Side link data transmission method, apparatus and terminal

Abstract

The present disclosure discloses a sidelink data transmission method, an apparatus, and a terminal, the method including: determining time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission; transmitting data on the first transmission resource, the data to be transmitted including sidelink control information SCI for indicating at least a time-frequency resource position of the second transmission resource, the second transmission resource transmitting after the first transmission resource; and determining a target transmission resource of a resource collision indication channel for receiving resource collision indication information, the resource collision indication information being used to indicate an occurrence of resource collision on the second transmission resource, where the first transmission resource and the second transmission resource are separated by at least one minimum time interval, the minimum time interval including a first time interval and a second time interval.

Description

Technical Field

[0001] <Cross - reference to Related Applications> This application claims the priority of Chinese Patent Application No. 202110904191.4, filed in China on August 6, 2021, and incorporates all of its content by reference.

[0002] This disclosure relates to the field of communication technologies, and particularly to a sidelink data transmission method, apparatus, and terminal.

Background Art

[0003] In sidelink communication, especially when a terminal makes a resource selection only based on its own resource sensing result, the sensing result on the transmitting terminal side cannot reflect the channel environment on the receiving terminal side. Therefore, it is easily affected by hidden nodes, exposed nodes, half - duplex, etc. Thus, the resources selected by the transmitting terminal are inappropriate for the receiving terminal, or resource collisions occur between the resources selected by the transmitting terminal and those selected by other terminals. These problems can be avoided by incorporating a cooperation mechanism between terminals into the sidelink.

[0004] In the resource cooperation mechanism between terminals, there are mainly the following two solutions.

[0005] In Solution 1, the cooperating terminal feeds back a resource set to the cooperate - with terminal, and the cooperate - with terminal determines the resources for transmission based on the resource set fed back by the cooperating terminal.

[0006] In Solution 2, as shown in FIG. 1, the cooperating terminal determines whether there are resource collisions between the resources occupied by the cooperate - with terminal or the resources to be occupied in the future and those of the cooperate - with terminal itself or other terminals based on the received resource collision indication information of the cooperate - with terminal. If there are resource collisions, the cooperating terminal indicates to the cooperate - with terminal the resources where the resource collisions occur. After receiving the resource collision indication information, the cooperate - with terminal triggers resource reselection.

[0007] In the second solution for resource coordination between terminals described above, if the resource selection mechanism of the coordinated terminal is not newly designed, there may be a possibility that resource collisions cannot be effectively indicated in some scenarios, and thus the reliability of data transmission will be affected.

Summary of the Invention

Problems to be Solved by the Invention

[0008] The present disclosure provides a sidelink data transmission method, apparatus, and terminal, which solve the problem that resource collisions cannot be effectively indicated in some scenarios in the related art, can effectively indicate the resources where collisions occur, and improve the reliability of data transmission.

Means for Solving the Problems

[0009] To solve the above technical problems, the present invention is implemented as follows.

[0010] According to a first aspect, embodiments of the present disclosure provide a sidelink data transmission method applicable to a first terminal. The method includes: determining time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission; transmitting data in the first transmission resource, where the transmitted data includes at least sidelink control information (SCI) for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource; determining a target transmission resource of a resource collision indication channel for receiving resource collision indication information, where the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource. Here, there is at least a minimum time interval between the first transmission resource and the second transmission resource, the minimum time interval includes a first time interval and a second time interval, there is at least the first time interval between the first transmission resource and the target transmission resource, and there is at least the second time interval between the target transmission resource and the second transmission resource.

[0011] According to a second aspect, embodiments of the present disclosure provide a sidelink data transmission method applicable to a second terminal. The method includes: receiving data transmitted by a first terminal in a first transmission resource, where the transmitted data includes at least SCI for indicating the time-frequency resource position of a second transmission resource, and the second transmission resource performs transmission after the first transmission resource; determining, based on the SCI, a target transmission resource of a resource collision indication channel for transmitting resource collision indication information, where the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource. Here, there is at least the first time interval between the first transmission resource and the target transmission resource, and there is at least the second time interval between the target transmission resource and the second transmission resource.

[0012] According to a third aspect, an embodiment of the present disclosure provides a terminal. The terminal includes a transceiver, a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the steps of the sidelink data transmission method according to the first aspect are realized, or the steps of the sidelink data transmission method according to the second aspect are realized.

[0013] According to a fourth aspect, an embodiment of the present disclosure provides a sidelink data transmission apparatus applicable to a first terminal. The apparatus includes a first determination module configured to determine time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission, a first transmission module configured to transmit data in the first transmission resource, and a first reception module configured to determine a target transmission resource of a resource collision indication channel for receiving resource collision indication information. Here, the data to be transmitted includes at least sidelink control information SCI for indicating the time-frequency resource position of the second transmission resource. The second transmission resource performs transmission after the first transmission resource. The resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource. There is at least a minimum time interval between the first transmission resource and the second transmission resource. The minimum time interval includes a first time interval and a second time interval. There is at least the first time interval between the first transmission resource and the target transmission resource. There is at least the second time interval between the target transmission resource and the second transmission resource.

[0014] According to a fifth aspect, an embodiment of the present disclosure provides a sidelink data transmission apparatus applicable to a second terminal. The apparatus includes a second receiving module configured to receive data transmitted by a first terminal in a first transmission resource, and a second determining module configured to determine a target transmission resource of a resource collision indication channel for transmitting resource collision indication information based on the SCI. Here, the transmitted data includes at least an SCI for indicating a time-frequency resource position of a second transmission resource, the second transmission resource performs transmission after the first transmission resource, and the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource. There is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0015] According to a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium. A computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the sidelink data transmission method according to the first aspect or the steps of the sidelink data transmission method according to the second aspect are realized.

Advantages of the Invention

[0016] The beneficial effects achieved by the above technical means of the present disclosure are as follows.

[0017] According to the embodiment of the present disclosure, when the first terminal performs resource selection, there is a minimum time interval between any two selected transmission resources. Thereby, after the second terminal receives the data transmitted by the first terminal, it can effectively indicate the resource where a collision occurs. Therefore, the reliability of data transmission is improved.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0019] In order to more clearly illustrate the technical problems, technical means, and advantages to be solved by the present disclosure, specific descriptions will be made below with reference to the drawings and detailed embodiments. The specific arrangements and specific details of the components provided in the following descriptions are only for supporting a comprehensive understanding of the embodiments of the present disclosure. Therefore, as will be understood by those skilled in the art, the embodiments described herein can be variously modified and changed without departing from the scope and spirit of the present disclosure. Also, descriptions of known functions and structures are omitted for the sake of clarity and conciseness.

[0020] Note that the "one embodiment" or "an embodiment" referred to throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present disclosure. Therefore, the "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Also, these specific configurations, structures, or characteristics can be incorporated into one or more embodiments in any suitable form.

[0021] In each embodiment of the present disclosure, the magnitude of the numbers of the following steps does not mean the order of execution before and after, and the order of execution of each step should be determined by their functions and internal logic, and it should be understood that it does not impose any limitation on the implementation process of the embodiments of the present disclosure.

[0022] Also, the terms "system" and "network" in the present text can generally be used interchangeably.

[0023] In the embodiments according to the present disclosure, "B corresponding to A" means that B and A are related to each other and B can be determined based on A. However, determining B based on A does not only mean determining B based only on A, but B may also be determined based on A and / or other information.

[0024] In the embodiments of the present disclosure, the access network is not limited in form and may be an access network including a macro base station, a pico base station, a Node B (the name of a 3G mobile base station), an LTE base station (eNB), a femto base station (Femto eNB, Home eNode B, Home eNB or HeNB), a relay station, an access point, a remote radio unit (RRU), a remote radio head (RRH), etc. The user terminal may be a mobile phone (or a cellular phone), or other devices capable of transmitting or receiving wireless signals, including user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a wireless phone, a wireless local loop (WLL) station, a customer premise equipment (CPE) capable of converting a mobile signal into a wireless fidelity (WiFi) signal, or a mobile smart hot spot, a smart home appliance, or other devices capable of spontaneously communicating with a mobile communication network without human operation, etc.

[0025] Hereinafter, the resource selection method for the NR-V2X sidelink will be described.

[0026] The resource allocation method for NR-V2X sidelink includes two resource allocation modes. One is the base station scheduling method, called Mode 1. The main application scenario is that the V2X terminal is within the range of the cellular network, and the transmission resources in the sidelink of the V2X terminal are scheduled by the base station. In such a resource allocation mode, the terminal does not need to perform resource sensing. The other is the method where the terminal autonomously selects resources, called Mode 2. The main application scenarios are that the V2X terminal is outside the range of the cellular network, or the V2X terminal is within the range of the cellular network and makes autonomous resource selection in the pre-set or cellular network-set Mode 2 resource pool.

[0027] Here, in the resource selection method of Mode 2 of NR-V2X, when data arrives or resource reselection is triggered at time n, the terminal predicts the set of available resources within the resource selection window within the resource sensing window based on the SCI transmitted by other detected terminals and the measurement values of the related reference signal received power (RSRP). Here, the granularity in the time domain and frequency domain of resource sensing is a slot and a subchannel respectively.

[0028] In NR-V2X mode 2, a re-evaluation mechanism and a pre-emption mechanism are added respectively to resolve resource competition caused by non-periodic burst services and ensure the reliability of services with a high priority level. Here, the re-evaluation mechanism mainly targets unreserved resources. Before resource transmission, based on the latest sensing results, it determines whether a conflict occurs in the selected resources. If a conflict occurs, re-selection can be performed, thereby reducing the probability of resource conflict. The pre-emption mechanism mainly targets reserved resources. When it is noticed that a reserved resource has been occupied by a user equipment (UE) with a high priority level, it triggers the low-priority UE to perform resource re-selection, thereby avoiding conflicts between high and low priorities and ensuring the performance of high-priority services.

[0029] Describe the physical channel structure of the NR-V2X side link.

[0030] As shown in FIGS. 2-3, the NR V2X channel structure includes a Physical Sidelink Control Channel (PSCCH), a Physical Sidelink Shared Channel (PSSCH), and a PSFCH. Among them, the PSCCH carries the 1st-stage Sidelink Control Information (SCI), the PSSCH has some resources carrying the 2nd-stage Sidelink Control Information (SCI) and data, and the PSFCH adopts a sequence-based transmission method to carry the feedback information of Acknowledgement (ACK) or Negative ACKnowledge (NACK) of Hybrid Automatic Repeat reQuest (HARQ). The PSCCH continuously occupies two or three OFDM symbols starting from the second Orthogonal Frequency Division Multiple Access (OFDM) symbol. If the PSFCH channel resource is included in the current slot, each PSFCH channel occupies the second and third OFDM symbols from the back in one slot in the time domain and one physical resource block in the frequency domain. The two OFDM symbols used for PSFCH transmission are transmitted in an overlapping manner.

[0031] Currently, the 1st-stage SCI has only one type of format, namely SCI format 1-A, which is mainly used for scheduling PSSCH and 2nd-stage SCI. SCI format 1-A includes the following information fields: Priority, Frequency resource assignment, Time resource assignment, Resource reservation period, Demodulation Reference Signal (DMRS) pattern, 2nd-stage SCI format, Beta_offset indicator, Number of DMRS port, Modulation and coding scheme, Modulation and coding scheme (MCS) table indicator, PSFCH overhead indication, Reserved bit, and Cyclic redundancy check (CRC) check bits (24 bits).

[0032] The 1st-stage SCI implicitly indicates the corresponding TB resource position based on its time-frequency position, indicates the reserved retransmission position of the current transmission block (TB) through Frequency resource assignment and Time resource assignment, and indicates the reserved resource position of the next TB through Resource reservation period. That is, for periodic services, the relative time-frequency position within each resource period remains unchanged until the service transmission is completed.

[0033] The 2nd-stage SCI currently has two types of formats. Among them, SCI format 2-A is used for the decoding of PSSCH and communication based on ACK / NACK HARQ, NACK-based HARQ, or HARQ-ACK free. On the other hand, SCI format 2-B is used for the decoding of PSCCH and communication based on NACK-based HARQ or HARQ-ACK free.

[0034] In some scenarios, as shown in FIG. 4, the resource collision signaling is indicated in a manner similar to PSFCH. Assuming that the set period is four slots and the two transmission resources of one TB selected by the assisted terminal are Tx1 and Tx2 respectively, the assisting terminal can grasp that a resource collision occurs in the transmission resource of Tx2 after receiving Tx1. However, since there is no resource for transmitting the resource collision signaling between Tx2 and Tx1, the resource collision occurring at Tx2 cannot be effectively indicated.

[0035] Specifically, the embodiments of the present disclosure provide a sidelink data transmission method, apparatus, and terminal, thereby solving the problem that resource collisions cannot be effectively indicated in some scenarios in the related art, effectively indicating the resources where collisions occur, and improving the reliability of data transmission.

[0036] <First Embodiment> As shown in FIG. 5, the embodiments of the present disclosure provide a sidelink data transmission method. The method is applied to a first terminal and specifically includes the following steps.

[0037] In step 51, determine the time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission.

[0038] In step 52, data transmission is performed on the first transmission resource. Here, the data to be transmitted includes at least sidelink control information SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource.

[0039] Note that in the embodiments of the present disclosure, the first transmission resource is before the second transmission resource.

[0040] In step 53, determine the target transmission resource of the resource collision indication channel for receiving resource collision indication information. The resource collision indication information is used to indicate the occurrence of resource collision in the second transmission resource.

[0041] Here, there is at least a minimum time interval between the first transmission resource and the second transmission resource, and the minimum time interval includes a first time interval and a second time interval.

[0042] There is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0043] In this embodiment, as shown in FIG. 6, when the assisted terminal (i.e., the first terminal, for example, UE-B) performs resource selection, there must also be a minimum time interval (for example, the minimum time interval is represented by Z) between any two selected transmission resources. That is, any two transmission resources are at least Z apart. Here, Z includes at least two parts of time, which are the first time interval (for example, the first time interval is represented by a) and the second time interval (for example, the second time interval is represented by b), that is, Z = a + b.

[0044] Note that the target transmission resource is the transmission resource of the resource collision indication channel for transmitting resource collision indication information. Here, the transmission resource includes a slot position, a physical resource block (PRB) position in the frequency domain, and a resource index.

[0045] In this embodiment, when the first terminal performs resource selection, any two selected transmission resources are separated by a minimum time interval. By doing so, after the second terminal receives the data transmitted by the first terminal, it can effectively indicate the resources where collisions occur. Therefore, the reliability of data transmission is improved.

[0046] Note that the resource collision indication information in the embodiments of the present disclosure can be transmitted in a manner similar to that of the PSFCH. That is, the resource collision indication channel is used for transmitting the resource collision indication information. Considering the compatibility with the old version of NR-V2X, it is necessary to arrange the resource collision indication channel in the same slot as the PSFCH. That is, the period in which the resource collision indication channel is arranged is the same as the period in which the PSFCH is arranged.

[0047] Optionally, the first time interval is the time interval from the first time when the transmission of the SCI in the first transmission resource is completed to the start time of the first resource of the nearest resource collision indication channel.

[0048] Here, there is at least one minimum resource collision detection processing time interval between the first time and the start time of the first resource.

[0049] That is, the first time interval a represents the time between the last OFDM symbol used for SCI transmission in the first transmission resource and the first OFDM symbol of the resource collision indication channel resource closest to satisfying the minimum resource collision detection processing time. That is, starting from the last OFDM symbol of the SCI transmission by the first transmission resource and ending at the symbol before the one resource collision indication channel resource closest to satisfying the minimum resource collision detection processing time.

[0050] Optionally, the first time interval is determined based on at least one of the minimum resource collision detection processing time, the time-frequency resource position of the first transmission resource, and the configuration information of the resource collision indication channel resource.

[0051] In this embodiment, the configuration information of the resource collision indication channel resource may include the period of the resource corresponding to the resource collision indication channel, and the period is a configuration shared by one resource pool.

[0052] Optionally, the minimum resource collision detection processing time (for example, represented by a1 for the minimum resource collision detection processing time) includes at least one of the processing time for decoding the SCI, the time required for the terminal to switch from the reception state to the transmission state or from the transmission state to the reception state, and the transmission preparation time of the resource collision indication channel.

[0053] Optionally, the second time interval is the time interval from the second time when the target transmission resource ends to the start time of the second transmission resource.

[0054] Here, there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource.

[0055] That is, the second time interval b represents the time interval between the last symbol of the resource collision indication channel and the first OFDM symbol of the second transmission resource.

[0056] Optionally, the second time interval is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of a second transmission resource, and setting information of a resource collision indication channel resource.

[0057] In this embodiment, the setting information of the resource collision indication channel resource may include a period of a resource corresponding to the resource collision indication channel, and the period is a setting shared by one resource pool.

[0058] Optionally, the minimum transmission processing time (for example, b1) includes at least one of a reception time and a processing time of a resource collision indication channel, a time taken for a terminal to perform resource selection, a time taken for the terminal to perform transmission preparation, and a time taken for the terminal to switch between transmission and reception states.

[0059] Optionally, the step of determining a target transmission resource of a resource collision indication channel for receiving resource collision indication information includes: determining a candidate resource set of a transmission resource for receiving a resource collision indication channel, where the candidate resource set includes a slot position corresponding to the transmission resource and a physical resource block PRB position in a frequency domain; and determining the target transmission resource based on the candidate resource set.

[0060] FIG. 7 is a schematic diagram of determining a candidate resource set according to an embodiment of the present disclosure.

[0061] In an alternative embodiment of the present disclosure, the setting of the resource pool is as follows.

[0062] The period of the resource collision indication channel is N (for example, N = 4), and in the frequency domain, it includes M (for example, M = 64) physical resource blocks (PRBs). The number of sequence pairs that are allowed to be transmitted and satisfy orthogonality in each PRB is Y (for example, Y = 2). Here, since the ZC sequence is generally adopted, Y can be represented by the number of cyclic shift pairs.

[0063] In the resource pool, in the frequency domain, it includes S (for example, S = 4) sub-channels. Therefore, the number of resource units in the window related to the resource collision indication channel resource set is S × N = 16.

[0064] The number of PRBs included in one resource collision channel group is G, where G = M / (S × N) = 4.

[0065] Each resource collision indication channel group is related to one resource unit in the window related to the resource collision indication channel resource set. Here, as shown in FIG. 7, the resource collision indication channel group and the resource unit with the same number are related.

[0066] Optionally, the candidate resource set is determined based on at least one of the time - frequency resource position of the first transmission resource and the time - frequency resource position of the second transmission resource. The determination of the candidate resource set will be described in detail as follows.

[0067] (1) Determining the candidate resource set based on the time - frequency resource position of the first transmission resource is specifically as follows.

[0068] When determining the candidate resource set, if the candidate resource set is determined based on the time-frequency resource position of the first transmission resource, since the candidate resource set is related to the position of the time-frequency resources occupied by the first transmission resource in the window related to the resource collision indication, the candidate resource collision indication channel group can be determined based on the numbers of the resource units occupied by the first transmission resource.

[0069] Here, the resource units in the transmission window can be numbered in the form of first in the time domain and then in the frequency domain (shown in FIG. 7) or first in the frequency domain and then in the time domain.

[0070] Note that determining the candidate resource set by this method mainly includes the following two solutions.

[0071] Solution 1: Determine the corresponding resource collision channel group based on the resource unit with the smallest number among the resource units occupied by the first transmission resource, and use it as the candidate resource set.

[0072] For example, in the first solution shown in FIG. 7, when the first transmission resource occupies two resource units 5 and 9, the resource collision indication channel group corresponding to it is the resource collision channel group corresponding to resource unit 5.

[0073] Solution 2: Determine the corresponding resource collision channel group based on all the resource units occupied by the first transmission resource, and use it as the candidate resource set.

[0074] For example, in the second solution shown in FIG. 7, when the first transmission resource occupies two resource units 5 and 9, the resource collision indication channel group corresponding to it is the resource collision channel groups corresponding to resource units 5 and 9.

[0075] Optionally, when determining the set of candidate resources based on the time-frequency domain resources occupied by the first transmission resource, the length of the second time interval is the minimum transmission processing time.

[0076] In this embodiment, the second time interval b is namely the minimum transmission processing time b1, and the influence of other time intervals b2 does not need to be considered.

[0077] Also, in this embodiment, as shown in FIG. 8, the resource collision indication information of the second terminal is after the SCI transmission of the first transmission resource and satisfies the first time interval a. In the slot including the resource collision indication channel that comes first later, the resource collision of the second transmission resource is fed back.

[0078] Note that in this embodiment, it can be agreed that the resource collision indication information only indicates the resource collision occurring in the next transmission resource of the current transmission resource. For example, if the current transmission resource is the first transmission resource, the resource collision indication information only indicates that a resource collision occurs in the second transmission resource.

[0079] (2) Determining the set of candidate resources based on the time-frequency resource position of the second transmission resource is specifically as follows.

[0080] When checking the set of candidate resources, when determining the set of candidate resources based on the time-frequency resource position of the second transmission resource, since the set of candidate resources is related to the position of the time-frequency resources occupied by the second transmission resource in the window related to resource collision, the candidate resource collision indication channel group can be determined based on the number of the resource unit occupied by the second transmission resource.

[0081] Here, the resource units in the transmission window can be numbered in the form of first the time domain and then the frequency domain (shown in FIG. 7), or first the frequency domain and then the time domain.

[0082] In this method, determining the candidate resource set mainly includes the following two solutions.

[0083] Solution 1: Based on the resource unit with the smallest number among the resource units occupied by the second transmission resource, determine the corresponding resource collision channel group as the candidate resource set.

[0084] For example, in the first solution as shown in FIG. 7, when the second transmission resource occupies two resource units 5 and 9, the resource collision indication channel group corresponds to the resource collision channel group corresponding to resource unit 5.

[0085] Solution 2: Based on all the resource units occupied by the second transmission resource, determine the corresponding resource collision channel group as the candidate resource set.

[0086] For example, in the second solution as shown in FIG. 7, when the second transmission resource occupies two resource units 5 and 9, the resource collision indication channel group corresponds to the resource collision channel groups corresponding to resource units 5 and 9.

[0087] Optionally, when determining the candidate resource set based on the time-frequency resources occupied by the second transmission resource, the candidate resource set is determined based on at least one of the minimum transmission processing time, the time-frequency resource position of the second transmission resource, and the setting information of the resource collision indication channel resource.

[0088] In this embodiment, for the transmission resource of the resource collision indication channel, after a first time interval a has elapsed from the SCI transmission of the first transmission resource, it is necessary to determine the specific transmission resource of the resource collision indication channel (i.e., the target transmission resource) based on the time-frequency resource position of the second transmission resource.

[0089] Here, when the first transmission resource and the second transmission resource are far apart in the time domain, as shown in FIG. 9, the second terminal can feedback the resource collision of the second transmission resource in the slot (the position shown as the first slot S1 in FIG. 9) including the resource collision indication channel first after the first transmission resource. However, since the second transmission resource is only related to the resource collision indication channel in the second slot S2 (shown in FIG. 9), it is necessary to wait for a while before feedbacking the resource collision. As a result, the second terminal cannot grasp the resource collision quickly and cannot perform resource reselection quickly.

[0090] Optionally, in the determined candidate resource set, the target transmission resource is determined based on at least one of the cyclic redundancy check code CRC bits in the first-stage sidelink control information 1st-stage SCI, the source identifier (Identity, ID) information in the second-stage sidelink control information 2nd-stage SCI, the number of PRBs in the candidate resource set, and the number of sequence pairs that can be orthogonally multiplexed in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0091] In this embodiment, the transmission resource of the resource collision indication information is determined by the CRC check bits in the 1st-stage SCI. Thereby, the transmission resource can be effectively associated with the first terminal, and the transmission resources of the resource collision indication information collide in the case of multiple users can be prevented.

[0092] Also, the numbering of the resource indexes of the resource collision indication channels in one candidate resource set may adopt the form of frequency domain first and then code domain, or may adopt the form of code domain first and then frequency domain.

[0093] In an alternative embodiment of the present disclosure, the resource index can be specifically represented as follows. [Equation 1] Resoure_index=(K)Mod(L×Y)

[0094] Here, K is determined based on the CRC bits in the 1st-stage SCI or the source ID (i.e., source ID) in the 2nd-stage SCI.

[0095] In this embodiment, when determining the target transmission resource for resource collision only by the 1st-stage SCI, the processing time delay can be effectively reduced, and by determining the transmission resource of the resource collision indication information based on the CRC check bits in the 1st-stage SCI, the transmission resource can be effectively associated with the first terminal, and it is possible to prevent the transmission resources of the resource collision indication information from colliding in the case of multiple users.

[0096] That is, the following effects can be achieved by adopting the CRC of the 1st-stage SCI. On the one hand, the time delay can be effectively reduced, and it only needs to be decoded by the PSCCH, and there is no need to wait until the PSSCH is completely transmitted. On the other hand, the same function as when adopting the source ID can be achieved, and it is possible to avoid the transmission resources of the resource collision indication channel from colliding among users.

[0097] Optionally, the SCI includes the 1st-stage SCI and / or the 2nd-stage SCI.

[0098] Here, when the SCI is the 1st-stage SCI, the last orthogonal frequency division multiplexing (OFDM) symbol in which the transmission of the SCI is performed is the last OFDM symbol in which the transmission of the physical sidelink control channel (PSCCH) is performed, and the decoding for the SCI is the decoding for the PSCCH.

[0099] When the SCI includes 1st-stage SCI and 2nd-stage SCI, the last OFDM symbol for transmitting the SCI is the last OFDM symbol for transmitting the Physical Sidelink Shared Channel (PSSCH), and the decoding for the SCI includes the decoding for the 1st-stage SCI and the decoding for the 2nd-stage SCI.

[0100] That is, the definition of SCI transmission or SCI decoding includes the following two situations.

[0101] In Situation 1, the SCI for resource coordination between terminals includes only the 1st-stage SCI. At this time, the last OFDM symbol of the SCI transmission represents the last OFDM symbol of the PSCCH transmission, and correspondingly, the decoding of the SCI is also the decoding only for the PSCCH.

[0102] In Situation 2, the SCI for resource coordination between terminals includes the 1st-stage SCI and the 2nd-stage SCI. At this time, the last OFDM symbol of the SCI transmission represents the last OFDM symbol of the PSSCH transmission, and correspondingly, the decoding of the SCI includes the decoding of the 1st-stage SCI and the decoding of the 2nd-stage SCI.

[0103] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is among N consecutive slots that are before the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource. Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0104] In this embodiment, as shown in FIG. 10 (for example, N = 4), the slot of each resource collision indication channel resource is associated with the first transmission resource among the previous N slots that satisfies the minimum resource collision detection processing time a1. The N slots are N consecutive slots in the resource pool.

[0105] As shown in FIG. 11, the slot of the resource collision indication channel that can feedback the resource collision earliest is associated with the transmission window of the first transmission resource (that is, the position indicated by the dotted frame in the drawing). The transmission window satisfies the time interval between the slot of the resource collision indication channel resource being the minimum resource collision detection processing time a1 and the previous N slots.

[0106] Here, the first time interval a is described as follows. As shown in FIG. 11, the first time interval a includes at least two parts of time, that is, the minimum resource collision detection processing time a1 and the time interval a2. Here, a2 is related to the period of the resource collision indication channel and the specific time-frequency resource position of the first transmission resource respectively. Note that a2 may be a changing value.

[0107] Optionally, the slot of the target transmission resource is associated with the second transmission resource. The related second transmission resource is among N consecutive slots that are after the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0108] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0109] In this embodiment, as shown in FIG. 12, the slot of each resource collision indication channel resource is associated with the second transmission resource among the N slots that satisfies the minimum transmission processing time b1 and are after it. The N slots are N consecutive slots in the resource pool.

[0110] Here, the second time interval b is described as follows. As shown in FIG. 13, the second time interval b is composed of two parts of time. One is the minimum transmission processing time b1, and the other time interval b2 is related to the period of the resource collision indication channel and the specific time-frequency resource position of the second transmission resource respectively. Note that the time interval b2 may be a changing value.

[0111] Optionally, the transmitted data further includes an SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0112] Here, when arranged according to the sequence of time before and after, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0113] Note that in this embodiment, the transmitted data may include an SCI of the time-frequency resource positions of a plurality of transmission resources (that is, transmission resources, such as the first transmission resource, the second transmission resource, etc.). Here, taking the example of including the information of three transmission resources, when the three transmission resources are arranged in time order, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource. Specifically, the following examples are given.

[0114] In situation 1, when the second terminal knows from the SCI of the first transmission resource that a resource collision occurs in the second transmission resource, the second terminal transmits resource collision indication information in the transmission resource corresponding to the time-frequency resource position of the first transmission resource. Here, the resource collision indication information specifically indicates that a resource collision occurs in the second transmission resource.

[0115] In situation 2, when the second terminal knows from the SCI of the first transmission resource that a resource collision occurs only in the third transmission resource, the second terminal does not indicate the occurrence of the resource collision. Here, the resource collision of the third transmission resource can be determined based on the SCI of the second transmission resource.

[0116] That is, in the embodiments of the present disclosure, it can be agreed that the resource collision indication information indicates only the resource collision occurring in the next transmission resource of the current transmission resource. For example, when the current transmission resource is the first transmission resource, the resource collision indication information indicates only the resource collision occurring in the second transmission resource.

[0117] Optionally, the sidelink data transmission method further includes: detecting resource collision indication information in a target transmission resource; and when the resource collision indication information transmitted by the second terminal can be detected, performing resource reselection based on the resource collision indication information.

[0118] In this embodiment, the first terminal can determine the target transmission resource of the resource collision indication channel related to the second transmission resource. In this way, when the resource collision indication information is detected in the target transmission resource, resource reselection for the second transmission resource can be triggered.

[0119] According to the embodiments of the present disclosure, when the first terminal performs resource selection, any two selected transmission resources are also separated by a minimum time interval. Thereby, after receiving the data transmitted by the first terminal, the second terminal can effectively indicate the resources where collisions occur. Therefore, the reliability of data transmission is improved.

[0120] <Second Embodiment> As shown in FIG. 14, the embodiments of the present disclosure provide a sidelink data transmission method. The method is applied to a second terminal and specifically includes the following steps.

[0121] In step 1401, receive the data transmitted by the first terminal in the first transmission resource, where the transmitted data includes at least SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource.

[0122] In the embodiments of the present disclosure, the first transmission resource is before the second transmission resource.

[0123] In step 1402, based on the SCI, determine the target transmission resource of the resource collision indication channel for transmitting the resource collision indication information, where the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource.

[0124] Here, there is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0125] Note that the target transmission resource is the transmission resource of the resource collision indication channel for transmitting the resource collision indication information. Here, the transmission resource includes a slot position, a PRB position in the frequency domain, and a resource index.

[0126] In this embodiment, as shown in FIG. 6, when the cooperative terminal (i.e., the second terminal, for example, UE-A) receives the data (the data includes the SCI) transmitted by the first terminal in the first transmission resource, it can determine whether a resource collision occurs in the second transmission resource reserved by the first terminal. If a resource collision occurs, the second terminal can determine the transmission resource (i.e., the target transmission resource) of the resource collision indication channel related to the second transmission resource based on the SCI in the first transmission resource in a slot that satisfies the first time interval a and is subsequent, and can feedback (i.e., transmit) the resource collision indication information in the target transmission resource. In this way, the resource collision can be effectively indicated, and thus the reliability of data transmission can be improved.

[0127] For the second terminal, the slot position of the transmission resource of the resource collision indication channel for indicating a resource collision may be in a slot that satisfies a first time interval and that contains the resource of the resource collision indication channel that is closest and later. Thereby, the second terminal can indicate the occurrence of a resource collision to the first terminal earlier.

[0128] In this embodiment, a resource in which a resource collision will occur in the future can be effectively indicated.

[0129] Optionally, the first time interval is a time interval from a first time when transmission of the SCI performed in the first transmission resource is completed to a start time of a first resource of the closest one resource collision indication channel.

[0130] Here, there is at least one minimum resource collision detection processing time between the first time and the start time of the first resource.

[0131] That is, the first time interval a represents the time between the last OFDM symbol in which the SCI transmission of the first transmission resource is performed and the first OFDM symbol of the closest one resource collision indication channel resource that satisfies the minimum resource collision detection processing time. That is, it starts from the last OFDM symbol of the SCI transmission by the first transmission resource and ends at the symbol before the closest one resource collision indication channel resource that satisfies the minimum resource collision detection processing time.

[0132] Optionally, the first time interval is determined based on at least one of a minimum resource collision detection processing time, a time-frequency resource position of the first transmission resource, and setting information of the resource collision indication channel resource.

[0133] Optionally, the minimum resource collision detection processing time (for example, the minimum resource collision detection processing time is represented by a1) includes at least one of the processing time of the decoding of the SCI, the time taken for the terminal to switch from the reception state to the transmission state or from the transmission state to the reception state, and the transmission preparation time of the resource collision indication channel.

[0134] In this embodiment, the configuration information of the resource collision indication channel resource may include the period of the resource corresponding to the resource collision indication channel, and the period is a configuration shared by one resource pool.

[0135] Optionally, the second time interval is the time interval from the second time when the target transmission resource ends to the start time of the second transmission resource.

[0136] Here, there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource.

[0137] That is, the second time interval b represents the time interval between the last symbol of the resource collision indication channel and the first OFDM symbol of the second transmission resource.

[0138] Optionally, the second time interval is determined based on at least one of the minimum transmission processing time, the time-frequency resource position of the second transmission resource, and the configuration information of the resource collision indication channel resource.

[0139] In this embodiment, the configuration information of the resource collision indication channel resource may include the period of the resource corresponding to the resource collision indication channel, and the period is a configuration shared by one resource pool.

[0140] Optionally, the minimum transmission processing time (e.g., b1) includes at least one of the reception time and processing time of the resource collision indication channel, the time taken for the terminal to perform resource selection, the time taken for the terminal to prepare for transmission, and the time taken for the terminal to switch between the reception and transmission states.

[0141] Optionally, the step of determining the target transmission resource of the resource collision indication channel for transmitting the resource collision indication information is a step of determining a set of candidate resources for the transmission resource for transmitting the resource collision indication channel, where the set of candidate resources includes the slot position corresponding to the transmission resource and the PRB position in the frequency domain, and a step of determining the target transmission resource based on the set of candidate resources.

[0142] FIG. 7 is a schematic diagram of determining a set of candidate resources according to an embodiment of the present disclosure.

[0143] In an alternative embodiment of the present disclosure, the setting of the resource pool is as follows.

[0144] The period of the resource collision indication channel is N (e.g., N = 4), and in the frequency domain, it includes M (e.g., M = 64) physical resource blocks (PRBs). The number of sequence pairs that are allowed to be transmitted and satisfy orthogonality in each PRB is Y (e.g., Y = 2). Here, since the ZC sequence is generally adopted, Y can be represented by the number of cyclic shift pairs.

[0145] In the resource pool, in the frequency domain, it includes S (e.g., S = 4) sub-channels. Therefore, the number of resource units in the window related to the resource collision indication channel resource set is S×N = 16.

[0146] The number of PRBs included in one resource collision channel group is G, where G = M / (S × N) = 4.

[0147] Each resource collision indication channel group is related to one resource unit in the window related to the resource collision indication channel resource set. Here, as shown in FIG. 7, the resource collision indication channel group and the resource unit with the same number are related.

[0148] Optionally, the candidate resource set is determined based on at least one of the time - frequency resource position of the first transmission resource and the time - frequency resource position of the second transmission resource. The determination of the candidate resource set will be described in detail as follows.

[0149] (1) Determining the candidate resource set based on the time - frequency resource position of the first transmission resource is specifically as follows.

[0150] When determining the candidate resource set, if the candidate resource set is determined based on the time - frequency resource position of the first transmission resource, since the candidate resource set is related to the position of the time - frequency resources occupied by the first transmission resource in the window related to the resource collision indication, the candidate resource collision indication channel group can be determined based on the number of the resource unit occupied by the first transmission resource.

[0151] Here, the resource units in the transmission window can be numbered in the form of first in the time domain and then in the frequency domain (shown in FIG. 7) or first in the frequency domain and then in the time domain.

[0152] Note that determining the candidate resource set by this method mainly includes the following two schemes.

[0153] Solution 1: Based on the resource unit with the smallest number among the resource units occupied by the first transmission resource, determine the corresponding resource collision channel group as the candidate resource set.

[0154] For example, in the first solution shown in FIG. 7, when the first transmission resource occupies two resource units 5 and 9, the resource collision channel group corresponding to the resource collision indication channel group is the resource collision channel group corresponding to resource unit 5.

[0155] Solution 2: Based on all the resource units occupied by the first transmission resource, determine the corresponding resource collision channel group as the candidate resource set.

[0156] For example, in the second solution shown in FIG. 7, when the first transmission resource occupies two resource units 5 and 9, the resource collision channel group corresponding to the resource collision indication channel group is the resource collision channel group corresponding to resource units 5 and 9.

[0157] Optionally, when determining the candidate resource set based on the time - frequency domain resources occupied by the first transmission resource, the length of the second time interval is the minimum transmission processing time.

[0158] In this embodiment, the second time interval b is the minimum transmission processing time b1, and there is no need to consider the influence of other time intervals b2.

[0159] Also, in this embodiment, as shown in FIG. 8, the resource collision indication information of the second terminal feeds back the resource collision of the second transmission resource in the slot that comes later and contains the resource collision indication channel for the first time and satisfies the first time interval a after the SCI transmission of the first transmission resource.

[0160] In addition, in this embodiment, it can be agreed that the resource collision indication information only indicates a resource collision occurring in the next transmission resource of the current transmission resource. For example, if the current transmission resource is the first transmission resource, the resource collision indication information only indicates that a resource collision occurs in the second transmission resource.

[0161] (2) Determining the candidate resource set based on the time-frequency resource position of the second transmission resource is specifically as follows.

[0162] When checking the candidate resource set, when determining the candidate resource set based on the time-frequency resource position of the second transmission resource, since the candidate resource set is related to the position of the time-frequency resource occupied by the second transmission resource in the window related to the resource collision, the candidate resource collision indication channel group can be determined based on the number of the resource unit occupied by the second transmission resource.

[0163] Here, the resource units in the transmission window can be numbered in the form of first in the time domain and then in the frequency domain (shown in FIG. 7), or first in the frequency domain and then in the time domain.

[0164] Note that determining the candidate resource set in this method mainly includes the following two solutions.

[0165] Solution 1: Determine the corresponding resource collision channel group based on the resource unit with the smallest number among the resource units occupied by the second transmission resource, and use it as the candidate resource set.

[0166] For example, in the first solution as shown in FIG. 7, when the second transmission resource occupies two resource units 5 and 9, the resource collision indication channel group corresponds to the resource collision channel group corresponding to the resource unit 5.

[0167] Solution 2: Based on all resource units occupied by the second transmission resource, determine the corresponding resource collision channel group as the candidate resource set.

[0168] For example, in the second solution as shown in FIG. 7, when the second transmission resource occupies two resource units of 5 and 9, the resource collision indication channel group corresponds to the resource collision channel group corresponding to resource units 5 and 9.

[0169] Optionally, in the determined candidate resource set, the target transmission resource is determined based on at least one of the CRC bits in the 1st-stage SCI, the source ID information in the 2nd-stage SCI, the number of PRBs in the candidate resource set, and the number of sequence pairs orthogonally multiplexable in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0170] In this embodiment, the transmission resource of the resource collision indication information is determined by the CRC check bits in the 1st-stage SCI. Thereby, the transmission resource can be effectively associated with the first terminal, and the transmission resources of the resource collision indication information can be prevented from colliding in the case of multiple users.

[0171] In an alternative embodiment of the present disclosure, the resource index can be specifically represented as follows. [Equation 2] Resoure_index=(K)Mod(L×Y)

[0172] Here, K is determined based on the CRC bits in the 1st-stage SCI or the source ID in the 2nd-stage SCI.

[0173] In this embodiment, when determining the target transmission resource of resource collision only by the 1st-stage SCI, the processing time delay can be effectively reduced, and by determining the transmission resource of the resource collision indication information by the CRC check bits in the 1st-stage SCI, the transmission resource can be effectively associated with the first terminal, and it is possible to prevent the transmission resources of the resource collision indication information from colliding in the case of multiple users.

[0174] That is, the following effects can be achieved by adopting the cyclic redundancy check (CRC) of the 1st-stage SCI. On the one hand, the time delay can be effectively reduced, and it only needs to be decoded by the PSCCH, and there is no need to wait until the PSSCH is completely transmitted. On the other hand, the same function as when adopting the source ID can be achieved, and it is possible to avoid the transmission resources of the resource collision indication channel from colliding among users.

[0175] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is in the continuous N slots that are before the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0176] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0177] In this embodiment, as shown in FIG. 10 (for example, N = 4), the slot of each resource collision indication channel resource is related to the first transmission resource in the previous N slots that satisfy the minimum resource collision detection processing time a1. The N slots are consecutive N slots in the resource pool.

[0178] As shown in FIG. 11, the slot of the resource collision indication channel that can feedback the resource collision earliest is related to the transmission window of the first transmission resource (i.e., the position indicated by the dotted frame in the drawing). The transmission window is the N slots that satisfy the minimum resource collision detection processing time a1 and are before the time interval between the slot of the resource collision indication channel resource.

[0179] Here, the first time interval a is described as follows. As shown in FIG. 11, the first time interval a includes at least two parts of time, that is, the minimum resource collision detection processing time a1 and the time interval a2. Here, a2 is related to the period of the resource collision indication channel and the specific time-frequency resource position of the first transmission resource respectively. Note that a2 may be a changing value.

[0180] Optionally, the slot of the target transmission resource is related to the second transmission resource. The related second transmission resource is among the continuous N slots that are after the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0181] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0182] In this embodiment, as shown in FIG. 12, the slot of each resource collision indication channel resource satisfies the minimum transmission processing time b1 and is related to the second transmission resource among the N slots after that. The N slots are the continuous N slots in the resource pool.

[0183] Here, the second time interval b is described as follows. As shown in FIG. 13, the second time interval b is composed of two parts of time. One is the minimum transmission processing time b1, and the other time interval b2 is related to the period of the resource collision indication channel and the specific time-frequency resource position of the second transmission resource respectively. Note that the time interval b2 may be a changing value.

[0184] Optionally, the transmitted data further includes an SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0185] Here, when arranged according to the sequence of time before and after, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0186] Note that in this embodiment, the transmitted data may include the SCI of the time-frequency resource positions of a plurality of transmission resources (that is, transmission resources, such as the first transmission resource, the second transmission resource, etc.). Here, taking the example of including the information of three transmission resources, when the three transmission resources are arranged in time order, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource. Specifically, the following examples are given.

[0187] In situation 1, when the second terminal knows from the SCI of the first transmission resource that a resource collision occurs in the second transmission resource, the second terminal transmits resource collision indication information in the transmission resource corresponding to the time-frequency resource position of the first transmission resource. Here, the resource collision indication information specifically indicates that a resource collision occurs in the second transmission resource.

[0188] In situation 2, when the second terminal knows from the SCI of the first transmission resource that a resource collision occurs only in the third transmission resource, the second terminal does not indicate the occurrence of the resource collision. Here, the resource collision of the third transmission resource can be determined based on the SCI of the second transmission resource.

[0189] That is, in the embodiments of the present disclosure, it is necessary to agree that the resource collision indication information only indicates a resource collision occurring in the next transmission resource of the current transmission resource. For example, when the current transmission resource is the first transmission resource, the resource collision indication information only indicates a resource collision occurring in the second transmission resource.

[0190] According to the embodiments of the present disclosure, after the second terminal receives the data transmitted by the first terminal in the first transmission resource, it is possible to determine whether a resource collision occurs in the second transmission resource reserved by the first terminal. If a resource collision occurs, based on the SCI in the first transmission resource, the transmission resource of the resource collision indication channel related to the second transmission resource (i.e., the target transmission resource) can be determined, and the resource collision indication information can be fed back in the target transmission resource. In this way, resource collisions can be effectively indicated, thus improving the reliability of data transmission.

[0191] <Example 3> As shown in FIG. 15, the embodiments of the present disclosure provide a sidelink data transmission apparatus 1500 applied to a first terminal. The data transmission apparatus 1500 includes a first determination module 1501, a first transmission module 1502, and a first reception module 1503.

[0192] The first determination module 1501 is configured to determine the time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission.

[0193] The first transmission module 1502 is configured to perform data transmission in the first transmission resource. Here, the data to be transmitted includes at least sidelink control information SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource.

[0194] The first receiving module 1503 is configured to determine the target transmission resource of the resource collision indication channel that receives the resource collision indication information. The resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource.

[0195] Here, there is at least one minimum time interval between the first transmission resource and the second transmission resource, and the minimum time interval includes a first time interval and a second time interval.

[0196] There is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0197] In this embodiment, when the first terminal performs resource selection, any two selected transmission resources are separated by one minimum time interval. By doing so, after the second terminal receives the data transmitted by the first terminal, it can effectively indicate the resources where collisions occur. Therefore, the reliability of data transmission is improved.

[0198] Optionally, the first time interval is the time interval from the first time when the transmission of the SCI in the first transmission resource is completed to the start time of the first resource of the nearest resource collision indication channel.

[0199] Here, there is at least one minimum resource collision detection processing time between the first time and the start time of the first resource.

[0200] Optionally, the first time interval is determined based on at least one of the minimum resource collision detection processing time, the time-frequency resource position of the first transmission resource, and the setting information of the resource collision indication channel resource.

[0201] Optionally, the second time interval is the time interval from the second time when the target transmission resource ends to the start time of the second transmission resource.

[0202] Here, there is at least a minimum transmission processing time interval between the second time and the start time of the second transmission resource.

[0203] Optionally, the second time interval is determined based on at least one of the minimum transmission processing time, the time-frequency resource position of the second transmission resource, and the setting information of the resource collision indication channel resource.

[0204] Optionally, the first receiving module determines a set of candidate resources of the transmission resource for receiving the resource collision indication channel, and determines the target transmission resource based on the set of candidate resources.

[0205] Here, the set of candidate resources includes the slot position corresponding to the transmission resource and the physical resource block (PRB) position in the frequency domain.

[0206] Optionally, the set of candidate resources is determined based on at least one of the time-frequency resource position of the first transmission resource and the time-frequency resource position of the second transmission resource.

[0207] Optionally, when the set of candidate resources is determined based on the time-frequency domain resource occupied by the first transmission resource, the length of the second time interval is the minimum transmission processing time.

[0208] Optionally, when the set of candidate resources is determined based on the time-frequency resources occupied by the second transmission resource, the set of candidate resources is determined based on at least one of the minimum transmission processing time, the time-frequency resource position of the second transmission resource, and the setting information of the resource collision indication channel resource.

[0209] Optionally, the target transmission resource is determined based on at least one of the cyclic redundancy check (CRC) bits in the first-stage side link control information (1st-stage SCI), the source identifier (ID) information in the second-stage side link control information (2nd-stage SCI), the number of physical resource blocks (PRBs) in the candidate resource set, and the number of sequence pairs orthogonal multiplexable in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0210] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is within a continuous N slots that are before the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0211] Here, N is the period of the resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0212] Optionally, the slot of the target transmission resource is related to the second transmission resource. The related second transmission resource is within a continuous N slots that are after the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0213] Here, N is the period of the resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0214] Optionally, the transmitted data further includes SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0215] Here, when arranged according to the sequence of time before and after, they are in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0216] Note that the third embodiment of the present disclosure corresponds to the method according to the first embodiment described above. All implementation means according to the first embodiment described above are applicable to the embodiment of the sidelink data transmission device, and the same technical effects can be achieved.

[0217] <Fourth Embodiment> As shown in FIG. 16, an embodiment of the present disclosure provides a sidelink data transmission device 1600 applied to a second terminal. The data transmission device 1600 includes a second receiving module 1601 and a second determination module 1602.

[0218] The second receiving module 1601 is configured to receive data transmitted by the first terminal in the first transmission resource. Here, the transmitted data includes at least an SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource.

[0219] The second determination module 1602 is configured to determine a target transmission resource of a resource collision indication channel for transmitting resource collision indication information based on the SCI. Here, the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource.

[0220] Here, there is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0221] In this embodiment, the cooperating terminal (i.e., the second terminal, such as UE-A) can determine whether a resource collision occurs in the second transmission resource reserved by the first terminal when receiving the data (the data includes SCI) transmitted by the first terminal in the first transmission resource. If a resource collision occurs, the second terminal can determine the transmission resource of the resource collision indication channel related to the second transmission resource (i.e., the target transmission resource) based on the SCI in the first transmission resource in a first time interval a and in a subsequent slot, and can feedback (i.e., transmit) the resource collision indication information in the target transmission resource. In this way, resource collisions can be effectively indicated, thus improving the reliability of data transmission.

[0222] Optionally, the first time interval is the time interval from the first time when the transmission of the SCI in the first transmission resource is completed to the start time of the first resource of the nearest one resource collision indication channel.

[0223] Here, there is at least one minimum resource collision detection processing time between the first time and the start time of the first resource.

[0224] Optionally, the first time interval is determined based on at least one of the minimum resource collision detection processing time, the time-frequency resource position of the first transmission resource, and the setting information of the resource collision indication channel resource.

[0225] Optionally, the second time interval is the time interval from the second time when the target transmission resource ends to the start time of the second transmission resource.

[0226] Here, there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource.

[0227] Optionally, the second time interval is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of a second transmission resource, and configuration information of a resource collision indication channel resource.

[0228] Optionally, the second determination module determines a set of candidate resources for a transmission resource for transmitting a resource collision indication channel, and determines the target transmission resource based on the set of candidate resources.

[0229] Here, the set of candidate resources includes a slot position corresponding to the transmission resource and a PRB position in a frequency domain.

[0230] Optionally, the set of candidate resources is determined based on at least one of a time-frequency resource position of the first transmission resource and a time-frequency resource position of the second transmission resource.

[0231] Optionally, when the set of candidate resources is determined based on a time-frequency domain resource occupied by the first transmission resource, the length of the second time interval is the minimum transmission processing time.

[0232] Optionally, when the set of candidate resources is determined based on a time-frequency resource occupied by a second transmission resource, the set of candidate resources is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of the second transmission resource, and configuration information of a resource collision indication channel resource.

[0233] Optionally, the target transmission resource is determined based on at least one of the CRC bits in the 1st-stage SCI, the source ID information in the 2nd-stage SCI, the number of PRBs in the candidate resource set, and the number of sequence pairs orthogonally multiplexable in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0234] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is among N consecutive slots that are before the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0235] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0236] Optionally, the slot of the target transmission resource is related to the second transmission resource. The related second transmission resource is among N consecutive slots that are after the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0237] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0238] Optionally, the transmitted data further includes an SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0239] Here, when arranged according to the sequence of time before and after, it will be in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0240] The fourth embodiment of the present disclosure corresponds to the method according to the second embodiment described above. All the implementation means according to the second embodiment described above are applicable to the embodiment of the sidelink data transmission device, and the same technical effects can be achieved.

[0241] <Fifth Embodiment> In order to better achieve the above-described object, as shown in FIG. 17, the 5 embodiment further provides a terminal. The terminal is a first terminal and includes a processor 1700 and a memory 1720 connected to the processor 1700 via a bus interface. The memory 1720 is configured to store programs and data used when the processor 1700 executes operations, and the processor 1700 calls and executes the programs and data stored in the memory 1720.

[0242] Here, the transceiver 1710 is connected to the bus interface and is configured to receive and transmit data under the control of the processor 1700. The processor 1700 reads the program in the memory 1720 and executes steps of determining the time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission, steps of performing data transmission in the first transmission resource, and steps of determining a target transmission resource of a resource collision indication channel for receiving resource collision indication information.

[0243] Here, the data to be transmitted includes at least sidelink control information SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource. The resource collision indication information is used to indicate the occurrence of resource collision in the second transmission resource.

[0244] Here, there is at least one minimum time interval between the first transmission resource and the second transmission resource, and the minimum time interval includes a first time interval and a second time interval.

[0245] There is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0246] In addition, in FIG. 17, the bus architecture can include any number of buses and bridges connected to each other. Specifically, it is formed by connecting one or more processors represented by processor 1700 and various electrical circuits of the memory represented by memory 1720. The bus architecture can further connect various other electrical circuits such as peripheral devices, voltage regulators, and power management circuits. Since these are well known in the art, they will not be described in more detail herein. The bus interface provides an interface. The transceiver 1710 may be a plurality of elements, that is, it includes a transmitter and a receiver and provides a unit for communicating with various other devices in the transmission medium. Depending on different terminals, the user interface 1730 may be an interface for externally or internally connecting to necessary devices, and the connected devices include, but are not limited to, a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 1700 is responsible for the management and general processing of the bus architecture, and the memory 1720 can store data used when the processor 1700 performs operations.

[0247] Optionally, the first time interval is a time interval from the first time when the transmission of the SCI performed in the first transmission resource is completed to the start time of the first resource of the nearest resource collision indication channel.

[0248] Here, there is at least one minimum resource collision detection processing time interval between the first time and the start time of the first resource.

[0249] Optionally, the first time interval is determined based on at least one of a minimum resource collision detection processing time, a time-frequency resource position of the first transmission resource, and setting information of a resource collision indication channel resource.

[0250] Optionally, the second time interval is a time interval from a second time when the target transmission resource ends to a start time of the second transmission resource.

[0251] Here, there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource.

[0252] Optionally, the second time interval is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of the second transmission resource, and setting information of a resource collision indication channel resource.

[0253] Optionally, when the processor 1700 determines a target transmission resource of a resource collision indication channel for receiving resource collision indication information, specifically, it includes determining a set of candidate resources of a transmission resource for receiving the resource collision indication channel, and determining the target transmission resource based on the set of candidate resources.

[0254] Here, the set of candidate resources includes a slot position corresponding to the transmission resource and a physical resource block PRB position in a frequency domain.

[0255] Optionally, the set of candidate resources is determined based on at least one of a time-frequency resource position of the first transmission resource and a time-frequency resource position of the second transmission resource.

[0256] Optionally, when the set of candidate resources is determined based on a time-frequency domain resource occupied by the first transmission resource, the length of the second time interval is a minimum transmission processing time.

[0257] Optionally, when determining the candidate resource set based on the time-frequency resources occupied by the second transmission resource, the candidate resource set is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of the second transmission resource, and setting information of a resource collision indication channel resource.

[0258] Optionally, the target transmission resource is determined based on at least one of a cyclic redundancy check code (CRC) bit in the first-stage sidelink control information (1st-stage SCI), source identifier (ID) information in the second-stage sidelink control information (2nd-stage SCI), the number of physical resource blocks (PRBs) in the candidate resource set, and the number of sequence pairs orthogonal multiplexable in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0259] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is among N consecutive slots that are before the slot of the target transmission resource and at least a minimum resource collision detection processing time away from the slot of the target transmission resource.

[0260] Here, N is the period of the resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0261] Optionally, the slot of the target transmission resource is related to the second transmission resource. The related second transmission resource is among N consecutive slots that are after the slot of the target transmission resource and at least a minimum resource collision detection processing time away from the slot of the target transmission resource.

[0262] Here, N is the period of the resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0263] Optionally, the data to be transmitted further includes an SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0264] Here, when arranged according to the order of time before and after, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0265] The first terminal according to the present disclosure can determine the target transmission resource of the resource collision indication channel related to the second transmission resource. Thereby, when resource collision indication information is detected in the target transmission resource, resource reselection for the second transmission resource can be triggered.

[0266] <Sixth Embodiment> To better achieve the above object, as shown in FIG. 18, the 6 embodiment further provides a terminal, and the terminal is a second terminal, and includes a processor 1800 and a memory 1820 connected to the processor 1800 via a bus interface. The memory 1820 is configured to store programs and data used when the processor 1800 executes operations, and the processor 1800 calls and executes the programs and data stored in the memory 1820.

[0267] Here, the transceiver 1810 is connected to the bus interface and is configured to receive and transmit data under the control of the processor 1800. The processor 1800 reads the program in the memory 1820 and executes the steps of receiving the data transmitted by the first terminal in the first transmission resource, and determining the target transmission resource of the resource collision indication channel for transmitting the resource collision indication information based on the SCI.

[0268] Here, the transmitted data includes at least an SCI for indicating the time - frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource. The resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource.

[0269] Here, there is at least a first time interval between the first transmission resource and the target transmission resource, and there is at least a second time interval between the target transmission resource and the second transmission resource.

[0270] Note that in FIG. 18, the bus architecture can include any number of buses and bridges connected to each other. Specifically, it is formed by connecting one or more processors represented by processor 1800 and various electrical circuits of the memory represented by memory 1820. The bus architecture can further connect various other electrical circuits such as peripheral devices, voltage regulators, and power management circuits. Since these are well - known in the art, they will not be described in more detail herein. The bus interface provides an interface. The transceiver 1810 can be a plurality of elements, that is, it includes a transmitter and a receiver and provides a unit for communicating with various other devices in the transmission medium. Depending on different terminals, the user interface 1830 can be an interface for externally or internally connecting to necessary devices, and the connected devices include, but are not limited to, a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 1800 is responsible for the management and general processing of the bus architecture, and the memory 1820 can store data used when the processor 1800 performs operations.

[0271] Optionally, the first time interval is a time interval from the first time when the transmission of the SCI performed in the first transmission resource is completed to the start time of the first resource of the nearest one resource collision indication channel.

[0272] Here, there is at least one minimum resource collision detection processing time between the first time and the start time of the first resource.

[0273] Optionally, the first time interval is determined based on at least one of a minimum resource collision detection processing time, a time-frequency resource position of the first transmission resource, and setting information of a resource collision indication channel resource.

[0274] Optionally, the second time interval is a time interval from a second time when the target transmission resource ends to a start time of a second transmission resource.

[0275] Here, there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource.

[0276] Optionally, the second time interval is determined based on at least one of a minimum transmission processing time, a time-frequency resource position of the second transmission resource, and setting information of a resource collision indication channel resource.

[0277] Optionally, the processor 18 00, when determining a target transmission resource of a resource collision indication channel for transmitting resource collision indication information, specifically includes determining a set of candidate resources of a transmission resource for transmitting the resource collision indication channel, and determining the target transmission resource based on the set of candidate resources.

[0278] Here, the set of candidate resources includes a slot position corresponding to the transmission resource and a physical resource block PRB position in a frequency region.

[0279] Optionally, the set of candidate resources is determined based on at least one of a time-frequency resource position of the first transmission resource and a time-frequency resource position of the second transmission resource.

[0280] Optionally, when determining the candidate resource set based on the time-frequency domain resources occupied by the first transmission resource, the length of the second time interval is the minimum transmission processing time.

[0281] Optionally, when determining the candidate resource set based on the time-frequency resources occupied by the second transmission resource, the candidate resource set is determined based on at least one of the minimum transmission processing time, the time-frequency resource position of the second transmission resource, and the setting information of the resource collision indication channel resource.

[0282] Optionally, the target transmission resource is determined based on at least one of the CRC bits in the 1st-stage SCI, the source ID information in the 2nd-stage SCI, the number of PRBs in the candidate resource set, and the number of sequence pairs orthogonally multiplexable in one of the PRBs. Here, the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource.

[0283] Optionally, the slot of the target transmission resource is related to the first transmission resource. The related first transmission resource is among N consecutive slots that are before the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0284] Here, N is the period of the resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0285] Optionally, the slot of the target transmission resource is related to the second transmission resource. The related second transmission resource is among N consecutive slots that are after the slot of the target transmission resource and at least the minimum resource collision detection processing time away from the slot of the target transmission resource.

[0286] Here, N is the period of the resource corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer.

[0287] Optionally, the data to be transmitted further includes an SCI for indicating the time-frequency resource position of the third transmission resource, and the third transmission resource is the resource reserved by the first terminal.

[0288] Here, when arranged according to the sequence of time before and after, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource.

[0289] After receiving the data transmitted by the first terminal in the first transmission resource, the second terminal according to the present disclosure can determine whether a resource collision occurs in the second transmission resource reserved by the first terminal. When a resource collision occurs, based on the SCI in the first transmission resource, it can determine the transmission resource of the resource collision indication channel related to the second transmission resource (i.e., the target transmission resource), and can feedback the resource collision indication information in the target transmission resource. In this way, the resource collision can be effectively indicated, and thus the reliability of data transmission is improved.

[0290] As can be understood by those skilled in the art, all or some of the steps of the above-described embodiments may be implemented by hardware, or may be implemented by a computer program instructing the relevant hardware. The computer program includes instructions for executing all or some of the steps of the above-described method, and the computer program can be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0291] In addition, a specific embodiment of the present disclosure further provides a computer-readable storage medium. A computer program is stored in the storage medium. When the program is executed by a processor, it realizes the steps of the method according to the first embodiment described above, or realizes the steps of the method according to the second embodiment described above, and can achieve the same technical effects. To avoid repetition, the description is omitted here.

[0292] In the device and method according to the present disclosure, obviously, each component or each step can be disassembled and / or recombined. Such disassembly and / or recombination should be regarded as an equivalent form of the present disclosure. Also, when executing the series of processing steps described above, they can be executed in chronological order naturally according to the described order, but it is not necessarily required to be executed in chronological order, and some steps can be executed simultaneously or independently of each other. As can be understood by those skilled in the art, all or any steps or components of the method and device according to the present disclosure can be realized in the form of hardware, firmware, software, or a combination thereof in any computing device (including a processor, a storage medium, etc.) or a network of computing devices. This can be achieved by those skilled in the art by exerting their basic programming capabilities after reading the description of the present disclosure.

[0293] Therefore, the object of the present disclosure can be achieved by operating one program or a set of programs in any computing device. The computing device may be a well-known general-purpose device. Thus, the object of the present disclosure can be achieved only by providing a program product including program code for implementing the method or device. That is, such a program product also constitutes the present disclosure, and a storage medium storing such a program product also constitutes the present disclosure. Obviously, the storage medium may be any well-known storage medium or any storage medium to be developed in the future. In the devices and methods according to the present disclosure, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent forms of the present disclosure. Also, when executing the series of processing steps described above, they can be executed in chronological order naturally according to the described order, but it is not necessarily required to be executed in chronological order, and some steps can be executed simultaneously or independently of each other.

[0294] Note that the above method of separating each module is only a separation based on logical functions. In actual implementation, all or some of these modules may be integrated into one physical entity, or physically separated from each other. Also, all of these modules may be realized in a form where software is called by a process element, or all may be realized in the form of hardware, or further, some modules may be realized in a form where they are called by a process element and some modules may be realized in the form of hardware. For example, the determination module may be an independently provided process element, may be realized by being integrated into one chip of the above-described device, or alternatively, may be stored in the memory of the above-described device in the form of program code and called by one process element of the above-described device to execute the functions of the above determination module. The realization of other modules is similar to this. Also, all or some of these modules may be integrated, or each may be independently realized. The process element described here may be an integrated circuit having the ability to process signals. When realized, each step of the above-described method or each of the above modules can be performed by the integrated logic circuit of the hardware in the processor element or by software-form instructions.

[0295] For example, each module, unit, sub-unit or sub-module may be configured as one or more integrated circuits for implementing the above method, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). Also, for example, when a certain module above is realized in the form of program code scheduled by a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of scheduling program code. Also, for example, these modules can be integrated and realized in the form of a system-on-a-chip (SOC).

[0296] The terms "first", "second", etc. described in the specification and claims of the present disclosure are for distinguishing similar objects and do not necessarily need to be used to describe a specific order or sequence. Note that the data used in this way may be interchanged with each other in some cases so that the embodiments of the present disclosure described herein can be implemented in an order other than, for example, the order illustrated or described herein. Also, "including", "having" and any variations thereof mean including non-exclusively. For example, a process, method, system, product or device including a series of steps or units is not limited to the explicitly listed steps or units, and can include steps or units not explicitly listed, or other steps or units inherent to these processes, methods, products or devices. Also, "and / or" used in the specification and claims represents at least one of the objects connected thereto. For example, A and / or B and / or C means including only A, including only B, including only C, the presence of both A and B, the presence of both B and C, the presence of both A and C, and the presence of all of A, B and C, including seven situations. Similarly, "at least one of A and B" used in this specification and claims should be understood as "only A, only B, or both A and B".

[0297] The above description is only a preferred embodiment of the present disclosure. Those skilled in the art will be able to implement various improvements and additions without departing from the principles described in the present disclosure, and these improvements and additions should also belong to the protection scope of the present disclosure.

Claims

1. A sidelink data transmission method, applied to a first terminal, determining time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission; transmitting data in the first transmission resource, wherein the transmitted data includes at least sidelink control information SCI for indicating the time-frequency resource position of the second transmission resource, and the second transmission resource performs transmission after the first transmission resource; determining a target transmission resource of a resource collision indication channel for receiving resource collision indication information, wherein the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource; there is at least one minimum time interval between the first transmission resource and the second transmission resource, and the minimum time interval includes a first time interval and a second time interval; there is at least the first time interval between the first transmission resource and the target transmission resource, and there is at least the second time interval between the target transmission resource and the second transmission resource; the step of determining the target transmission resource of the resource collision indication channel for receiving resource collision indication information includes determining a set of candidate resources of a transmission resource for receiving the resource collision indication channel, wherein the set of candidate resources includes a slot position corresponding to the transmission resource and a physical resource block PRB position in a frequency domain; determining the target transmission resource based on the set of candidate resources; the target transmission resource is determined based on at least one of cyclic redundancy check CRC bits in first-stage sidelink control information 1st-stage SCI, source identifier ID information in second-stage sidelink control information 2nd-stage SCI, the number of PRBs in the set of candidate resources, and the number of orthogonal multiplexable sequence pairs in one PRB; the 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource A sidelink data transmission method, characterized by the above.

2. The second transmission resource is the next transmission resource of the first transmission resource The sidelink data transmission method according to claim 1, characterized in that

3. The first time interval is a time interval from a first time when the transmission of the SCI performed in the first transmission resource is completed to a start time of a first resource of the nearest one resource collision indication channel, There is at least one minimum resource collision detection processing time between the first time and the start time of the first resource The sidelink data transmission method according to claim 1, characterized in that

4. The second time interval is a time interval from a second time when the target transmission resource ends to a start time of the second transmission resource, There is at least one minimum transmission processing time between the second time and the start time of the second transmission resource The sidelink data transmission method according to claim 1, characterized in that

5. The candidate resource set is determined based on at least one of a time-frequency resource position of the first transmission resource and a time-frequency resource position of the second transmission resource The sidelink data transmission method according to claim 1, characterized in that

6. The slot of the target transmission resource is related to the first transmission resource, The related first transmission resource is in a continuous N slots that are before the slot of the target transmission resource and at least a minimum resource collision detection processing time away from the slot of the target transmission resource, or The slot of the target transmission resource is related to the second transmission resource, The related second transmission resource is in a continuous N slots that are after the slot of the target transmission resource and at least a minimum transmission processing time away from the slot of the target transmission resource, The first time interval includes the minimum resource collision detection processing time, and the second time interval includes the minimum transmission processing time, where N is a period of resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer The sidelink data transmission method according to claim 1, characterized in that

7. The transmitted data further includes an SCI for indicating a time-frequency resource position of a third transmission resource When arranged according to the sequence of time before and after, it will be in the order of the first transmission resource, the second transmission resource, and the third transmission resource The sidelink data transmission method according to claim 1, characterized in that

8. A sidelink data transmission method, applied to a second terminal, Receiving data transmitted by a first terminal in a first transmission resource, wherein the transmitted data includes at least SCI for indicating the time-frequency resource position of a second transmission resource, and the second transmission resource performs transmission after the first transmission resource; Determining a target transmission resource of a resource collision indication channel for transmitting resource collision indication information based on the SCI, wherein the resource collision indication information is used to indicate the occurrence of resource collision in the second transmission resource; There is at least a first time interval between the first transmission resource and the target transmission resource, and at least a second time interval between the target transmission resource and the second transmission resource; The step of determining a target transmission resource of a resource collision indication channel for transmitting resource collision indication information is Determining a set of candidate resources of transmission resources for transmitting the resource collision indication channel, wherein the set of candidate resources includes slot positions corresponding to the transmission resources and PRB positions in a frequency domain; Determining the target transmission resource based on the set of candidate resources; The target transmission resource is determined based on at least one of CRC bits in the 1st-stage SCI, source ID information in the 2nd-stage SCI, the number of PRBs in the set of candidate resources, and the number of orthogonal multiplexable sequence pairs in one of the PRBs; The 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource The sidelink data transmission method, characterized in that

9. The second transmission resource is the next transmission resource after the first transmission resource The sidelink data transmission method according to claim 8, characterized in that

10. The first time interval is a time interval from a first time when the transmission of the SCI performed in the first transmission resource is completed to a start time of a first resource of the closest one resource collision indication channel, and there is at least one minimum resource collision detection processing time between the first time and the start time of the first resource. The sidelink data transmission method according to claim 8, characterized in that.

11. The second time interval is a time interval from a second time when the target transmission resource ends to a start time of the second transmission resource, and there is at least one minimum transmission processing time between the second time and the start time of the second transmission resource. The sidelink data transmission method according to claim 8, characterized in that.

12. The candidate resource set is determined based on at least one of a time-frequency resource position of the first transmission resource and a time-frequency resource position of the second transmission resource. The sidelink data transmission method according to claim 8, characterized in that.

13. The slot of the target transmission resource is related to the first transmission resource, and the related first transmission resource is in a continuous N slots that are before the slot of the target transmission resource and at least a minimum resource collision detection processing time away from the slot of the target transmission resource, or The slot of the target transmission resource is related to the second transmission resource, and the related second transmission resource is in a continuous N slots that are after the slot of the target transmission resource and at least a minimum transmission processing time away from the slot of the target transmission resource. The first time interval includes the minimum resource collision detection processing time, and the second time interval includes the minimum transmission processing time. Here, N is a period of resources corresponding to the resource collision indication channel set in the resource pool, and N is a positive integer. The sidelink data transmission method according to claim 8, characterized in that.

14. The transmitted data further includes an SCI for indicating a time-frequency resource position of a third transmission resource, and when arranged in order before and after in time, it is in the order of the first transmission resource, the second transmission resource, and the third transmission resource. The sidelink data transmission method according to claim 8, characterized in that.

15. A terminal, A transceiver, a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program, the steps of the sidelink data transmission method according to any one of claims 1 to 7 are realized, or the steps of the sidelink data transmission method according to any one of claims 8 to 14 are realized A terminal characterized by the above.

16. A sidelink data transmission device applied to a first terminal, a first determination module configured to determine the time-frequency resource positions of a first transmission resource and a second transmission resource for data transmission; a first transmission module configured to transmit data in the first transmission resource; a first reception module configured to determine a target transmission resource of a resource collision indication channel for receiving resource collision indication information, the transmitted data includes sidelink control information SCI for indicating at least the time-frequency resource position of the second transmission resource, the second transmission resource performs transmission after the first transmission resource, the resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource, there is at least one minimum time interval between the first transmission resource and the second transmission resource, the minimum time interval includes a first time interval and a second time interval, there is at least the first time interval between the first transmission resource and the target transmission resource, and there is at least the second time interval between the target transmission resource and the second transmission resource, the first reception module is to determine a set of candidate resources of the transmission resource for receiving the resource collision indication channel, the set of candidate resources includes the slot position corresponding to the transmission resource and the physical resource block PRB position in the frequency domain, and determine the target transmission resource based on the set of candidate resources. The target transmission resource is determined based on at least one of the cyclic redundancy check (CRC) bits in the first-stage sidelink control information (1st-stage SCI), the source identifier (ID) information in the second-stage sidelink control information (2nd-stage SCI), the number of physical resource blocks (PRBs) in the candidate resource set, and the number of orthogonal multiplexable sequence pairs in one of the PRBs. The 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource. A sidelink data transmission device characterized by the above. **Claim 17** A sidelink data transmission device applied to a second terminal, A second receiving module configured to receive data transmitted by a first terminal in a first transmission resource; A second determination module configured to determine a target transmission resource of a resource collision indication channel that transmits resource collision indication information based on SCI; The transmitted data includes at least SCI for indicating the time-frequency resource position of a second transmission resource, and the second transmission resource performs transmission after the first transmission resource. The resource collision indication information is used to indicate the occurrence of a resource collision in the second transmission resource. There is at least a first time interval between the first transmission resource and the target transmission resource, and at least a second time interval between the target transmission resource and the second transmission resource. The second determination module: Determines a candidate resource set of transmission resources for transmitting the resource collision indication channel, where the candidate resource set includes the slot position corresponding to the transmission resource and the PRB position in the frequency domain. Determines the target transmission resource based on the candidate resource set. The target transmission resource is determined based on at least one of the CRC bits in the 1st-stage SCI, the source ID information in the 2nd-stage SCI, the number of PRBs in the candidate resource set, and the number of orthogonal multiplexable sequence pairs in one of the PRBs. The 1st-stage SCI is the 1st-stage SCI of the SCI in the first transmission resource, and the 2nd-stage SCI is the 2nd-stage SCI of the SCI in the first transmission resource. A sidelink data transmission device characterized by the above. **Claim 18** A computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the sidelink data transmission method according to any one of Claims 1 to 7 are realized, or the steps of the sidelink data transmission method according to any one of Claims 8 to 14 are realized. A computer-readable storage medium characterized by the above.

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