as vehicle-to-network (V2N) communication interactions. As shown in FIG. 1, V2V refers to communication between vehicles, V2P refers to communication between vehicles and people (including pedestrians, cyclists, drivers, or passengers), and V2I refers to communication between vehicles and network devices such as RSUs. V2N may also be included in V2I. V2N refers to communication between vehicles and base stations / networks.

[0117] V2P can be used for safety warnings for pedestrians or non-motor vehicles on the road. Through V2I, vehicles can communicate with the road or even another infrastructure such as traffic lights or road barriers to obtain road management information such as traffic light signal time sequences. V2V may also be used for vehicle-to-vehicle information exchange and reminders, the most typical application being vehicle-to-vehicle collision prevention safety systems. V2N is currently the most widely used form of Internet of Vehicles, and the main function of V2N is to allow vehicles to connect to cloud servers through mobile networks and use application functions provided by the cloud servers, such as navigation, entertainment, or anti-theft.

[0118] In V2X, communication is mainly performed between terminal devices. For the transmission mode between terminal devices, the current standard protocol supports broadcast, multicast, and unicast methods.

[0119] Broadcast mode: The broadcast mode means that a terminal device functioning as a transmitting end transmits data in a broadcast mode, and all of the multiple terminal devices can receive sidelink control information (SCI) or a sidelink shared channel (SSCH) from the transmitting end.

[0120] On the sidelink, a scheme to ensure that all terminal devices can parse the control information from the transmitting end is that the transmitting end does not scramble the control information, or the transmitting end scrambles the control information by using a scrambling code known to all terminal devices.

[0121] Multicast Method: The multicast method is similar to the broadcast method. The terminal device acting as the transmitting end transmits data in broadcast mode. A group of terminal devices can all parse the SCI or SSCH.

[0122] Unicast Method: In the unicast method, one terminal device transmits data to other terminal devices, and the other terminal devices do not need or can not analyze the data.

[0123] (4) The terms "system" and "network" may be used interchangeably in the embodiments of this application. "At least one" means one or more, and "multiple" means two or more. The term "and / or" describes an association relationship for describing related objects and represents that three relationships may exist. For example, A and / or B may represent the following cases: only A is present, both A and B are present, and only B is present, in which case A and B may be singular or plural. The symbol " / " generally indicates an "or" relationship between related objects. At least one of the following or similar expressions refers to any combination of these, including any combination of singular or plural items. For example, at least one of a, b, or c may represent a, b, c, ab, ac, bc, or abc, where a, b, and c may be singular or plural.

[0124] In addition, unless otherwise specified, ordinals such as "first" and "second" referred to in the embodiments of the present application are used to distinguish between multiple objects, but are not used to limit the size, content, order, time sequence, priority, importance, etc. of the multiple objects. For example, a first time-frequency resource and a second time-frequency resource are only used to distinguish between different time-frequency resources, and do not indicate different sizes, priorities, importance, etc. of the two time-frequency resources.

[0125] The above describes some of the terminology concepts in the embodiments of the present application. The following describes the technical features in the embodiments of the present application.

[0126] With the development of wireless communication technology, people are increasing their demands for high data rates and user experience, and increasing the demands for proximity services to know and communicate with people or things around them. Therefore, device-to-device D2D technology has emerged. The application of D2D technology can reduce the load on cellular networks, reduce the battery power consumption of user equipment, improve data rates, and better meet the requirements of proximity services. D2D technology enables multiple terminal devices that support D2D functions to directly discover and communicate with each other, regardless of the presence or absence of network infrastructure. Considering the features and advantages of D2D technology, a vehicular Internet of Things application scenario based on D2D technology is proposed. However, considering security, the delay requirement is very high in this scenario and cannot be implemented by using existing D2D technology.

[0127] Therefore, in the network of LTE technology proposed by the 3rd generation partnership project (3GPP), V2X vehicle Internet technology is proposed. V2X communication refers to communication between vehicles and the outside, and includes V2V, V2P, V2I, and V2N. See FIG. 1.

[0128] V2X communication is a fundamental and important technology that targets high-speed devices representing vehicles and should be used in future scenarios with very high latency requirements in communication, such as smart vehicle, autonomous driving, and intelligent transportation system scenarios. LTE V2X communication may support communication scenarios with network coverage and communication scenarios without network coverage, and the resource allocation mode of LTE V2X communication may be network device scheduling mode, for example, evolved universal terrestrial radio access network Node B (E-UTRAN Node B, eNB) scheduling mode and UE selection mode. Based on V2X technology, a vehicle user equipment (Vehicle UE, V-UE) can periodically transmit some information of V-UE, for example, location information, speed information, or intention information (turn, parallel, or reverse), to surrounding V-UEs by triggering some non-periodic events. Similarly, V-UE also receives information about other surrounding V-UEs in real time.

[0129] Long term evolution (LTE)-V2X meets some basic requirements in V2X scenarios. However, LTE-V2X cannot effectively support future application scenarios such as fully intelligent and autonomous driving. Therefore, V2X will be further developed in 5G NR technology. NR-V2X supports lower transmission delay, more reliable communication transmission, higher throughput, and better user experience, and can meet the requirements of a wider range of application scenarios.

[0130] In a V2X communication process, a terminal device functioning as a transmitting end (also referred to as a transmitting terminal device) transmits SCI and sidelink data to a terminal device functioning as a receiving end (also referred to as a receiving terminal device) in a slot, and the receiving terminal device receives and decodes the sidelink data based on the received SCI. In NR-V2X, there are two resource allocation modes for the transmitting terminal device. One resource allocation mode is mode 1 (mode-1). In mode-1, the base station allocates resources to the transmitting terminal device. The other resource allocation mode is mode 2. In mode-2, the transmitting terminal device selects resources by itself.

[0131] Mode-1 is mainly applied to V2X communication in the presence of network coverage, and the base station performs resource allocation. Specifically, mode-1 may further include a dynamic grant (DG) mode and a configured grant (CG) mode. In the DG mode of mode-1, the base station schedules the transmitting terminal device to transmit sidelink data to the receiving terminal device by using downlink control information (DCI). In the CG mode of mode-1, the base station configures the relevant sidelink time-frequency resources by using higher layer signaling, e.g., radio resource control (RRC) signaling. The CG modes include CG type 1 and CG type 2. CG type 1 means that the transmitting terminal device directly transmits sidelink data on the sidelink time-frequency resources configured by the base station. CG type 2 means that the base station sends a DCI to activate the sidelink time-frequency resources configured by the base station, and the transmitting terminal device transmits sidelink data on the sidelink time-frequency resources configured by the base station after receiving the DCI.

[0132] In mode-2, the selection of time-frequency resources for the sidelink by the transmitting terminal device does not depend on the base station. This mode is not limited by network coverage. If there is no network coverage, the transmitting terminal device can also use this mode for communication.

[0133] In mode-2, the transmitting terminal device triggers resource selection in slot n and detects the resource within a resource sensing window [nt 0 ,nt proc,0 ] to obtain the detection result. Referring to Figure 2, 0 are the boundaries of the resource sensing window. For example, t 0 may be 1100 ms or 100 ms, or may be some other value. A subcarrier spacing of 15 kHz is used as an example, and t 0 = 1100 slots or 100 slots. Alternatively, a subcarrier spacing of 60 kHz is used as an example. 0 = 4400 slots or 400 slots proc,0 is the time for the transmitting terminal device to process the sensing result, and t proc,0 The value of varies according to different capabilities of the terminal device, and t proc,0 ≧0.

[0134] Based on the detection result, the transmitting terminal device selects a resource selection window [n+t 1 ,n+t 2 ] to obtain available time-frequency resources for transmitting sidelink data. See again FIG. 2. 1 ≦t proc,1 Here, t proc,1 is the time it takes for the terminal device to process the detection result. t proc,1 The value of t varies according to different capabilities of the terminal device. 2_min <t 2≦ remaining packet delay budget (PDB). PDB indicates the maximum latency from when a data packet is generated at the service layer to when the data packet is successfully transmitted. For example, at time n, the remaining PDB is the remaining latency from when a data packet is generated at the service layer to time n. The unit of PDB may be slots, subframes, or frames, or may be absolute time, e.g., milliseconds or seconds.

[0135] A specific resource selection method of the transmitting terminal device is described as follows.

[0136] 1. The transmitting terminal device detects the resource in the resource detection window [nt 0 ,nt proc,0 ] from another terminal device, the SCI including detection information of the other terminal device. Further, the SCI is a 1st-stage SCI and is transmitted on a physical sidelink control channel (PSCCH).

[0137] One SCI can schedule three transmissions. For example, in the three transmissions, the first transmission is the initial transmission, and the latter two transmissions are retransmissions, or all three transmissions are retransmissions. The detection information included in the SCI includes time-frequency resource information of the scheduling data in the second and third transmissions, periodic time-frequency resource information reflecting the periodicity of the data service, data priority information (priority of PSSCH), etc. It can be understood that at a given time, the terminal device transmits the SCI to reserve resources (including time-frequency resources) after that time for data retransmission and new periodic data transmission.

[0138] 2. The transmitting terminal device determines from the detection information in the SCI received from the terminal device 1 that the time-frequency resource reserved by the terminal device 1 is within the resource selection window [n+t 1 ,n+t 2 ], the transmitting terminal device measures a demodulation reference signal (DMRS) of a data or control channel that needs to be transmitted by the terminal device 1 on the time-frequency resource based on the detection information to obtain a reference signal received power (RSRP). When the RSRP is within a preset RSRP threshold Th RSRP If so, the transmitting terminal device excludes time-frequency resources within the resource selection window.

[0139] 3. After excluding the unavailable time-frequency resources in the resource selection window, the transmitting terminal device can determine the available time-frequency resources in the remaining resources in the resource selection window, and thus select the time-frequency resources from the available time-frequency resources to transmit data.

[0140] In the existing mechanism, the time-frequency resource used by the transmitting terminal device to transmit data is determined within a resource sensing window [nt 0 ,nt proc,0] is selected based on the detection result of the transmitting terminal device in the. In the technical solution provided in the embodiment of the present application, unless otherwise specified, the detection result is the result determined by using the above three steps 1, 2, and 3. However, the transmitting terminal device does not know the channel state around the receiving terminal device. If the transmitting terminal device does not detect other terminal devices communicating around the receiving terminal device, the receiving terminal device may experience strong interference from the sidelink communication of other terminal devices when receiving data from the transmitting terminal device. As a result, the signal reception quality of the receiving terminal device may be poor, and even reception may fail.

[0141] For example, see FIG. 3. UE1 selects a time-frequency resource based on the detection result of UE1 to transmit data to UE2. Because the distance between UE3 and UE1 and between UE4 and UE1 is long, when performing detection, UE1 assumes that other terminal devices around UE1 do not perform sidelink communication, and UE1 transmits data to UE2. In fact, UE3 transmits data to UE4. Because UE3 and UE2 are close to each other, the transmission of data by UE3 to UE4 causes strong interference to the reception of data from UE1 by UE2. As a result, UE2 cannot correctly decode the data from UE1.

[0142] For another example, see FIG. 4. UE1 can perform sensing and detect data sent from UE3 to UE4. The RSRP measured by UE1 is greater than the pre-configured RSRP threshold Th RSRPIf it is larger, UE1 considers that it cannot transmit data to UE2 on the time-frequency resource used by UE3, and considers the time-frequency resource to be an unavailable time-frequency resource. However, in reality, UE1 and UE4 are far away from each other, so the interference from UE1 to UE4 is very small, and the transmission of data by UE1 to UE2 does not affect the reception of data from UE3 by UE4. Similarly, the transmission of data by UE3 to UE4 does not affect the reception of data from UE1 by UE2. For UE1, this is a case where resources are over-excluded and some resources that should be available are considered unavailable time-frequency resources. As a result, the available time-frequency resources of UE1 are reduced.

[0143] In consideration of this, a technical solution in an embodiment of the present application is provided. In an embodiment of the present application, a first terminal device serving as a data transmission end can transmit first information to a third terminal device, so that the third terminal device can transmit second information to the first terminal device. The second information may include a second time-frequency resource. The first terminal device can use the second time-frequency resource as a criterion when selecting a time-frequency resource. For example, the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device. This indicates that when the first terminal device transmits data to the third terminal device on the second time-frequency resource, the third terminal device has a low probability of being interfered with when receiving the data. In this case, the first terminal device can preferentially select the second time-frequency resource for transmitting data to the third terminal device to improve signal reception quality and avoid reception failure. Alternatively, the second time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device. This indicates that if the first terminal device transmits data to the third terminal device on the second time-frequency resource, the third terminal device has a high probability of being interfered with when receiving the data. In this case, the first terminal device may not select the second time-frequency resource to transmit data to the third terminal device. In this embodiment of the present application, it is found that when selecting a resource for transmitting data, the first terminal device may not only use the detection result of the first terminal device as a consideration factor, but also use the detection result of the third terminal device as a consideration factor. In this case, for the selected resource, both the channel state around the first terminal device and the channel state around the third terminal device are considered to improve the reception quality of the signal.

[0144] The technical solutions provided in the embodiments of the present application may be applied to D2D scenarios, such as NR-D2D scenarios, or may be applied to V2X scenarios, such as NR-V2X scenarios, such as Internet of Vehicles, such as V2X or V2V, or may be applied to fields such as intelligent driving, assisted driving, or intelligent connected vehicles. Alternatively, the technical solutions may be further applied to other scenarios or other communication systems. For example, the technical solutions may be further applied to Uu interface resource selection in NR systems or next-generation mobile communication systems. This is not particularly limited.

[0145] The following describes a network architecture to which the embodiment of the present application is applied: Figure 5 shows a network architecture to which the embodiment of the present application is applied.

[0146] FIG. 5 includes a network device and two terminal devices, namely, terminal device 1 and terminal device 2. Both of the two terminal devices may be located within the coverage of the network device, or only terminal device 1 of the two terminal devices may be located within the coverage of the network device, and terminal device 2 is not located within the coverage of the network device, or neither of the two terminal devices is located within the coverage of the network device. The two terminal devices can communicate with each other through a sidelink. In FIG. 5, an example is used in which terminal device 1 is located within the coverage of the network device and terminal device 2 is not located within the coverage of the network device. Of course, the number of terminal devices in FIG. 5 is only an example. During practical application, the network device may provide services to multiple terminal devices.

[0147] The network device in Fig. 5 is, for example, an access network device such as a base station. The access network device corresponds to different devices in different systems. For example, the access network device corresponds to a 5G access network device such as a gNB in ​​a 5G system, or is an access network device in a later evolved communication system.

[0148] For example, the terminal device in Figure 5 is an in-vehicle terminal device or a vehicle, but the terminal device in the embodiment of the present application is not limited thereto.

[0149] The following describes the technical solutions provided in the embodiments of the present application with reference to the accompanying drawings.

[0150] An embodiment of the present application provides a communication method. Figure 6 is a flow chart of the method. In the following description process, an example is used in which the method is applied to the network architecture shown in Figure 5.

[0151] For ease of explanation, an example in which the method is performed by a first terminal device and a third terminal device is used in the following description. Since an example in which the present embodiment is applied to the network architecture shown in Fig. 5 is used, the first terminal device described below may be a terminal device 1 or a chip system disposed in the terminal device 1 in the network architecture shown in Fig. 5, and the third terminal device described below may be a terminal device 2 or a chip system disposed in the terminal device 2 in the network architecture shown in Fig. 5.

[0152] S61. A first terminal device detects (or senses) sidelink control information from at least one second terminal device and determines a first time-frequency resource.

[0153] In a network coverage area, a network device configures sidelink (SL) resource pool information of a terminal device in a local cell by using a system information block (SIB), cell-specific RRC signaling, or UE-specific RRC signaling. In a non-network coverage area, a terminal device selects a time-frequency resource using SL resource pool information preset before shipping from a factory. The SL resource pool information indicates an SL resource pool. The terminal device selects a time-frequency resource from the SL resource pool to perform SL communication with another terminal device. The communication process includes one or more of unicast communication, multicast communication, or broadcast communication. In the time domain, the SL resource pool includes one or more time units. One time unit may be one symbol, multiple symbols, one slot, one subframe, etc. One or more time units included in one SL resource pool in the time domain may be continuous or discrete in physical time. The SL resource pool includes one or more frequency domain units in the frequency domain. One frequency domain unit may be one resource block (RB), multiple RBs, one subchannel, etc. A subchannel may include one or more RBs.

[0154] For example, when the first terminal device needs to transmit data to the third terminal device, for example, when the data is the first data, the first terminal device performs detection in slot n, and when the first terminal device needs to transmit control information to the third terminal device, the first terminal device performs detection in slot n, or when the first terminal device needs to transmit control information and data to the third terminal device, the first terminal device performs detection in slot n to select a resource. In this embodiment of the present application, an example is used in which the first terminal device needs to transmit the first data to the third terminal device. However, the control information and / or data may actually be transmitted. At least one second terminal device may include a third terminal device, and it is for the purpose of emphasizing another terminal device that at least one second terminal device may include a third terminal device. Therefore, at least one second terminal device may not include a third terminal device in this specification.

[0155] The first terminal device performs sensing in slot n, i.e., the first terminal device detects an SCI from at least one second terminal device in slot n. The first terminal device detects an SCI within a sensing window [nt 0 ,nt proc,0 Based on the detection results performed within the resource selection window [n+t 1 ,n+t 2]. For the specific process of the first terminal device selecting resources, please refer to the above description. When performing resource exclusion, the first terminal device may exclude a time-frequency resource reserved by another terminal device for transmitting data, may exclude a time-frequency resource reserved by another terminal device for transmitting control information, or may exclude a time-frequency resource reserved by another terminal device for transmitting data and a time-frequency resource reserved by another terminal device for transmitting control information. In this embodiment of the present application, before transmitting data, the first terminal device may first trigger the third terminal device to perform a resource assistance procedure. Thus, before transmitting data to the third terminal device, the first terminal device may first transmit the first information to the third terminal device to trigger the third terminal device to transmit the second information to the first terminal device. For example, the first terminal device may select an available seventh time-frequency resource based on the detection result to transmit the first information to the third terminal device on the seventh time-frequency resource.

[0156] For example, the time domain position of the seventh time-frequency resource is n+t a_1 where t 1 ≦t a_1 <t 2 Before transmitting the first data to the third terminal device, the first terminal device must first transmit the first information to the third terminal device, and then receive the second information from the third terminal device. That is, t a_1 is before the moment when the first data is transmitted. However, as currently specified, when one terminal device transmits data to another terminal device, the data must be transmitted within the remaining packet delay budget, otherwise the data is considered not to be transmitted. Therefore, to ensure that the first data is transmitted within the remaining packet delay budget, t a_1It can be understood that a smaller value of is better. For example, the first terminal device determines one or more available time-frequency resources based on the sensing result. t 1 ≦t a_1 <t 2 is satisfied, the seventh time-frequency resource may be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources, or the seventh time-frequency resource may not be the earliest time-frequency resource in the time domain among the one or more available time-frequency resources.

[0157] Further, the first terminal device may determine the time-frequency resource for transmitting data to the third terminal device based only on the second information of the third terminal device, or the first terminal device may determine the time-frequency resource for transmitting data to the third terminal device based on the detection result of the first terminal device and the second information of the third terminal device. When the first terminal device determines the time-frequency resource for transmitting data to the third terminal device based on the detection result of the first terminal device and the second information of the third terminal device, the first terminal device may further determine the first time-frequency resource based on the detection result, and the first time-frequency resource may include an unavailable time-frequency resource for transmitting data to the third terminal device, or may include an available time-frequency resource for transmitting data to the third terminal device. Thus, the first terminal device can then determine the time-frequency resource for transmitting data to the third terminal device based on the first time-frequency resource and the second information.

[0158] S62. The first terminal device transmits first information to the third terminal device, and the third terminal device receives the first information from the first terminal device. The first information is for triggering the determination of the second information, and the first information may be used as trigger information for triggering the third terminal device to determine the second information. Therefore, the first information may be referred to as trigger information, request information, etc., and the name of the information is not limited. The second information may be used by the first terminal device to determine time-frequency resources for transmitting data to the third terminal device.

[0159] In this embodiment of the present application, before transmitting data to the third terminal device, the first terminal device may first trigger the third terminal device to perform a resource assistance procedure, and then select a time-frequency resource for transmitting data to the third terminal device based on the second information fed back by the third terminal device. To obtain the second information from the third terminal device, the first terminal device may first transmit the first information to the third terminal device to trigger the third terminal device to determine the second information.

[0160] As described above, for example, if the first terminal device selects the seventh time-frequency resource to transmit the first information, in S62, the first terminal device may transmit the first information to the third terminal device on the seventh time-frequency resource, and the third terminal device may also receive the first information from the first terminal device on the seventh time-frequency resource.

[0161] When transmitting sidelink information, the terminal device usually transmits a first-stage SCI (1st-stage SCI) and a second-stage SCI (2nd-stage SCI), and may further transmit data. This can be understood as follows: when transmitting sidelink information, the terminal device may transmit only control information (first-stage SCI and second-stage SCI), or may transmit only data, or may transmit the first-stage SCI, the second-stage SCI, and data. The first-stage SCI is transmitted, for example, on a control channel, and the second-stage SCI is transmitted, for example, on a data channel. The first-stage SCI is for scheduling the second-stage SCI and data. The second-stage SCI is also for scheduling data. For example, the second stage SCI includes at least a source address (source ID), the control channel is, for example, a physical sidelink control channel (PSCCH), and the data channel is, for example, a physical sidelink shared channel (PSSCH). In addition, the first stage SCI may indicate a time-frequency resource for transmitting the second stage SCI, including bit rate information for determining the second stage SCI. In this case, the first terminal device may include the first information in one SCI and transmit the SCI to the third terminal device. The first stage SCI is generally broadcast information, and all terminal devices need to receive and decode the first stage SCI. Specifically, for a terminal device that needs to perform detection and autonomous user resource selection, the first stage SCI includes one or more of control information for detection and autonomous user resource selection, for example, time-frequency resource information, priority information, or periodic time-frequency resource information reflecting data service periodicity. The second stage SCI may have a different format, for example including different control information fields for different transmissions, for example for geographic location based multicast.Therefore, control information required by terminal devices of different standard versions or terminal devices supporting different functions is carried only in the second stage SCI. The first stage SCI carries common information required by all terminal devices (e.g., terminal devices of different standard versions (e.g., 3rd generation partnership project (3GPP) version Rel-16 terminal devices and 3GPP Rel-17 terminal devices), terminal devices supporting geographic location-based multicast, or terminal devices supporting resource assistance), including control information for detection and autonomous user resource selection. In this case, all terminal devices can coexist in one resource pool because time-frequency resources are excluded based on the first stage SCI, and all terminal devices can exclude unavailable resources by detecting the first stage SCI, thereby reducing resource contention probability and improving resource utilization.

[0162] Therefore, in an optional implementation form of transmitting the first information, the first terminal device can transmit the first information by including the first information in the SCI of the second stage. For example, the first terminal device transmits the first control information to the third terminal device, and the third terminal device receives the first control information from the first terminal device. The first control information can include the first SCI and the second SCI. The first SCI is the SCI of the first stage, and the second SCI is the SCI of the second stage. In this case, the second SCI may include the first information.

[0163] Optionally, the first SCI may include a first field, and the first field may indicate that the second-stage SCI scheduled by the first SCI includes the first information. The second-stage SCI scheduled by the first SCI is the second SCI. In other words, the first field may indicate that the second SCI includes the first information. The first SCI is the first-stage SCI and is transmitted in a broadcast manner. If the terminal device receiving the first SCI can identify the first field, the terminal device can determine that the second SCI includes the first information. For example, if the third terminal device receives the first SCI and the second SCI and can identify the first field, the third terminal device can determine that the second SCI includes the first information. In this case, the third terminal device obtains the first information from the second SCI when analyzing the second SCI. Thus, the third terminal device can identify the format of the second SCI and correctly obtain the first information. Optionally, the priority information in the first SCI may be the priority information of the data to be transmitted to the third terminal device, or the priority of the data corresponding to / scheduled by the first SCI.

[0164] Optionally, the second SCI may further include one or more of a layer 1 (L1) source ID, an L1 destination ID, geographic location information of the first terminal device, or communication range information. For example, the second SCI includes an L1 source ID, the second SCI includes an L1 destination ID, the second SCI includes geographic location information of the first terminal device, the second SCI includes communication range information, the second SCI includes an L1 source ID and an L1 destination ID, the second SCI includes an L1 source ID, an L1 destination ID, and geographic location information of the first terminal device, or the second SCI includes an L1 source ID, an L1 destination ID, geographic location information of the first terminal device, and communication range information.

[0165] The L1 source identifier indicates the first terminal device, and the L1 destination identifier indicates the third terminal device. Alternatively, the L1 source identifier and the L1 destination identifier may indicate data (including but not limited to the service to which the data belongs) sent by the first terminal device to the third terminal device. Thus, the first terminal device and the third terminal device can determine whether the current communication is related to the first terminal device and the third terminal device based on the L1 source identifier and the L1 destination identifier.

[0166] The geographic location information of the first terminal device may be a zone identification (Zone ID) or other geographic location related information for identifying the geographic location of the first terminal device. The communication range information indicates a communication range required by the control information and / or data transmitted by the first terminal device.

[0167] In this case, the third terminal device may determine whether to respond to the control information, data, etc. from the first terminal device based on the geographical location information and communication range information of the first terminal device after receiving and decoding the second SCI. For example, if the third terminal device determines that the control information and / or data from the first terminal device does not meet the requirements of the communication range information included in the second SCI (e.g., the communication range is 100 m), the third terminal device may not respond to the information (control information and / or data) from the first terminal device, for example, may not transmit the second information to the first terminal device. Or, the third terminal device may respond to the information (control information and / or data) from the first terminal device, for example, may transmit the second information to the first terminal device. If the information from the first terminal device does not meet the requirements of the communication range information, it indicates that the first terminal device is far away from the third terminal device. In this case, the third terminal device transmits the second information to the first terminal device, which is not useful for the transmission process of the first terminal device. Therefore, the third terminal device may not need to transmit the second information to the first terminal device. In this way, the signaling overhead can be reduced.

[0168] In order to improve the success rate of the transmission of the first information, in an optional implementation, the first information may be repeatedly transmitted, i.e., the first information is transmitted n+t a_1 The first information may be further transmitted in a slot after the first SCI. When the first terminal device repeatedly transmits the first information, the time-frequency resource for repeatedly transmitting the first information may be indicated by the first SCI, so that the third terminal device can correctly receive the repeatedly transmitted first information. For example, after transmitting the first information to the third terminal device on the seventh time-frequency resource, the first terminal device may further retransmit the first information to the third terminal device on the sixth time-frequency resource. The first SCI may indicate the sixth time-frequency resource. Thus, the third terminal device may receive the retransmitted first information from the first terminal device on the sixth time-frequency resource based on the indication of the first SCI. In addition, the number of times the first information is repeatedly transmitted is not limited in this embodiment of the present application. FIG. 7 is a schematic diagram of repeatedly transmitting the first information. For example, the first terminal device triggers resource selection in slot n, and the first terminal device triggers resource selection in the resource selection window [n+t 1 ,n+t 2 ] in slot n+t a_1 In this case, the detection window [nt 0 ,nt proc,0 7 ], the first information is sent to the third terminal device by using the second stage SCI (the first SCI-2 from left to right in FIG. 7 ). For example, in slot n+t a_1 The first stage SCI (first SCI-1 from left to right in FIG. 7) transmitted in further indicates a time-frequency resource for repeatedly transmitting the first information, and the time-domain location of the time-frequency resource is slot n+t. a_2 In this case, the first terminal device receives the signal in slot n+t. a_2 In slot n+t of FIG. 7, the first information is repeatedly transmitted to the third terminal device using the second-stage SCI (the second SCI-2 from left to right in FIG. 7). ais, for example, the time domain position at which the third terminal device transmits the second information to the first terminal device. Also, the data in FIG. 7 may or may not be transmitted.

[0169] The first information may be for triggering the third terminal device to determine the second information. After determining the second information, the third terminal device may transmit the second information to the first terminal device. In this case, the third terminal device needs to determine a time-frequency resource for transmitting the second information. In an optional implementation form, the first information may further indicate a fourth time-frequency resource, where the fourth time-frequency resource may be determined by the first terminal device based on the detection result of the first terminal device, and the fourth time-frequency resource may be used by the third terminal device to determine a time-frequency resource for transmitting the second information. For example, the fourth time-frequency resource is an available time-frequency resource determined by the first terminal device based on the detection result, and the fourth time-frequency resource may be understood as a recommended resource in this case. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fourth time-frequency resource can meet the reception condition, i.e., whether the reception reliability meets the requirement is not affected, or indicates that the interference received by the first terminal device when the first terminal device receives data on the fourth time-frequency resource is small. Therefore, the first terminal device recommends that the third terminal device transmits the second information to the first terminal device on the fourth time-frequency resource. Alternatively, the fourth time-frequency resource is an unavailable time-frequency resource determined by the first terminal device based on the detection result. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fourth time-frequency resource cannot meet the reception condition, i.e., whether the reception reliability meets the requirement is affected, or indicates that the interference received by the first terminal device when the first terminal device receives data on the fourth time-frequency resource is large. In this case, the first information indicating the fourth time-frequency resource may be considered as an indication to the third terminal device to minimize use of the fourth time-frequency resource for transmitting the second information.

[0170] For example, the fourth time-frequency resource may include a time domain resource, a frequency domain resource, or a time domain resource and a frequency domain resource. The time domain resource may include one or more slots, and the frequency domain resource may include one or more subchannels.

[0171] Alternatively, in another optional implementation, the first information may not indicate the fourth time-frequency resource, but the first SCI indicates a time-frequency resource for transmitting the second information. For example, the first SCI may indicate a fifth time-frequency resource, and the fifth time-frequency resource may be determined by the first terminal device based on the detection result of the first terminal device, and the fifth time-frequency resource may be for transmitting the second information. The fifth time-frequency resource is an available time-frequency resource determined by the first terminal device based on the detection result. This indicates that the interference received by the first terminal device from another terminal device when the first terminal device receives data on the fifth time-frequency resource can meet the reception condition, i.e., whether the reception reliability meets the requirement is not affected, or indicates that the interference received by the first terminal device when the first terminal device receives data on the fifth time-frequency resource is small. Therefore, the first terminal device instructs the third terminal device to transmit the second information to the first terminal device on the fifth time-frequency resource. In this case, the third terminal device does not need to determine the time-frequency resource for transmitting the second information based on another factor (e.g., the detection result of the third terminal device), and directly determines that the fifth time-frequency resource is the time-frequency resource for transmitting the second information. In other words, the first terminal device reserves the time-frequency resource used by the third terminal device to transmit the second information by using the SCI of the first stage. See FIG. 8. The first terminal device reserves the time-frequency resource used by the third terminal device to transmit the second information on slot n+t. a_18, transmit a first SCI (SCI-1 in FIG. 8) to the third terminal device. The first SCI includes information about the fifth time-frequency resource, for example, the time domain location of the fifth time-frequency resource is slot n+t. a The data in FIG. 8 may or may not be transmitted.

[0172] If the first information indicates the fourth time-frequency resource, the third terminal device may further jointly determine the time-frequency resource for transmitting the second information based on the detection result of the third terminal device and the fourth time-frequency resource. In this case, the third terminal device considers both the reception status of the third terminal device and the resource detection status of the third terminal device when selecting the time-frequency resource for transmitting the second information. Therefore, the selected time-frequency resource is more suitable. If the first SCI indicates the fifth time-frequency resource, the fifth time-frequency resource is a time-frequency resource reserved by the first terminal device and used by the third terminal device to transmit the second information. In this case, the third terminal device directly transmits the second information on the fifth time-frequency resource, and does not need to determine the time-frequency resource for transmitting the second information based on another factor. In this way, the operation process of the third terminal device can be simplified, the process of transmitting the second information by the third terminal device can be accelerated, and the delay of the first data can be reduced.

[0173] In addition, optionally, the first information may further include information for indicating a data packet size of the first data. The second information may be for determining a time-frequency resource for transmitting data to the third terminal device, i.e., the second information may indicate a corresponding time-frequency resource, so that the third terminal device may also determine the second information based on the detection result of the third terminal device. When performing resource exclusion based on the detection result, the third terminal device may perform resource exclusion based on the data packet size of the first data. Then, the first terminal device may notify the third terminal device of information on the data packet size of the first data, thereby causing the third terminal device to exclude resources. For example, the data packet size of the first data may include a size of a subchannel occupied by the first data, i.e., the number of subchannels occupied by the first data. For example, the total amount of subchannels occupied by the first data is L sub For example, when performing resource exclusion based on the detection result, the third terminal device may perform resource exclusion based on the size of the subchannel occupied by the PSSCH carrying the first data. Then, the first terminal device may notify the third terminal device of information regarding the size of the subchannel occupied by the first data. For example, the PSSCH carrying the first data occupies two subchannels. In this case, when performing resource exclusion based on the detection result, the third terminal device may perform resource exclusion based on the size of the two subchannels, and may not perform resource exclusion based on other sizes (e.g., one subchannel or three subchannels). As another example, the data packet size of the first data may include a transport block (TB) size corresponding to the first data, and the third terminal device may perform resource exclusion based on the TB size. Alternatively, the data packet size of the first data may further include other information.

[0174] In S62, the first terminal device transmits the first information to the third terminal device to trigger the third terminal device to perform the resource assistance procedure. In this way, the first terminal device may trigger the third terminal device to perform the resource assistance procedure as necessary. This can reduce redundant information received by the first terminal device, and this method is flexible. In addition, the first terminal device can further notify the third terminal device of the data packet size of the first data, so that the second time-frequency resource indicated by the third terminal device by using the second information can better match the first data, and the resource assistance procedure can be more accurate. The resource assistance procedure may be a process in which the third terminal device detects the surrounding terminal devices, i.e. detects the sidelink control information of the surrounding terminal devices, recorded in steps S63 to S64, and determines the second information based on the detection result.

[0175] Alternatively, in this embodiment of the present application, the third terminal device may actively execute the resource assistance procedure without being triggered by the first terminal device. That is, the third terminal device may execute the resource assistance procedure without receiving the first information from the first terminal device. In this case, S62 may not need to be executed, that is, the first terminal device does not need to transmit the first information to the third terminal device, but the third terminal device may actively transmit the second information. Therefore, S62 is an optional step, not required, and is represented by a dashed line in FIG. 6. For example, the third terminal device may periodically transmit the second information. The manner in which the third terminal device transmits the second information is, for example, a broadcast manner or a multicast manner. One or more terminal devices in the periphery of the third terminal device may receive the second information from the third terminal device. If there is a terminal device (e.g., the first terminal device) that needs to transmit data to the third terminal device, after receiving the second information, the terminal device may determine the resource for transmitting data to the third terminal device based on the second information. In this way, the first terminal device does not need to send information to trigger the third terminal device, and the third terminal device can actively perform the resource assistance procedure, which helps to reduce the signaling overhead between the first terminal device and the third terminal device.

[0176] As described above, when the first terminal device transmits the first information to the third terminal device, and the first information may include information indicating the data packet size of the first data, the third terminal device may perform resource exclusion based on the detection result. However, if the first terminal device does not transmit the first information to the third terminal device, the third terminal device cannot know which terminal device should transmit data to the third terminal device, and cannot know the data packet size of the data to be transmitted. In this case, the third terminal device may perform resource exclusion based on one or more data packet sizes when performing resource exclusion. For example, the data packet size of one piece of data includes the size of a subchannel occupied by the data, i.e., the number of subchannels occupied by the data. In this case, the third terminal device may perform resource exclusion based on one or more subchannel sizes when performing resource exclusion based on the detection result. For example, one or more subchannel sizes may be preconfigured in the third terminal device, or the third terminal device may determine one or more subchannel sizes of the subchannels occupied by data historically received or transmitted by the third terminal device, so that the third terminal device can perform resource exclusion based on one or more subchannel sizes. For example, three subchannel sizes, namely, one subchannel, two subchannels, and three subchannels, are preconfigured in the third terminal device. In this case, when performing resource exclusion based on the detection result, the third terminal device may perform resource exclusion based on the size of one subchannel to obtain resource exclusion result 1, perform resource exclusion based on the size of two subchannels to obtain resource exclusion result 2, and perform resource exclusion based on the size of three subchannels to obtain resource exclusion result 3.In this case, the second time-frequency resource determined by the third terminal device may include at least one time-frequency resource, and the at least one time-frequency resource may include one or more of a first portion of the time-frequency resource, a second portion of the time-frequency resource, or a third portion of the time-frequency resource. The first portion of the time-frequency resource includes all or a part of the time-frequency resource determined by the third terminal device based on the resource exclusion result 1, the second portion of the time-frequency resource includes all or a part of the time-frequency resource determined by the third terminal device based on the resource exclusion result 2, and the third portion of the time-frequency resource includes all or a part of the time-frequency resource determined by the third terminal device based on the resource exclusion result 3.

[0177] S63. The third terminal device may detect sidelink control information from at least one fourth terminal device to determine a second time-frequency resource, and the second time-frequency resource may be for determining a time-frequency resource for transmitting data to the third terminal device. The at least one fourth terminal device may include the first terminal device or may not include the first terminal device.

[0178] For example, if a third terminal device is in slot n+t a_1 If the third terminal device receives the first information in a resource detection window [n+t a_1 -t 0 ,n+t a_1 -t proc,0 Detect an SCI from at least one fourth terminal device within the

number

number

[0179] The following briefly describes how the third terminal device determines the time-frequency resource for transmitting the second information based on the detection result of the third terminal device and the fourth time-frequency resource. First, the case is described where the fourth time-frequency resource is the time-frequency resource that the first terminal device considers available, that is, the first terminal device recommends that the third terminal device transmit the second information on the fourth time-frequency resource.

[0180] If the third terminal device determines, based on detection of sidelink control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, i.e., the fourth time-frequency resource is an available time-frequency resource for the third terminal device, the third terminal device may decide to transmit the second information on the fourth time-frequency resource.

[0181] Alternatively, if the third terminal device determines based on the detection of the sidelink control information from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device may determine whether the priority of the second data is higher than the first priority threshold. If the priority of the second data is higher than the first priority threshold, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) determined based on the detection result of the third terminal device and not excluded from use. Alternatively, if the priority of the second data is equal to or lower than the first priority threshold, the third terminal device may determine to transmit the second information on the fourth time-frequency resource. The second data is data transmitted on the fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource, and the priority of the second data may be indicated by the first-stage SCI received by the third terminal device from the fourth terminal device, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, and indicates that the third terminal device has determined through detection that the fourth time-frequency resource is reserved by another terminal device, so the second data is data transmitted on the fourth time-frequency resource reserved by another terminal device. The first priority threshold may be determined by the third terminal device, may be determined by the first terminal device and the third terminal device through negotiation, may be configured by a network device, or may be specified in a protocol.

[0182] Alternatively, if the third terminal device determines based on the detection of the sidelink control information from at least one fourth terminal device that the fourth time-frequency resource is excluded from use, i.e., the fourth time-frequency resource is an unavailable time-frequency resource for the third terminal device, the third terminal device may determine whether the priority of the second data is higher than the priority of the first data. If the priority of the second data is higher than the priority of the first data, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) that are determined based on the detection result of the third terminal device and are not excluded from use. Alternatively, if the priority of the second data is equal to or lower than the priority of the first data, the third terminal device may determine to transmit the second information on the fourth time-frequency resource. For a description of the contents such as the second data and the priority of the second data, please refer to the previous paragraph.

[0183] Alternatively, the fourth time-frequency resource may be a time-frequency resource that the first terminal device considers unavailable, i.e., the first terminal device instructs the third terminal device to minimize the use of the fourth time-frequency resource for transmitting the second information. In this case, when determining the time-frequency resource for transmitting the second information, if the third terminal device determines that the fourth time-frequency resource is excluded from use based on the detection of SCI from at least one fourth terminal device, the third terminal device may select a time-frequency resource for transmitting the second information from the time-frequency resource (i.e., the available time-frequency resource) that is determined based on the detection result of the third terminal device and is not excluded from use. If the third terminal device determines, based on detection of sidelink control information from at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use, the third terminal device may select a time-frequency resource different from the fourth time-frequency resource for transmitting the second information from the time-frequency resources (i.e., available time-frequency resources) that are not excluded from use determined based on the detection result of the third terminal device.

[0184] Here, only several examples of the manner in which the third terminal device selects the time-frequency resource for transmitting the second information are provided. In this embodiment of the present application, the third terminal device may alternatively select the time-frequency resource for transmitting the second information in another manner.

[0185] The second information may indicate a second time-frequency resource. For example, the second time-frequency resource is an available time-frequency resource determined by the third terminal device by detecting the SCI from at least one fourth terminal device. In other words, the second time-frequency resource includes an available time-frequency resource for transmitting data to the third terminal device, and the second time-frequency resource may be understood as a recommended resource in this case. This indicates that the interference received by the third terminal device from another terminal device when the third terminal device receives data on the second time-frequency resource can meet the reception condition, i.e., whether the reception reliability meets the requirement is not affected, or indicates that the interference received by the third terminal device from another terminal device is small when the third terminal device receives data on the second time-frequency resource. Thus, the third terminal device recommends that the first terminal device transmits data to the third terminal device on the second time-frequency resource. Alternatively, the second time-frequency resource is an unavailable time-frequency resource determined by the third terminal device by detecting the SCI from at least one fourth terminal device. In other words, the second time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device. This indicates that the interference received by the third terminal device from another terminal device when the third terminal device receives data on the second time-frequency resource cannot meet the reception condition, i.e., whether the reception reliability meets the requirement is affected, or indicates that the interference received by the third terminal device from another terminal device is large when the third terminal device receives data on the second time-frequency resource. Therefore, the third terminal device instructs the first terminal device to minimize the use of the second time-frequency resource for transmitting data to the third terminal device.

[0186] For example, the second time-frequency resource may include a time domain resource, a frequency domain resource, or a time domain resource and a frequency domain resource. The time domain resource may include one or more slots, and the frequency domain resource may include one or more subchannels.

[0187] S64. The third terminal device sends the second information to the first terminal device, and the first terminal device receives the second information from the third terminal device. In this embodiment of the present application, the second information is used for a resource assistance procedure. Therefore, the second information may be referred to as assistance information, or the second information may have another name, which does not constitute a limitation on the technical features.

[0188] After determining the time-frequency resource for transmitting the second information and the second time-frequency resource indicated by the second information, the third terminal device can transmit the second information to the first terminal device. The second information may indicate the second time-frequency resource, and the second time-frequency resource is for determining the time-frequency resource for transmitting data to the third terminal device.

[0189] In order to meet the delay requirement of the first data transmitted by the first terminal device to the third terminal device, the slot in which the time-frequency resource selected by the third terminal device to transmit the second information is located is slot n+t 2 Please refer to FIG. 9. In FIG. 9, the third terminal device must be in slot n+t. a_1The third terminal device receives first information from the first terminal device in slot n+t and is triggered to perform resource selection. In this case, the third terminal device detects resource detection, i.e., detects SCI from at least one fourth terminal device. When performing resource exclusion, the third terminal device may exclude time-frequency resources reserved by another terminal device for transmitting data, may exclude time-frequency resources reserved by another terminal device for transmitting control information, or may exclude time-frequency resources reserved by another terminal device for transmitting data and time-frequency resources reserved by another terminal device for transmitting control information. When the third terminal device receives first information from the first terminal device in slot n+t, the third terminal device may detect resource detection, i.e., detects SCI from at least one fourth terminal device. When performing resource exclusion, the third terminal device may exclude time-frequency resources reserved by another terminal device for transmitting data and time-frequency resources reserved by another terminal device for transmitting control information. a_1 If the third terminal device fails to receive the first information in slot n+t, the third terminal device receives the first information retransmitted from the first terminal device in slot n+t. a_2 The third terminal device can also receive the signal in slot n+t a_2 9, the third terminal device is triggered to perform resource detection in slot n+t. That is, every time the third terminal device receives the first information, the third terminal device is triggered to perform resource detection. If the third terminal device performs detection multiple times and the detection results match, the third terminal device may perform resource exclusion or the like based on the detection results. Alternatively, if the third terminal device performs detection multiple times and the detection results do not match, a resource detection process triggered by the most recently received first information may be used when the third terminal device performs an operation such as resource exclusion. Retransmission of the first information is not shown in FIG. 9, that is, FIG. 9 shows a case where the third terminal device performs a resource detection process in slot n+t. a_2 The n+t in Figure 9 is not shown. a_2 represents a time domain position at which the third terminal device transmits the second information to the first terminal device. The third terminal device transmits the second information to the first terminal device within the resource sensing window [n+t a_1 -t 0 ,n+t a_1 -t proc,0) based on the frequency domain size of the number of subchannels occupied by the first information (wherein the number of subchannels occupied by the first information may be configured, pre-configured, or pre-defined, for example, the number of subchannels occupied by the first information is 1). For example, if the first information further indicates a fourth time-frequency resource, the third terminal device may select a resource selection window based on the detection result of the third terminal device and the fourth time-frequency resource.

number

[0190] As mentioned above, the first stage SCI is generally broadcast information, and all terminal devices need to receive and decode the first stage SCI. Specifically, for terminal devices that need to perform sensing and autonomous user resource selection, the first stage SCI includes control information for sensing and autonomous user resource selection, such as one or more of time-frequency resource information, priority information, or periodic time-frequency resource information reflecting data service periodicity. The second stage SCI may have a different format. For example, the second stage SCI includes different control information fields for different transmissions, such as for geographic location-based multicast. Thus, control information required by terminal devices of different standard versions or terminal devices supporting different functions is carried only in the second stage SCI. The first stage SCI is information common to all terminal devices (e.g., including one or more of terminal devices of different standard versions (e.g., terminal devices of 3GPP Rel-16 and 3GPP Rel-17), terminal devices supporting geographic location-based multicast, and terminal devices supporting resource assistance) including control information for detection and autonomous user resource selection. In this case, all terminal devices can coexist in one resource pool since time-frequency resources are excluded based on the first stage SCI, and all terminal devices can exclude unavailable resources by detecting the first stage SCI, thereby reducing the resource contention probability and improving resource utilization.

[0191] Therefore, in an optional implementation form of transmitting the second information, the third terminal device can transmit the second information by including the second information in the SCI of the second stage. For example, the third terminal device transmits the second control information to the first terminal device, and the first terminal device receives the second control information from the third terminal device. The second control information can include a third SCI and a fourth SCI. The third SCI is a first stage SCI, and the fourth SCI is a second stage SCI. In this case, the fourth SCI may include the second information.

[0192] Optionally, the third SCI may include a second field, and the second field may indicate that the second stage SCI scheduled by the third SCI includes the second information. The second stage SCI scheduled by the third SCI is a fourth SCI. In other words, the second field may indicate that the fourth SCI includes the second information. The third SCI is a first stage SCI and is transmitted in a broadcast manner. If the terminal device receiving the third SCI can identify the second field, the terminal device can determine that the fourth SCI includes the second information. For example, if the third terminal device receives the third SCI and the fourth SCI and can identify the second field, the third terminal device can determine that the fourth SCI includes the second information. In this case, the third terminal device obtains the second information from the fourth SCI when analyzing the second SCI. This allows the third terminal device to identify the format of the fourth SCI and correctly acquire the second information.

[0193] S65. The first terminal device determines a third time-frequency resource based on the second time-frequency resource and the first time-frequency resource. Alternatively, the first terminal device determines that the second time-frequency resource is the third time-frequency resource. The third time-frequency resource is a time-frequency resource used by the first terminal device to transmit data to the third terminal device.

[0194] In an optional implementation, if the second time-frequency resource indicated by the second information includes an available time-frequency resource for transmitting data to the third terminal device, the first terminal device may directly determine to transmit data to the third terminal device on the second time-frequency resource. That is, when determining the time-frequency resource for transmitting data to the third terminal device, the first terminal device determines that the second time-frequency resource is the third time-frequency resource, and does not need to consider another factor (e.g., the detection result of the first terminal device). This is easy to implement for the first terminal device, the operation process is simplified, the transmission of the first data can be accelerated, and the delay of the first data can be reduced.

[0195] Alternatively, if the second time-frequency resource indicated by the second information includes a time-frequency resource available for transmitting data to the third terminal device, the first terminal device may determine the third time-frequency resource based on the second time-frequency resource and the first time-frequency resource.

[0196] Alternatively, in another optional implementation form, regardless of whether the second time-frequency resource indicated by the second information includes a time-frequency resource available for transmitting data to the third terminal device or includes a time-frequency resource unavailable for transmitting data to the third terminal device, the first terminal device determines the third time-frequency resource based on both the second time-frequency resource and the first time-frequency resource, rather than directly determining the second time-frequency resource as the third time-frequency resource.

[0197] In the following, a manner in which the first terminal device determines the third time-frequency resource based on the second time-frequency resource and the first time-frequency resource is briefly described. First, the case in which the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device is described.

[0198] If the first terminal device determines based on the detection of the SCI from at least one second terminal device that the second time-frequency resource is not excluded from use, i.e., the second time-frequency resource is also an available time-frequency resource for the first terminal device, the first terminal device may determine to transmit data on the second time-frequency resource, where the second time-frequency resource and the third time-frequency resource are the same time-frequency resource.

[0199] If the first terminal device determines, based on the detection of SCI from at least one second terminal device, that the second time-frequency resource is excluded from use, i.e., the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, the first terminal device may determine whether the priority of the third data is higher than the second priority threshold. If the priority of the third data is higher than the second priority threshold, the first terminal device may determine that the first time-frequency resource is the third time-frequency resource if the first time-frequency resource includes an available time-frequency resource for transmitting data to the third terminal device, or may select the third time-frequency resource from the time-frequency resources (i.e., available time-frequency resources) that are determined based on the detection of SCI from at least one second terminal device and are not excluded from use, if the first time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device. Alternatively, if the priority of the third data is equal to or lower than the second priority threshold, the first terminal device may determine to transmit data on the second time-frequency resource. In this case, the second time-frequency resource and the third time-frequency resource are the same time-frequency resource. The third data is data to be transmitted on the second time-frequency resource by the second terminal device reserving the second time-frequency resource, and the priority of the third data may be indicated by the first stage SCI received from the second terminal device by the first terminal device. That is, the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, and indicates that the first terminal device has determined through detection that the second time-frequency resource is reserved by another terminal device, so the third data is data to be transmitted on the second time-frequency resource reserved by another terminal device. The second priority threshold may be determined by the first terminal device, may be determined by the first terminal device and the third terminal device through negotiation, may be configured by the network device, or may be specified in the protocol.

[0200] Alternatively, if the first terminal device determines, based on the detection of SCI from at least one second terminal device, that the second time-frequency resource is excluded from use, i.e., the second time-frequency resource is an unavailable time-frequency resource for the first terminal device, the first terminal device may determine whether the priority of the third data is higher than the priority of the first data. If the priority of the third data is higher than the priority of the first data, the first terminal device may determine that the first time-frequency resource is the third time-frequency resource if the first time-frequency resource includes an available time-frequency resource for transmitting data to the third terminal device, or may select the third time-frequency resource from the time-frequency resources (i.e., available time-frequency resources) determined based on the detection of SCI from at least one second terminal device and not excluded from use, if the first time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device. Alternatively, if the priority of the third data is equal to or lower than the priority of the first data, the first terminal device may determine to transmit data on the second time-frequency resource. In this case, the second time-frequency resource and the third time-frequency resource are the same time-frequency resource. For the description of the third data and the priority of the third data, etc., please refer to the previous paragraph.

[0201] In addition, the second time-frequency resource may alternatively include a time-frequency resource unavailable for transmitting data to the third terminal device. In this condition, when determining the time-frequency resource for transmitting data, the first terminal device determines that the second time-frequency resource is excluded from use based on the detection of SCI from at least one second terminal device. In this case, if the first time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device, the first terminal device may determine that the first time-frequency resource is the third time-frequency resource. Alternatively, if the first time-frequency resource includes a time-frequency resource unavailable for transmitting data to the third terminal device, the first terminal device may select the third time-frequency resource from the time-frequency resources (i.e., available time-frequency resources) determined based on the detection of SCI from at least one second terminal device and not excluded from use. Alternatively, the first terminal device determines that the second time-frequency resource is not excluded from use based on the detection of SCI from at least one second terminal device. In this case, if the first time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device, the first terminal device may determine that the first time-frequency resource is the third time-frequency resource. Alternatively, if the first time-frequency resource includes a time-frequency resource unavailable for transmitting data to the third terminal device, the first terminal device may select the third time-frequency resource from the time-frequency resources (i.e., available time-frequency resources) that are determined based on the detection of SCI from at least one second terminal device and are not excluded from use, and not select the second time-frequency resource as the third time-frequency resource.

[0202] This specification only provides several examples of the manner in which the first terminal device selects the time-frequency resource for transmitting data. In this embodiment of the present application, the first terminal device may alternatively select the time-frequency resource for transmitting data in another manner.

[0203] S66. The first terminal device transmits first data to the third terminal device on the third time-frequency resource, and the third terminal device receives the first data from the first terminal device on the third time-frequency resource.

[0204] In this embodiment of the present application, an example is used in which a first terminal device transmits a first data to a third terminal device.However, control information may be transmitted, or control information and data may be actually transmitted.When control information or control information and data are transmitted, the method in this embodiment of the present application is also applicable.

[0205] For example, see FIG. 10. The third terminal device detects the second time-frequency resource within a resource detection window [n+t a_1 -t 0 ,n+t a_1 -t proc,0 The third terminal device performs detection within the resource selection window.

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[0206] In an optional implementation, the first information transmitted by the first terminal device and the second information transmitted by the third terminal device can use the same control information format, i.e., the second SCI carrying the first information and the fourth SCI carrying the second information have the same size. The values ​​of some fields may be defined as 0 in some cases, or some fields that are not present may be filled by using reserved bits to ensure that the sizes of the second SCI and the fourth SCI are the same. This can avoid defining new formats of the second stage SCI as much as possible and reduce the signaling overhead for indicating different formats of the second stage SCI.

[0207] In addition, the first information may not be included in the second SCI, for example, may be carried in a media access control (MAC) control element (CE), and / or the second information may not be included in the fourth SCI, for example, may be carried in a MAC CE. The above procedure remains unchanged.

[0208] In this embodiment of the present application, the first terminal device may select a time-frequency resource for transmitting data to the third terminal device based on the detection result of the third terminal device, or may select a time-frequency resource for transmitting data to the third terminal device based on both the detection result of the first terminal device and the detection result of the third terminal device. This solves the problem that the selected time-frequency resource may be interfered with by another terminal device or may be erroneously determined due to the incomplete detection result of the first terminal device, and can reduce the resource selection conflict probability and improve the transmission reliability and system resource utilization rate.

[0209] With reference to the accompanying drawings, the following describes an apparatus configured to implement the above-mentioned method in the embodiment of the present application. Therefore, all the above-mentioned contents can be used in the following embodiment. The repeated contents will not be described again.

[0210] 11 is a schematic block diagram of a communication device 1100 according to an embodiment of the present application. For example, the communication device 1100 is a first terminal device 1100.

[0211] The first terminal device 1100 includes a processing module 1110 and a transceiver module 1120. For example, the first terminal device 1100 may be a terminal device, or may be a chip used in a terminal device, or another combined device, component, etc. having the function of a terminal device. When the first terminal device 1100 is a terminal device, the transceiver module 1120 may be a transceiver, which may include an antenna, a radio frequency circuit, etc., and the processing module 1110 may be a processor, such as a baseband processor, which may include one or more central processing units (CPUs). When the first terminal device 1100 is a component having the function of a terminal device, the transceiver module 1120 may be a radio frequency unit, and the processing module 1110 may be a processor, such as a baseband processor. When the first terminal device 1100 is a chip system, the transceiver module 1120 may be an input / output interface of a chip (e.g., a baseband chip), and the processing module 1110 may be a processor of the chip system and may include one or more central processing units. It should be understood that in this embodiment of the present application, the processing module 1110 may be implemented by a processor or a processor-related circuit component, and the transceiver module 1120 may be implemented by a transceiver or a transceiver-related circuit component.

[0212] For example, the processing module 1110 may be configured to perform all operations, except for the transmitting and receiving operations, e.g., S61 and S65, performed by the first terminal device in the embodiment shown in Figure 6, and / or may be configured to support other processes of the techniques described herein. The transceiver module 1120 may be configured to perform all transmitting and receiving operations, e.g., S62, S64, and S66, performed by the first terminal device in the embodiment shown in Figure 6, and / or may be configured to support other processes of the techniques described herein.

[0213] In addition, the transceiver module 1120 may be one functional module. A functional module may implement both a transmitting operation and a receiving operation. For example, the transceiver module 1120 may be configured to perform all transmitting and receiving operations performed by the first terminal device in the embodiment shown in FIG. 6. For example, when a transmitting operation is performed, the transceiver module 1120 may be considered to be a transmitting module, and when a receiving operation is performed, the transceiver module 1120 may be considered to be a receiving module. Alternatively, the transceiver module 1120 may include two functional modules. The transceiver module 1120 may be considered as a collective term for two functional modules, and the two functional modules are a transmitting module and a receiving module. The transmitting module is configured to implement a transmitting operation. For example, the transmitting module may be configured to perform all transmitting operations performed by the first terminal device in the embodiment shown in FIG. 6. The receiving module is configured to implement a receiving operation. For example, the receiving module may be configured to perform all receiving operations performed by the first terminal device in the embodiment shown in FIG. 6.

[0214] The processing module 1110 is configured to detect sidelink control information from at least one second terminal device to determine a first time-frequency resource, the at least one second terminal device including a third terminal device, and the first time-frequency resource includes an unavailable time-frequency resource for transmitting data to the third terminal device.

[0215] The transceiver module 1120 is configured to transmit the first information to the third terminal device, the first information for triggering a determination of the second information.

[0216] The transceiver module 1120 is further configured to receive second information from a third terminal device, the second information indicating a second time-frequency resource, the second time-frequency resource for determining a time-frequency resource for transmitting data to the third terminal device.

[0217] The processing module 1110 is further configured to determine a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource.

[0218] The transceiver module 1120 is further configured to transmit the first data to the third terminal device on a third time-frequency resource.

[0219] In an optional implementation, the transceiver module 1120 includes: Transmitting first control information to a third terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information. In this manner, the first information is transmitted to the third terminal device.

[0220] In an optional implementation, the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

[0221] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0222] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0223] In an optional implementation, the transceiver module 1120 is further configured to retransmit the first information to the third terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

[0224] In an optional implementation, the transceiver module 1120 includes: receiving second control information from a third terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; In this manner, the second information is configured to be received from the third terminal device.

[0225] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0226] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, the data packet size of the first data for determining the second time-frequency resource.

[0227] In an optional implementation, the third time-frequency resource is the second time-frequency resource, and the transceiver module 1120: Transmitting the first data to the third terminal device on the second time-frequency resource. In such a manner, the first data is configured to be transmitted to the third terminal device on the third time-frequency resource.

[0228] In an optional implementation, the processing module 1110 is configured to detect sidelink control information from the at least one second terminal device to determine a first time-frequency resource, and is further configured to detect sidelink control information from the at least one second terminal device to determine a seventh time-frequency resource, the seventh time-frequency resource being an earliest time-frequency resource in the time domain among the available time-frequency resources determined based on the detected sidelink control information.

[0229] The transceiver module 1120 is configured to transmit the first information to the third terminal device in a manner such that the first information is transmitted to the third terminal device on a seventh time-frequency resource.

[0230] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device, or the second time-frequency resource includes a time-frequency resource unavailable for transmitting data to the third terminal device.

[0231] For other functions that may be implemented by the first terminal device 1100, please refer to the relevant descriptions in the embodiment shown in Figure 6. The details will not be described again.

[0232] 12 is a schematic block diagram of a communication device 1200 according to an embodiment of the present application. For example, the communication device 1200 is a third terminal device 1200.

[0233] The third terminal 1200 includes a processing module 1210 and a transceiver module 1220. For example, the third terminal 1200 may be a terminal device, or a chip used in a terminal device, or another combined device, component, etc. having the function of a terminal device. When the third terminal 1200 is a terminal device, the transceiver module 1220 may be a transceiver, which may include an antenna, a radio frequency circuit, etc., and the processing module 1210 may be a processor, for example, a baseband processor, which may include one or more CPUs. When the third terminal 1200 is a component having the function of a terminal device, the transceiver module 1220 may be a radio frequency unit, and the processing module 1210 may be a processor, a baseband processor. When the third terminal 1200 is a chip system, the transceiver module 1220 may be an input / output interface of a chip (e.g., a baseband chip), and the processing module 1210 may be a processor of the chip system and may include one or more central processing units. It should be understood that in this embodiment of the present application, the processing module 1210 may be implemented by a processor or processor-related circuitry, and the transceiver module 1220 may be implemented by a transceiver or transceiver-related circuitry.

[0234] For example, the processing module 1210 may be configured to perform all operations except the transmitting and receiving operations performed by the third terminal device in the embodiment shown in Figure 6, e.g., S63, and / or may be configured to support other processes of the techniques described herein. The transceiver module 1220 may be configured to perform all transmitting and receiving operations performed by the third terminal device in the embodiment shown in Figure 6, e.g., S62, S64, and S66, and / or may be configured to support other processes of the techniques described herein.

[0235] In addition, the transceiver module 1220 may be one functional module. A functional module may implement both a transmitting operation and a receiving operation. For example, the transceiver module 1220 may be configured to perform all transmitting and receiving operations performed by the third terminal device in the embodiment shown in FIG. 6. For example, when a transmitting operation is performed, the transceiver module 1220 may be considered to be a transmitting module, and when a receiving operation is performed, the transceiver module 1220 may be considered to be a receiving module. Alternatively, the transceiver module 1220 may include two functional modules. The transceiver module 1220 may be considered as a collective term for two functional modules, and the two functional modules are a transmitting module and a receiving module. The transmitting module is configured to implement a transmitting operation. For example, the transmitting module may be configured to perform all transmitting operations performed by the third terminal device in the embodiment shown in FIG. 6. The receiving module is configured to implement a receiving operation. For example, the receiving module may be configured to perform all receiving operations performed by the third terminal device in the embodiment shown in FIG. 6.

[0236] The transceiver module 1220 is configured to receive first information from a first terminal device, the first information for triggering a determination of second information.

[0237] The processing module 1210 is configured to detect sidelink control information from at least one fourth terminal device to determine a second time-frequency resource, where the at least one fourth terminal device includes a first terminal device, and the second time-frequency resource is for determining a time-frequency resource for the first terminal device to transmit data.

[0238] The transceiver module 1220 is further configured to transmit second information to the first terminal device, the second information indicating a second time-frequency resource.

[0239] The transceiver module 1220 is further configured to receive first data from the first terminal device.

[0240] In an optional implementation, the transceiver module 1220 includes: Receive first control information from a first terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information. In this manner, the first information is configured to be received from the first terminal device.

[0241] In an optional implementation, the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

[0242] In an optional implementation, the processing module 1210: determining, based on detection of sidelink control information from the at least one fourth terminal device, that a fourth time-frequency resource is not excluded from use and determining to transmit second information on the fourth time-frequency resource; if it is determined based on the detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit the second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority threshold, and otherwise determining to transmit the second information on the fourth time-frequency resource; if it is determined based on the detection of sidelink control information from the at least one fourth terminal device that a fourth time-frequency resource is excluded from use, then determining to transmit the second information on the time-frequency resource that is not excluded from use when a priority of the second data is higher than a priority of the first data, and otherwise determining to transmit the second information on the fourth time-frequency resource; The second data is data transmitted on a fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource. It is further structured as follows.

[0243] In an optional implementation, the first SCI indicates a fifth time-frequency resource, where the fifth time-frequency resource is for transmitting the second information.

[0244] In an optional implementation, the processing module 1210 is further configured to determine to transmit the second information on a fifth time-frequency resource.

[0245] In an optional implementation, the first SCI further includes a first field, where the first field indicates that the second SCI includes the first information.

[0246] In an optional implementation, the transceiver module 1220 is further configured to receive first information retransmitted from the first terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

[0247] In an optional implementation, the transceiver module 1220 includes: Transmitting second control information to the first terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information. In this manner, the second information is transmitted to the first terminal device.

[0248] In an optional implementation, the third SCI further includes a second field, where the second field indicates that the fourth SCI includes second information.

[0249] In an optional implementation, the first information further includes information for indicating a data packet size of the first data, and the processing module 1210: determining a second time-frequency resource based on the detection result and a data packet size of the first data to determine a second time-frequency resource; In this manner, the at least one first terminal device is configured to detect sidelink control information from the at least one first terminal device.

[0250] In an optional implementation, the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device 1200; or The second time-frequency resources include time-frequency resources unavailable for transmitting data to the third terminal device 1200.

[0251] In an optional implementation, the transceiver module 1220 includes: receiving first data from a first terminal device on a third time-frequency resource, the third time-frequency resource being determined based on the first time-frequency resource and the second time-frequency resource, the first time-frequency resource being determined by the first terminal device by detecting sidelink control information from at least one second terminal device; In this manner, the first data is received from the first terminal device.

[0252] For other functions that may be implemented by the third terminal device 1200, please refer to the relevant descriptions in the embodiment shown in Figure 6. The details will not be described again.

[0253] An embodiment of the present application further provides a communication apparatus. The communication apparatus may be a terminal device or a circuit. The communication apparatus may be configured to perform the operations performed by the first terminal device in the above-mentioned method embodiments.

[0254] When the communication device is a terminal device, FIG. 13 is a simplified schematic diagram of the structure of the terminal device. For ease of understanding and illustration, FIG. 13 uses an example in which the terminal device is a mobile phone. As shown in FIG. 13, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input / output device. The processor is mainly configured to process communication protocols and communication data, control the terminal device, execute software programs, process data of the software programs, and the like. The memory is mainly configured to store software programs and data. The radio frequency circuit is mainly configured to perform conversion between baseband signals and radio frequency signals, and process radio frequency signals. The antenna is mainly configured to transmit and receive radio frequency signals in the form of electromagnetic waves. The input / output device, such as a touch screen, a display, or a keyboard, is mainly configured to receive data input by a user and output data to the user. It should be noted that some types of terminal devices may not have input / output devices.

[0255] When data needs to be transmitted, after performing baseband processing on the data to be transmitted, the processor outputs the baseband signal to the radio frequency circuit, and the radio frequency circuit performs radio frequency processing on the baseband signal, and then transmits the radio frequency signal to the outside in the form of an electromagnetic wave through an antenna. When data is transmitted to a terminal device, the radio frequency circuit receives a radio frequency signal through an antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For ease of explanation, only one memory and one processor are shown in FIG. 13. In an actual terminal device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium, a storage device, etc. The memory may be located independently of the processor, or may be integrated with the processor. This is not limited in the embodiments of the present application.

[0256] In this embodiment of the present application, the antenna and the radio frequency circuit having the transmitting and receiving functions may be regarded as a transceiver unit of the terminal device (the transceiver unit may be one functional unit, which may implement the transmitting function and the receiving function, or the transceiver unit may include two functional units, namely, a receiving unit capable of implementing the receiving function and a transmitting unit capable of implementing the transmitting function), and the processor having the processing function may be regarded as a processing unit of the terminal device. As shown in FIG. 13, the terminal device includes a transceiver unit 1310 and a processing unit 1320. The transceiver unit may also be referred to as a transceiver, a transceiver device, etc. The processing unit may also be referred to as a processor, a processing board, a processing module, a processing device, etc. Optionally, the components in the transceiver unit 1310 and configured to implement the receiving function may be regarded as a receiving unit, and the components in the transceiver unit 1310 and configured to implement the transmitting function may be regarded as a transmitting unit. In other words, the transceiver unit 1310 includes a receiving unit and a transmitting unit. A transceiver unit may sometimes be referred to as a transceiver machine, a transceiver, a transceiver circuit, etc. A receiving unit may sometimes be referred to as a receiver machine, a receiver, a receiving circuit, etc. A transmitting unit may sometimes be referred to as a transmitter machine, a transmitter, a transmitting circuit, etc.

[0257] It should be understood that the transceiver unit 1310 is configured to perform transmitting and receiving operations at the terminal device side in the embodiment of the aforementioned method, and the processing unit 1320 is configured to perform operations other than receiving and transmitting operations of the terminal device in the embodiment of the aforementioned method.

[0258] For example, in one implementation, the processing unit 1320 may be configured to perform all operations, e.g., S61 and S65, except for the transmitting and receiving operations, performed by the first terminal device in the embodiment shown in Figure 6, and / or may be configured to support other processes of the techniques described herein. The transceiver unit 1310 may be configured to perform all operations, e.g., S62, S64, and S66, performed by the first terminal device in the embodiment shown in Figure 6, and / or may be configured to support other processes of the techniques described herein.

[0259] As another example, in one implementation, the processing unit 1320 may be configured to perform all operations, except for the transmitting and receiving operations, e.g., S63, performed by the third terminal device in the embodiment shown in FIG. 6, and / or may be configured to support other processes of the techniques described herein. The transceiver unit 1310 may be configured to perform all transmitting and receiving operations, e.g., S62, S64, and S66, performed by the third terminal device in the embodiment shown in FIG. 6, and / or may be configured to support other processes of the techniques described herein.

[0260] When the communication device is a chip device or circuit, the device may include a transceiver unit and a processing unit. The transceiver unit may be an input / output circuit and / or a communication interface. The processing unit may be an integrated processor, a microprocessor, or an integrated circuit.

[0261] If the communication device in this embodiment is a terminal device, please refer to the device shown in FIG. 14. In one example, the device can complete functions similar to those of the processing module 1110 in FIG. 11. In another example, the device can complete functions similar to those of the processing module 1210 in FIG. 12. In FIG. 14, the device includes a processor 1410, a data transmission processor 1420, and a data reception processor 1430. The processing module 1110 in the above embodiment may be the processor 1410 in FIG. 14 and implement the corresponding functions. The transceiver module 1120 in the above embodiment may be the data transmission processor 1420 and / or the data reception processor 1430 in FIG. 14 and implement the corresponding functions. Alternatively, the processing module 1210 in the above embodiment may be the processor 1410 in FIG. 14 and implement the corresponding functions. The transceiver module 1220 in the above embodiment may be the data transmission processor 1420 and / or the data reception processor 1430 in FIG. 14 and implement the corresponding functions. Although FIG. 14 shows a channel encoder and a channel decoder, it can be understood that the modules do not constitute a limitation to this embodiment but are merely examples.

[0262] FIG. 15 shows another embodiment of the present invention. The processing device 1500 includes modules such as a modulation subsystem, a central processing subsystem, and a peripheral subsystem. The communication device in this embodiment can be used as the modulation subsystem. Specifically, the modulation subsystem can include a processor 1503 and an interface 1504. The processor 1503 completes the function of the processing module 1110, and the interface 1504 completes the function of the transceiver module 1120. Alternatively, the processor 1503 completes the function of the processing module 1210, and the interface 1504 completes the function of the transceiver module 1220. In another variation, the modulation subsystem includes a memory 1506, a processor 1503, and a program that is stored in the memory 1506 and can be executed on the processor. When the program is executed, the processor 1503 implements the terminal device side method in the embodiment of the method described above. It should be noted that the memory 1506 may be non-volatile or volatile. The memory 1506 may be located in the modulation subsystem or may be located in the processing unit 1500 , provided that the memory 1506 may be connected to the processor 1503 .

[0263] An embodiment of the present application provides a communication system. The first communication system may include a first terminal device in the embodiment shown in Fig. 6 and a third terminal device in the embodiment shown in Fig. 6. The first terminal device is, for example, the first terminal device 1100 in Fig. 11. The third terminal device is, for example, the third terminal device 1200 in Fig. 12.

[0264] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a computer, the computer can implement a procedure related to a first terminal device in the embodiment shown in FIG. 6 provided in a method embodiment.

[0265] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium is configured to store a computer program. When the computer program is executed by a computer, the computer can implement a procedure related to a first terminal device in the embodiment shown in Figure 6 provided in the embodiment of the method.

[0266] An embodiment of the present application further provides a computer program product. The computer program product is configured to store a computer program. When the computer program is executed by a computer, the computer can implement a procedure related to a first terminal device in the embodiment shown in Figure 6 provided in a method embodiment.

[0267] An embodiment of the present application further provides a computer program product. The computer program product is configured to store a computer program. When the computer program is executed by a computer, the computer can implement a procedure related to a third terminal device in the embodiment shown in Figure 6 provided in a method embodiment.

[0268] It should be understood that the processor in the embodiments of the present application may be a CPU, or may be another general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0269] It can be understood that the memory referred to in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include a volatile memory and a non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable PROM (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM) used as an external cache. By way of example and not limitation, many forms of RAM may be used, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM), and direct rambus dynamic random access memory (direct rambus RAM, DR RAM).

[0270] It should be noted that when the processor is a general purpose processor, a DSP, an ASIC, an FPGA or another programmable logic device, a discrete gate, a transistor logic device, or a discrete hardware component, the memory (storage module) may be integrated into the processor.

[0271] Note that memory as described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0272] It should be understood that the sequence numbers of the above processes do not mean the execution sequence in various embodiments of the present application. The execution order of the processes should be determined according to the functions and internal logic of the processes, and should not be construed as any limitation on the implementation process of the embodiments of the present application.

[0273] Those skilled in the art may recognize that the units and algorithm steps may be implemented by electronic hardware or a combination of computer software and electronic hardware in combination with the examples described in the embodiments disclosed herein. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but the implementation form should not be considered to go beyond the scope of this application.

[0274] For convenient and concise description, it may be clearly understood by those skilled in the art that for detailed operation processes of the described systems, apparatuses, and units, reference may be made to the corresponding processes in the aforementioned method embodiments.

[0275] In the embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in another manner. For example, the described device embodiment is merely an example. For example, the division into units is merely a logical division of functions, and may be other divisions in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. In addition, the mutual couplings or direct couplings or communication connections shown or discussed may be implemented by using some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0276] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one location or distributed over multiple network units. Some or all of the units may be selected based on the actual requirements to achieve the objectives of the solutions of the embodiments.

[0277] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, or each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0278] When the function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may essentially, or a part of the contribution to the prior art, or a part of the technical solution may be implemented in the form of a software product. The software product is stored in a storage medium and includes a plurality of instructions for instructing a computer device (which may be a personal computer, a server, or a network device) to execute all or a part of the steps of the method described in the embodiments of the present application. The aforementioned computer-readable storage medium may be any available medium accessible by a computer. By way of example, and not limitation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read only memory (EEPROM), compact disc read-only memory (CD-ROM), universal serial bus flash disk, a removable hard disk or other compact disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can carry or store the anticipated program code in the form of instructions or data structures and that can be accessed by a computer.

[0279] The above description is merely a specific implementation form of the present application, and is not intended to limit the protection scope of the embodiments of the present application. Any variation or replacement that is easily understood by a person skilled in the art within the technical scope disclosed in the embodiments of the present application shall fall within the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims. [Explanation of symbols]

[0280] 1 Terminal Devices 2 Terminal Devices 1100 Communication device / first terminal device 1110 Processing Module 1120 Transceiver Module 1200 Communication device / third terminal device 1210 Processing Module 1220 Transceiver Module 1310 Transceiver Unit 1320 Processing Unit 1410 processor 1420 Data Transmission Processor 1430 Data Reception Processor 1500 Processing Equipment 1503 Processor 1504 Interface 1506 Memory

Claims

1. 1. A communication method comprising: detecting sidelink control information (SCI) from at least one second terminal device to determine first time-frequency resources, the first time-frequency resources including unavailable time-frequency resources for transmitting data to a third terminal device; transmitting first information to the third terminal device, the first information being for triggering a determination of second information; receiving the second information from the third terminal device, the second information indicating a second time-frequency resource, the second time-frequency resource being for determining a time-frequency resource for transmitting data to the third terminal device; determining a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource; transmitting first data to the third terminal device on the third time-frequency resource; Including, The step of transmitting first information to the third terminal device includes: a step of transmitting first control information to the third terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information; A communication method comprising:

2. 2. The method of claim 1, wherein the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

3. 2. The method of claim 1, wherein the first SCI indicates a fifth time-frequency resource, the fifth time-frequency resource being for transmitting the second information.

4. 4. The method of claim 1, wherein the first SCI further includes a first field, the first field indicating that the second SCI includes the first information.

5. The method comprises: retransmitting the first information to the third terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI; 5. The method of claim 1, further comprising:

6. The step of receiving the second information from the third terminal device includes: receiving second control information from the third terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; 6. The method according to any one of claims 1 to 5, comprising:

7. 7. The method of claim 6, wherein the third SCI further includes a second field, the second field indicating that the fourth SCI includes the second information.

8. 8. The method according to claim 1, wherein the first information further comprises information for indicating a data packet size of the first data, the data packet size of the first data being for determining the second time-frequency resource.

9. the third time-frequency resource is the second time-frequency resource, and the step of transmitting first data to the third terminal device on the third time-frequency resource includes: transmitting the first data to the third terminal device on the second time-frequency resource.

9. The method of any one of claims 1 to 8, comprising:

10. The step of detecting sidelink control information from the at least one second terminal device to determine a first time-frequency resource comprises: detecting sidelink control information from the at least one second terminal device to determine a seventh time-frequency resource, the seventh time-frequency resource being an earliest time-frequency resource in the time domain among the available time-frequency resources determined based on the detected sidelink control information. Further comprising: The step of transmitting first information to the third terminal device includes: transmitting the first information to the third terminal device on the seventh time-frequency resource.

10. The method of any one of claims 1 to 9, comprising:

11. the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device; or The second time-frequency resource includes the time-frequency resource that is unavailable for transmitting data to the third terminal device; 11. The method according to any one of claims 1 to 10.

12. 1. A communication method comprising: receiving first information from a first terminal device, the first information being for triggering a determination of second information; detecting sidelink control information (SCI) from at least one fourth terminal device to determine second time-frequency resources, the second time-frequency resources being for determining time-frequency resources for the first terminal device to transmit data; transmitting the second information to the first terminal device, the second information indicating the second time-frequency resource; receiving first data from the first terminal device; Including, The step of receiving first information from a first terminal device includes: receiving first control information from the first terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information; A communication method comprising:

13. 13. The method of claim 12, wherein the first information further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

14. The method comprises: determining, based on detection of the sidelink control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use and determining to transmit the second information on the fourth time-frequency resource; if it is determined based on detection of the sidelink control information from the at least one fourth terminal device that the fourth time-frequency resource is excluded from use, then determining to transmit the second information on a time-frequency resource that is not excluded from use when a priority of a second data is higher than a priority threshold, and otherwise determining to transmit the second information on the fourth time-frequency resource; or if it is determined based on detection of the sidelink control information from the at least one fourth terminal device that the fourth time-frequency resource is excluded from use, determining to transmit the second information on a time-frequency resource that is not excluded from use when a priority of a second data is higher than a priority of the first data, and otherwise determining to transmit the second information on the fourth time-frequency resource. Further comprising: The second data is data transmitted on the fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource. The method of claim 13.

15. The method of claim 12, wherein the first SCI indicates a fifth time-frequency resource, the fifth time-frequency resource being for transmitting the second information.

16. The method comprises: determining to transmit the second information on the fifth time-frequency resource; 16. The method of claim 15, further comprising:

17. 17. The method of claim 12, wherein the first SCI further includes a first field, the first field indicating that the second SCI includes the first information.

18. The method comprises: receiving the first information retransmitted from the first terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI; 18. The method of any one of claims 12 to 17, further comprising:

19. The step of transmitting the second information to the first terminal device includes: a step of transmitting second control information to the first terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; 19. The method of any one of claims 12 to 18, comprising:

20. 20. The method of claim 19, wherein the third SCI further includes a second field, the second field indicating that the fourth SCI includes the second information.

21. The first information further includes information for indicating a data packet size of the first data, and the step of detecting sidelink control information from at least one first terminal device to determine a second time-frequency resource includes: determining the second time-frequency resource based on a detection result and the data packet size of the first data; 21. The method of any one of claims 12 to 20, comprising:

22. the second time-frequency resource includes a time-frequency resource available for transmitting data to a third terminal device; or The second time-frequency resource includes a time-frequency resource unavailable for transmitting data to a third terminal device; 22. The method according to any one of claims 12 to 21.

23. The step of receiving first data from the first terminal device includes: receiving the first data from the first terminal device on a third time-frequency resource, the third time-frequency resource being determined based on the first time-frequency resource and the second time-frequency resource, the first time-frequency resource being determined by the first terminal device by detecting sidelink control information from at least one second terminal device; 23. The method of any one of claims 12 to 22, comprising:

24. A terminal device, a processing module configured to detect sidelink control information (SCI) from at least one second terminal device to determine first time-frequency resources, the first time-frequency resources including unavailable time-frequency resources for transmitting data to a third terminal device; and a transceiver module configured to transmit first information to the third terminal device, the first information being for triggering a determination of second information; Including, The transceiver module is further configured to receive the second information from the third terminal device, the second information indicating a second time-frequency resource, the second time-frequency resource being for determining a time-frequency resource for transmitting data to the third terminal device; the processing module is further configured to determine a third time-frequency resource based on the first time-frequency resource and the second time-frequency resource; the transceiver module is further configured to transmit first data to the third terminal device on the third time-frequency resource; The transceiver module includes: Transmitting first control information to the third terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information. and transmitting the first information to the third terminal device in such a manner. Terminal device.

25. The terminal device of claim 24, wherein the second SCI further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

26. The terminal device of claim 24, wherein the first SCI indicates a fifth time-frequency resource, the fifth time-frequency resource being for transmitting the second information.

27. 27. The terminal device of claim 24, wherein the first SCI further includes a first field, the first field indicating that the second SCI includes the first information.

28. The terminal device of any one of claims 24 to 27, wherein the transceiver module is further configured to retransmit the first information to the third terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

29. The transceiver module includes: receiving second control information from the third terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information; 29. The terminal device according to claim 24, configured to receive the second information from the third terminal device in such a manner.

30. 30. The terminal device of claim 29, wherein the third SCI further includes a second field, the second field indicating that the fourth SCI includes the second information.

31. A terminal device according to any one of claims 24 to 30, wherein the first information further includes information for indicating a data packet size of the first data, the data packet size of the first data being for determining the second time-frequency resource.

32. the third time-frequency resource is the second time-frequency resource, and the transceiver module: Transmitting the first data to the third terminal device on the second time-frequency resource. The terminal device according to any one of claims 24 to 31, configured to transmit the first data to the third terminal device on the third time-frequency resource in such a manner.

33. the processing module is further configured to detect the sidelink control information from the at least one second terminal device to determine the first time-frequency resource, and to detect the sidelink control information from the at least one second terminal device to determine a seventh time-frequency resource, the seventh time-frequency resource being an earliest time-frequency resource in a time domain among available time-frequency resources determined based on the detected sidelink control information; the transceiver module is configured to transmit the first information to the third terminal device in a manner such that the first information is transmitted to the third terminal device on the seventh time-frequency resource. A terminal device according to any one of claims 24 to 32.

34. the second time-frequency resource includes a time-frequency resource available for transmitting data to the third terminal device; or The second time-frequency resource includes the time-frequency resource that is unavailable for transmitting data to the third terminal device; A terminal device according to any one of claims 24 to 33.

35. A terminal device, a transceiver module configured to receive first information from a first terminal device, the first information being for triggering a determination of second information; a processing module configured to detect sidelink control information (SCI) from at least one fourth terminal device to determine second time-frequency resources, the second time-frequency resources for determining time-frequency resources for transmitting data to the terminal device; and Including, The transceiver module is further configured to transmit the second information to the first terminal device, the second information indicating the second time-frequency resource; the transceiver module is further configured to receive first data from the first terminal device; The transceiver module includes: receiving first control information from the first terminal device, the first control information including a first SCI and a second SCI, the first SCI being a first stage SCI, the second SCI being a second stage SCI, and the second SCI including the first information; and configured to receive the first information from the first terminal device in such a manner. Terminal device.

36. The terminal device of claim 35, wherein the second SCI further indicates a fourth time-frequency resource, the fourth time-frequency resource being for determining a time-frequency resource for transmitting the second information.

37. The processing module includes: determining, based on detection of the sidelink control information from the at least one fourth terminal device, that the fourth time-frequency resource is not excluded from use and determining to transmit the second information on the fourth time-frequency resource; if it is determined based on detection of the sidelink control information from the at least one fourth terminal device that the fourth time-frequency resource is excluded from use, then determining to transmit the second information on a time-frequency resource that is not excluded from use when a priority of a second data is higher than a priority threshold, and otherwise determining to transmit the second information on the fourth time-frequency resource; or if it is determined based on detection of the sidelink control information from the at least one fourth terminal device that the fourth time-frequency resource is excluded from use, then determining to transmit the second information on a time-frequency resource that is not excluded from use when a priority of a second data is higher than a priority of the first data, and otherwise determining to transmit the second information on the fourth time-frequency resource; The second data is data transmitted on the fourth time-frequency resource by a fourth terminal device reserving the fourth time-frequency resource.

37. The terminal device of claim 36, further configured to:

38. The terminal device of claim 35, wherein the first SCI indicates a fifth time-frequency resource, the fifth time-frequency resource being for transmitting the second information.

39. The terminal device of claim 38, wherein the processing module is further configured to determine to transmit the second information on the fifth time-frequency resource.

40. 40. The terminal device of claim 35, wherein the first SCI further includes a first field, the first field indicating that the second SCI includes the first information.

41. The terminal device of any one of claims 35 to 40, wherein the transceiver module is further configured to receive the first information retransmitted from the first terminal device on a sixth time-frequency resource, the sixth time-frequency resource being indicated by the first SCI.

42. The transceiver module includes: Transmitting second control information to the first terminal device, the second control information including a third SCI and a fourth SCI, the third SCI being a first stage SCI, the fourth SCI being a second stage SCI, and the fourth SCI including the second information.

42. The terminal device according to claim 35, configured to transmit the second information to the first terminal device in such a manner.

43. The terminal device of claim 42, wherein the third SCI further includes a second field, the second field indicating that the fourth SCI includes the second information.

44. The first information further includes information indicating a data packet size of the first data, and the processing module, in order to determine the second time-frequency resource, further includes: determining the second time-frequency resource based on a detection result and the data packet size of the first data; A terminal device according to any one of claims 35 to 43, configured to detect sidelink control information from at least one first terminal device in such a manner.

45. the second time-frequency resource includes a time-frequency resource available for transmitting data to the terminal device; or The second time-frequency resource includes a time-frequency resource that is unavailable for transmitting data to the terminal device. A terminal device according to any one of claims 35 to 44.

46. The transceiver module includes: receiving the first data from the first terminal device on a third time-frequency resource, the third time-frequency resource being determined based on the first time-frequency resource and the second time-frequency resource, the first time-frequency resource being determined by the first terminal device by detecting sidelink control information from at least one second terminal device; 46. ​​A terminal device according to any one of claims 35 to 45, configured to receive the first data from the first terminal device in such a manner.

47. A terminal device comprising a processor, the processor being coupled to at least one memory, the processor being configured to read a computer program stored in the at least one memory in order to perform the method according to any one of claims 1 to 11.

48. A terminal device comprising a processor, the processor being coupled to at least one memory, the processor being configured to read a computer program stored in the at least one memory to perform a method according to any one of claims 12 to 23.

49. 12. A computer-readable storage medium, the computer-readable storage medium being configured to store a computer program, the computer program being enabled, when executed on a computer, to perform the method according to any one of claims 1 to 11.

50. A computer-readable storage medium, the computer-readable storage medium configured to store a computer program, the computer program being executed on a computer to enable the computer to perform a method according to any one of claims 12 to 23.

51. A chip comprising a processor and a communication interface, the processor being configured to cause a terminal device to execute the method according to any one of claims 1 to 11 by reading instructions.

52. A chip comprising a processor and a communication interface, the processor being configured to cause a terminal device to execute a method according to any one of claims 12 to 23 by reading instructions.

53. A communication system comprising a terminal device according to any one of claims 24 to 34 and a terminal device according to any one of claims 35 to 46.

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