Resource determination method, related device, and vehicle

Abstract

Disclosed in the embodiments of the present application are a resource determination method, a related device, and a vehicle. In the method, first resources are first determined and first sidelink control information for indicating the first resources is sent, and after it is determined that a first beam has failed, indication information is sent, wherein the indication information is configured to indicate the cancellation of some or all of reserved first resources. That is, when reserved resources cannot be used due to beam failure, etc., the reserved resources that cannot be used are released by means of cancelling a reservation, thus improving the utilization rate of resources and reducing waste of the resources.

Description

Resource determination method, related equipment and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on October 31, 2023, with application number 202311435509.4 and application name “A resource determination method, related equipment and vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of wireless technology, and in particular to a resource determination method, related equipment, and a vehicle. Background Art

[0003] Cellular Vehicle-To-Everything (C-V2X) is a vehicle-to-everything (V2X) communication technology developed based on cellular systems. It leverages and enhances current cellular network capabilities and elements to enable low-latency and high-reliability communications between various nodes in a vehicle network, including vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), vehicle-to-infrastructure (V2I), and vehicle-to-network (V2N). V2X communication has significant potential to reduce vehicle collisions and, consequently, the number of casualties. The benefits of V2X extend beyond safety. Vehicles capable of V2X communication can facilitate better traffic management, further promoting greener transportation and lower energy consumption.

[0004] V2X includes two communication interfaces: the Near Field Communication (PC5) interface and the terrestrial radio access network and user equipment (UTRAN to UE, Uu) interface. Among them, the PC5 interface is a direct communication interface, a short-range direct communication interface between vehicles, people, and road infrastructure. The Uu interface is a cellular network communication interface, a communication interface between the terminal and the base station. Rel-16 defines two resource allocation modes for the PC5 interface, namely mode 1 (mode 1) and mode 2 (mode 2). In mode 1, the base station allocates transmission resources to V2X through the Uu interface. In mode 2, the terminal independently selects resources. In addition, the 3rd Generation Partnership Project (3GPP) mainly defines two frequency ranges for the new radio (NR): Sub6GHz and millimeter wave. Sub 6GHz is called FR1 and millimeter wave is called FR2.

[0005] The resources currently used by terminals are reserved to prevent different terminals from using the same resources. However, this method may result in a situation where a terminal does not use the reserved resources, which results in a waste of resources.

[0006] Summary of the Invention

[0007] The present embodiment provides a resource determination method, related equipment, and vehicle. The method first determines a first resource and sends first sidelink control information indicating the first resource. After determining that the first beam has failed, the method then sends indication information indicating the cancellation of some or all of the reserved first resources. Specifically, if a reserved resource becomes unusable due to a beam failure or other reason, the unusable reserved resource is released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0008] A first aspect of an embodiment of the present application provides a resource determination method, which can be executed by a first terminal device or by a component of the first terminal device (e.g., a processor, chip, or chip system). In this method, a first resource is determined, where the first resource is used for transmitting sidelink information between the first terminal device and a second terminal device; first sidelink control information (SCI) is sent, where the first SCI is used to indicate the first resource; a first beam failure is determined, where the first beam is the beam used by the first terminal device to transmit sidelink information to the second terminal device; and indication information is sent, where the indication information is used to cancel the reservation of part or all of the first resource.

[0009] In this embodiment of the present application, a first resource is first determined and first sidelink control information indicating the first resource is sent. After determining that the first beam has failed, an indication message is sent indicating the cancellation of some or all of the reserved first resources. Specifically, if a reserved resource becomes unusable due to a beam failure or other reason, the unusable reserved resource is released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0010] Optionally, in a possible implementation manner of the first aspect, the above-mentioned indication information is carried in the second sidelink control information SCI.

[0011] In this possible implementation, the indication information may be carried in an SCI and broadcasted so that a terminal device receiving the SCI can use the resources canceled by the first terminal device, thereby improving resource utilization and reducing resource waste.

[0012] Optionally, in a possible implementation manner of the first aspect, the above-mentioned first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0013] In this possible implementation, the resources for which the first terminal device cancels the reservation may include retransmission resources and / or periodic resources. Accordingly, the waste of retransmission resources and / or periodic resources can be reduced and the utilization rate of retransmission resources and / or periodic resources can be improved.

[0014] Optionally, in a possible implementation of the first aspect, the above-mentioned indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the cancelled reserved resources are resources of the first resources falling within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

[0015] In this possible implementation, indication information may also be used to indicate that resources within a certain time period can be used by other terminal devices, so as to facilitate other terminal devices in determining the scope of available resources.

[0016] Optionally, in a possible implementation manner of the first aspect, the first preset moment is the moment of sending the indication information, and the second preset moment is the moment of restoring the first beam.

[0017] In a possible implementation, the indication information indicates a time period, and the second terminal device determines to cancel the reserved portion of the first resources according to the indicated time period.

[0018] In this possible implementation, setting the end time of the first time period as the recovery time of the first beam can give the beam sufficient recovery time and reduce the use of the resource by other terminal devices after the first beam is restored.

[0019] Optionally, in a possible implementation of the first aspect, the above-mentioned first resource includes a second resource, and the second resource is the first resource among the multiple resources included in the first resource; sending an indication message, the indication message is used to indicate the cancellation of part or all of the reserved first resources, including: sending an indication message on the second resource, the indication message is used to indicate the cancellation of the remaining resources in the first resource except the second resource.

[0020] In this possible implementation, the resource used to send the indication information is limited to the first resource after the beam failure, and other terminals are notified as soon as possible to cancel the subsequent reserved resources, so that the resources can be released and used by other terminals, thereby improving resource utilization efficiency.

[0021] Optionally, in a possible implementation of the first aspect, the above-mentioned step of determining that the first beam fails includes: no feedback information is received from the second terminal device within a first preset time period; or the number of times that feedback information is not received from the second terminal device within a second preset time period is greater than or equal to a threshold.

[0022] In this possible implementation, whether the first beam fails is determined based on whether feedback information is received and the number of times the feedback information is received, thereby enabling the information sending end to determine whether the beam fails.

[0023] Optionally, in a possible implementation manner of the first aspect, before the above step of determining that the first beam fails, the method further includes: determining that the transmitting beam of the first terminal device is the first beam based on beam training.

[0024] In this possible implementation, the first terminal device determines the first beam through beam training, so that the failure of the first beam can be accurately determined subsequently.

[0025] A second aspect of an embodiment of the present application provides a resource determination method, which can be executed by a third terminal device or by a component of the third terminal device (e.g., a processor, a chip, or a chip system). In this method, first sidelink control information (SCI) sent by a first terminal device is received, where the first SCI indicates a first resource reserved by the first terminal device; indication information sent by the first terminal device is received, where the indication information indicates the cancellation of a reservation of part or all of the first resource; and an available resource set is determined based on the indication information, where the available resource set includes a portion of the resources whose reservation is canceled as indicated by the indication information.

[0026] In this embodiment of the present application, a third terminal device determines the first resource reserved by the first terminal device and, through indication information, determines that the first terminal device has canceled its reservation of the resource. The third terminal device can then determine that the set of available resources includes the resource canceled by the first terminal device. In other words, if a reserved resource becomes unusable due to beam failure or other reasons, the unusable reserved resource can be released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0027] Optionally, in a possible implementation of the second aspect, the above-mentioned step: determining the available resource set based on the indication information includes: when performing resource exclusion, not excluding a part of the resources in the first resource selection window, the first resource selection window is a time window for determining the available resource set, and determining that the available resource set includes the above-mentioned part of the resources.

[0028] In this possible implementation, when excluding resources, the third terminal device may not exclude the resources whose reservations are cancelled as indicated by the instruction information, thereby reducing waste of resources and improving resource utilization.

[0029] Optionally, in a possible implementation of the second aspect, the above-mentioned indication information is used to indicate the cancellation of part of the first resources, and the resources other than part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device. The fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0030] In this possible implementation, for resources that are canceled by the first terminal device but reserved by other terminal devices, the third terminal device may not put the entire resource back when excluding the resource, but may only use part of the resource to reduce conflicts with the reserved resources of other terminal devices.

[0031] Optionally, in a possible implementation manner of the second aspect, the third terminal device and the second terminal device are the same device or different devices.

[0032] In this possible implementation, the third terminal device can be the recipient of the information sent by the first beam, or it can be other terminal devices that can receive control information in a direction other than the first beam, thereby increasing the terminal range to which the solution is applicable.

[0033] A third aspect of the embodiments of the present application provides a resource determination method, which can be executed by a second terminal device or by a component of the second terminal device (e.g., a processor, chip, or chip system). In this method, it is determined that a first beam fails, where the first beam is a beam used by the first terminal device to send sidelink information to the second terminal device; a first resource is determined, where the first resource is a resource reserved by the first terminal device on the first beam; and indication information is sent to a third terminal device, where the indication information is used to indicate a first resource set, where the first resource set includes all or part of the first resource.

[0034] In an embodiment of the present application, the receiving end (i.e., the second terminal device) determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization, and reducing resource waste.

[0035] Optionally, in a possible implementation manner of the third aspect, the above step: before sending the indication information to the third terminal device, the method further includes: receiving a resource collection request from the third terminal device.

[0036] In this possible implementation, after receiving a resource set request sent by other terminal devices, a resource set is provided to the other terminal devices. The resource set may include resources reserved by the first terminal device on the failed beam but not used due to the beam failure, thereby improving resource utilization and reducing resource waste.

[0037] Optionally, in a possible implementation of the third aspect, the above-mentioned step: determining that the first beam fails includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above-mentioned period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0038] In this possible implementation, whether the first beam fails is determined based on whether periodic information is received and the number of times the periodic information is received, thereby reducing misjudgment of beam failure.

[0039] Optionally, in a possible implementation manner of the third aspect, the resources for canceling the reservation include at least one of the following: resources for information retransmission, and periodic transmission resources.

[0040] In this possible implementation, the resources for which the first terminal device cancels the reservation may include retransmission resources and / or periodic resources. Accordingly, the waste of retransmission resources and / or periodic resources can be reduced and the utilization rate of retransmission resources and / or periodic resources can be improved.

[0041] Optionally, in a possible implementation of the third aspect, the above-mentioned indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after the first moment, where the first moment is a preset moment or a moment of failure of the first beam, and the preset moment is later than the failure moment.

[0042] In this possible implementation, the indication information may also be used to indicate to other terminal devices when the reserved resources can be canceled using the first terminal device, thereby clarifying the usage time of the resources.

[0043] Optionally, in a possible implementation manner of the third aspect, the above-mentioned indication information is further used to instruct the third terminal device to preferentially use the resources canceled by the first terminal device.

[0044] In this possible implementation, the indication information may also be used to instruct other terminal devices to give priority to using the resources canceled by the first terminal device, thereby improving the resource utilization rate of the reserved resources on the failed beam.

[0045] A fourth aspect of the embodiments of the present application provides a resource determination method, which can be executed by a third terminal device or by a component of the third terminal device (e.g., a processor, chip, or chip system). In this method, a resource set request is sent to a second terminal device; first indication information is received from the second terminal device, the first indication information being used to indicate a first resource set, the first resource set including a first resource; the first resource is a resource for which the first terminal device has canceled its reservation.

[0046] In an embodiment of the present application, after the third terminal device requests a resource set from the second terminal device, it can be determined through the first indication information sent by the second terminal device that the first resource set includes the first resource for which the first terminal device has canceled its reservation. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, there is a high probability that there will be no resource usage conflict when using the resource, thereby reducing the probability of resource usage conflicts and improving system performance.

[0047] Optionally, in a possible implementation of the fourth aspect, the first indication information is also used to instruct the third terminal device to give priority to using the first resource.

[0048] In this possible implementation, the third terminal device can give priority to using the first resource according to the first indication information. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, it is highly likely that resource usage conflicts will not occur when the resource is given priority, thereby reducing the probability of resource usage conflicts and improving system performance.

[0049] The fifth aspect of an embodiment of the present application provides a first terminal device, which includes: a processing unit, used to determine a first resource, the first resource is used for the first terminal device to transmit sidelink information with the second terminal device; a transceiver unit, used to send a first sidelink control information SCI, the first SCI is used to indicate the first resource; the processing unit is also used to determine that the first beam fails, the first beam is used to carry sidelink information; the transceiver unit is also used to send indication information, the indication information is used to indicate the cancellation of part or all of the reserved first resources.

[0050] Optionally, in a possible implementation manner of the fifth aspect, the above-mentioned indication information is carried in the second sidelink control information SCI.

[0051] Optionally, in a possible implementation of the fifth aspect, the above-mentioned first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0052] Optionally, in a possible implementation of the fifth aspect, the above-mentioned indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the cancelled reserved resources are resources of the first resources falling into the first time period, wherein the start time of the first time period is the first preset time, the end time of the first time period is the second preset time, and the second preset time is later than the first preset time.

[0053] Optionally, in a possible implementation of the fifth aspect, the first preset moment is the moment of sending the indication information, and the second preset moment is the moment of restoring the first beam.

[0054] Optionally, in a possible implementation of the fifth aspect, the above-mentioned first resource includes a second resource, and the second resource is the first resource among the multiple resources included in the first resource; the transceiver unit is specifically used to send indication information on the second resource, and the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

[0055] Optionally, in a possible implementation of the fifth aspect, the above-mentioned processing unit is specifically used to fail to receive feedback information from the second terminal device within a first preset time period; or the processing unit is specifically used to fail to receive feedback information from the second terminal device within a second preset time period, and the number of times is greater than or equal to a threshold.

[0056] Optionally, in a possible implementation of the fifth aspect, the above-mentioned processing unit is further used to determine that the transmitting beam of the first terminal device is the first beam based on beam training.

[0057] The sixth aspect of an embodiment of the present application provides a third terminal device, which includes: a transceiver unit for receiving a first side control information SCI sent by a first terminal device, the first SCI being used to indicate a first resource reserved by the first terminal device; the transceiver unit is also used to receive an indication information sent by the first terminal device, the indication information being used to indicate the cancellation of part or all of the reserved first resources; a processing unit for determining an available resource set based on the indication information, the available resource set including a part of the resources indicated by the indication information to be cancelled.

[0058] Optionally, in a possible implementation of the sixth aspect, the above-mentioned processing unit is specifically used to not exclude the first part of resources in the first resource selection window when performing resource exclusion. The first resource selection window is a time window for determining the available resource set, and the processing unit is specifically used to determine that the available resource set includes a part of resources.

[0059] Optionally, in a possible implementation of the sixth aspect, the above-mentioned indication information is used to indicate the cancellation of part of the first resources, and the resources other than part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device. The fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0060] Optionally, in a possible implementation manner of the sixth aspect, the third terminal device and the second terminal device are the same device.

[0061] The seventh aspect of an embodiment of the present application provides a second terminal device, which includes: a processing unit, used to determine that the first beam fails, the first beam is the beam used by the first terminal device to send side link information to the second terminal device; the processing unit is also used to determine the first resource, the first resource is the resource for which the first terminal device cancels the reservation; a transceiver unit is used to send indication information to the third terminal device, the indication information is used to indicate a first resource set, and the first resource set includes all or part of the first resource resources.

[0062] Optionally, in a possible implementation of the seventh aspect, the above-mentioned transceiver unit is further used to receive a resource set request from a third terminal device.

[0063] Optionally, in a possible implementation of the seventh aspect, the above-mentioned processing unit is specifically used to determine that the first beam failure includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above-mentioned period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0064] Optionally, in a possible implementation manner of the seventh aspect, the above-mentioned resources for canceling the reservation include at least one of the following: resources for information retransmission, and periodic transmission resources.

[0065] Optionally, in a possible implementation of the seventh aspect, the above-mentioned indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after the first moment, where the first moment is a preset moment or a moment of failure of the first beam, and the preset moment is later than the failure moment.

[0066] Optionally, in a possible implementation manner of the seventh aspect, the above-mentioned indication information is further used to instruct the third terminal device to give priority to using the resources canceled by the first terminal device.

[0067] In an eighth aspect of an embodiment of the present application, a third terminal device is provided, the third terminal device comprising: a transceiver unit configured to send a resource set request to a second terminal device; and the transceiver unit further configured to receive first indication information from the second terminal device, the first indication information being configured to indicate a first resource set, the first resource set including a first resource. The first resource is a resource for which a reservation is canceled by the first terminal device.

[0068] Optionally, in a possible implementation of the eighth aspect, the above-mentioned first indication information is also used to instruct the third terminal device to give priority to using the first resource.

[0069] A ninth aspect of an embodiment of the present application provides a communication device, comprising at least one processor coupled to a memory; the memory is used to store programs or instructions; the at least one processor is used to execute the program or instructions so that the device implements the method described in any possible implementation method of any one of the first to fourth aspects.

[0070] In a tenth aspect, an embodiment of the present application provides a vehicle for executing a method as described in any possible implementation of any one of the first to fourth aspects above.

[0071] In an eleventh aspect of an embodiment of the present application, a communication device is provided, comprising at least one logic circuit and an input / output interface; the logic circuit is used to execute the method described in any possible implementation method of any one of the first to fourth aspects above.

[0072] A twelfth aspect of an embodiment of the present application provides a communication system, which includes the first terminal device of the fifth aspect and the third terminal device of the sixth aspect; or, the communication system includes the second terminal device of the seventh aspect and the third terminal device of the eighth aspect.

[0073] A thirteenth aspect of an embodiment of the present application provides a computer-readable storage medium, which is used to store one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes the method described in any possible implementation of any one of the first to fourth aspects above.

[0074] A fourteenth aspect of an embodiment of the present application provides a computer program product (or computer program). When the computer program in the computer program product is executed by the processor, the processor executes the method described in any possible implementation of any one of the first to fourth aspects above.

[0075] A fifteenth aspect of an embodiment of the present application provides a chip system, which includes at least one processor for supporting a communication device to implement the method described in any possible implementation method of any aspect of the first to fourth aspects above.

[0076] In one possible design, the chip system may further include a memory for storing program instructions and data necessary for the communication device. The chip system may be composed of a chip or may include a chip and other discrete components. Optionally, the chip system may further include an interface circuit for providing program instructions and / or data to the at least one processor.

[0077] Among them, the technical effects brought about by any design method in the fifth to fifteenth aspects can refer to the technical effects brought about by the different design methods in the above-mentioned first to fourth aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] FIG1 is a schematic diagram of a V2X scenario provided in an embodiment of the present application;

[0079] FIG2 is a schematic diagram of several communication systems provided in an embodiment of the present application;

[0080] FIG3 is a schematic diagram of a terminal device resource selection process provided in an embodiment of the present application;

[0081] FIG4 is a schematic diagram of a receiving end assisting a transmitting end in selecting resources according to an embodiment of the present application;

[0082] FIG5 is a schematic diagram of a beam scanning process provided in an embodiment of the present application;

[0083] FIG6 is a schematic diagram of a sensing window provided in an embodiment of the present application;

[0084] FIG7 is a schematic diagram of a terminal device resource selection process provided in an embodiment of the present application;

[0085] FIG8 is another schematic diagram of a receiving end assisting a transmitting end in selecting resources according to an embodiment of the present application;

[0086] FIG9 is a schematic diagram of beam management provided in an embodiment of the present application;

[0087] FIG10 is a flow chart of a data processing method provided in an embodiment of the present application;

[0088] FIG11 is another flow chart of the data processing method provided in an embodiment of the present application;

[0089] FIG12 is a schematic diagram of another communication system provided in an embodiment of the present application;

[0090] FIG13 is another flow chart of the data processing method provided in an embodiment of the present application;

[0091] Figures 14 to 16 are schematic diagrams of several structures of communication devices provided in embodiments of the present application;

[0092] FIG17 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0093] First, some of the terms used in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0094] (1) Configuration and pre-configuration: In this application, configuration and pre-configuration will be used at the same time. Configuration refers to the network equipment such as base stations or servers sending some parameter configuration information or parameter values ​​to the terminal through messages or signaling, so that the terminal can determine the communication parameters or resources during transmission based on these values ​​or information. Pre-configuration is similar to configuration. It can be a way for network equipment such as base stations or servers to send parameter information or values ​​to the terminal through a communication link or carrier; it can also be a way to give the definition of corresponding parameters or parameter values ​​in the standard, or by setting the relevant parameters or values ​​in the terminal equipment in advance, such as configuring relevant parameters during factory settings. This application does not limit this. Furthermore, these values ​​and parameters can be changed or updated.

[0095] (2) In this application, “used for indication” can include direct indication and indirect indication. When describing that a certain indication information is used to indicate A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A.

[0096] In this application, the information indicated by the indication information is referred to as the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated. For example, it can be implemented by direct indication, such as by indicating the information to be indicated itself or the index of the information to be indicated. It can also be implemented by indirectly indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each information agreed in advance (for example, stipulated in the protocol), thereby reducing the indication overhead to a certain extent.

[0097] The information to be indicated can be sent as a whole, or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in this application. Among them, the sending period and / or sending time of these sub-information can be predefined, for example, predefined according to the protocol, or configured by the transmitting device by sending configuration information to the receiving device. Among them, the configuration information can, for example, but not limited to, include one or a combination of at least two of radio resource control (RRC) signaling, media access control (MAC) layer signaling and physical layer signaling. Among them, MAC layer signaling, for example, includes MAC control element (CE); physical layer signaling, for example, includes downlink control information (DCI) and sidelink control information (SCI).

[0098] (3) The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "At least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, "at least one of A, B and C" includes A, B, C, AB, AC, BC or ABC. In addition, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.

[0099] (4) “Sending” and “receiving” in the embodiments of the present application indicate the direction of signal transmission. For example, “sending information to device X” can be understood as the destination of the information being device X, which can include direct sending through the air interface, as well as indirect sending through the air interface by other units or modules. “Receiving information from device Y” can be understood as the source of the information being device Y, which can include direct receiving from device Y through the air interface, as well as indirect receiving from device Y through the air interface from other units or modules. “Sending” can also be understood as the “output” of the chip interface, and “receiving” can also be understood as the “input” of the chip interface.

[0100] For example, let's take the communication process between entity A and entity B as an example. In this application, when entity A sends information to entity B, it can be A sending it directly to B, or A sending it to B indirectly through another entity. Similarly, when entity B receives information from entity A, it can be entity B receiving the information sent by entity A directly, or entity B receiving the information sent by entity A indirectly through another entity. Entities A and B here can be RAN nodes or terminals, or modules within a RAN node or terminal. The sending and receiving of information can be information exchange between a RAN node and a terminal, for example, information exchange between a base station and a terminal; the sending and receiving of information can also be information exchange between two RAN nodes, for example, information exchange between a CU and a DU; the sending and receiving of information can also be information exchange between different modules within a device, for example, information exchange between a terminal chip and other modules of the terminal, or information exchange between a base station chip and other modules in the base station.

[0101] (5) Beam. Beams and beam pair links (BPLs) are introduced into communication systems. A beam is a communication resource. Beams can be divided into transmit beams and receive beams. Beam formation can be achieved through beamforming or other techniques. Beamforming includes transmit beamforming and receive beamforming.

[0102] Transmit beam: The transmitting device transmits signals with certain beamforming weights, forming a spatially directional beam. In the uplink direction, the transmitting device can be a terminal; in the downlink direction, the transmitting device can be a network device.

[0103] Receive beam: The receiving device receives signals using certain beamforming weights, forming a spatially directional beam. In the uplink direction, the receiving device can be a network device; in the downlink direction, the receiving device can be a terminal.

[0104] Transmit beamforming: When a transmitting device with an antenna array transmits a signal, it sets a specific amplitude and phase on each antenna element in the array. This gives the transmitted signal a certain spatial directionality, meaning that the signal power is high in some directions and low in others. The direction with the highest signal power defines the direction of the transmit beam. The antenna array consists of multiple antenna elements, and the specific amplitude and phase values ​​assigned to them are the beamforming weights.

[0105] Receive beamforming: When a receiving device with an antenna array receives a signal, it sets a specific amplitude and phase on each antenna element in the array. This ensures that the power gain of the received signal is directional. Specifically, the power gain is high when receiving signals from certain directions, and low when receiving signals from other directions. The direction with the highest power gain is the direction of the receive beam. The antenna array consists of multiple antenna elements, and the specific amplitude and phase values ​​assigned to them are the beamforming weights.

[0106] Optionally, using a certain transmit beam to send a signal can be understood as using a certain beamforming weight to send a signal.

[0107] Optionally, using a receive beam to receive a signal may be understood as using a certain beamforming weight to receive a signal.

[0108] Generally speaking, different beams can be considered different resources. Using (or passing) different beams can transmit the same information or different information. Beam pairs are based on the concept of beams. A beam pair typically consists of a transmit beam from a transmitting device and a receive beam from a receiving device.

[0109] (6) Sidelink Control Information (SCI). The SCI of the NR sidelink (SL) system is divided into first-level SCI and second-level SCI. The physical sidelink control channel (PSCCH) carries the first-level SCI, which is used to schedule the second-level SCI and the physical sidelink shared channel (PSSCH). Since SL is a distributed system, all UEs need to correctly decode the first-level SCI before decoding the second-level SCI and PSSCH. However, in order to reduce the complexity of the UE's blind decoding of PSCCH, the resource location of PSCCH is relatively fixed, and the format information of the first-level SCI carried is also relatively unique. That is, the UE does not need to blindly detect the time-frequency resource location where the PSCCH is located, nor does it need to blindly detect SCI of different formats. The UE only needs to detect whether there is a first-level SCI at the fixed PSCCH time-frequency resource location. PSCCH may exist in each subchannel in each time slot, that is, the time domain starting position of a PSCCH is the second symbol used for SL transmission in each time slot, the length is 2 or 3 symbols (determined by the resource pool configuration information), the frequency domain position is the smallest PRB index of each subchannel, and the length is at least 10 PRBs (determined by the resource pool configuration information) but not exceeding the size of the subchannel.

[0110] The Frequency resource assignment field and the Time resource assignment field in the first-level SCI are used to indicate the frequency domain resources and time domain resources for transmitting PSSCH, respectively. The Resource reservation period field is used to indicate the periodic reservation of resources for transmitting PSSCH. The value of the Resource reservation period field is configured by the network device, or preconfigured, or predefined. For example, it is indicated by the first RRC signaling. The first RRC signaling can be determined by sl-ResourceReservePeriod1. The format of the second-level SCI is indicated by the 2nd-stage SCI format field in the first-level SCI. The existing second-level SCI format fields are shown in Table 1 below.

[0111] Table 1

[0112] Cellular Vehicle-To-Everything (C-V2X) is a V2X communication technology developed based on cellular systems. Please refer to Figure 1, which is a schematic diagram of a V2X scenario provided in an embodiment of the present application. As shown in Figure 1, V2X is a technology that enables communication between vehicles and the outside world. It utilizes and enhances current cellular network functions and elements to achieve low-latency and high-reliability communication between various nodes in the vehicle network. The X in V2X can represent vehicles, pedestrians, road facilities, or networks, that is, V2X can include vehicle-to-vehicle (V2V) communication, vehicle-to-road infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication, etc. As cellular systems evolve from 4G Long Term Evolution (LTE) to 5G, C-V2X evolves from LTE-V2X to New Radio V2X (NR-V2X).

[0113] In V2V communication, the terminals that communicate with each other can be located on two vehicles, and can be handheld devices or vehicle-mounted devices of users on the vehicle, etc. In V2I communication, the terminals that communicate with each other can be located on vehicles and road facilities. For example, one terminal can be a handheld device or vehicle-mounted device of users on the vehicle, and the other terminal can be a road side unit (RSU), where RSU can be understood as a facility entity that supports V2X applications and can exchange information with other terminals that support V2X communication. In V2P communication, the terminals that communicate with each other can be located on vehicles and pedestrians. In V2N communication, the terminals that communicate with each other can be located on vehicles and servers. In short, this application does not limit the form of the terminal, and the forms of the terminals that communicate with each other can be the same or different.

[0114] V2X communication has enormous potential to reduce vehicle collisions and, consequently, the number of casualties. The advantages of V2X extend beyond safety. Vehicles capable of V2X communication contribute to better traffic management, further promoting green transportation and lowering energy consumption. The Intelligent Transportation System (ITS) is an application that integrates V2X. Based on V2X technology, vehicle users (V-UEs) can transmit information such as their location, speed, and intentions (turns, lane changes, and reversing) to surrounding V-UEs periodically, as well as information triggered by aperiodic events. Similarly, V-UEs receive real-time information from surrounding users. 5G NR V2X supports lower transmission latency, more reliable communication, higher throughput, and a better user experience, meeting the needs of a wider range of application scenarios. Furthermore, the vehicle-to-vehicle communication technology supported by V2X can be extended to device-to-device (D2D) communication in any system.

[0115] It is understandable that the communication method provided in the trial example of this application is applicable to communication scenarios with and without network coverage, and the user independently selects the resource mode. As shown in Figure 2, it can be within the coverage range of the network device or outside the coverage range of the network device.

[0116] The network device in the embodiments of the present application can be any device with wireless transceiver functions. Including but not limited to: in the traditional Universal Mobile Telecommunications System (UMTS) / LTE wireless communication system, it can be a traditional macro base station eNB (evolved node B), in the heterogeneous network (HetNet) scenario, it can be a micro base station eNB, in the distributed base station scenario, it can be a baseband processing unit (Base Band Unit, BBU) and a remote radio unit (Remote Radio Unit, RRU), in the cloud radio access network (Cloud Radio Access Network, CRAN) scenario, it can be a baseband pool BBU pool and RRU, in the future wireless communication system, it can be a gNB, a base station of subsequent evolution of 3GPP, an access node in a WiFi system, a wireless relay node, a wireless backhaul node, etc. The base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, or a balloon station, etc. The network device can also be a server, a wearable device, or an in-vehicle device, etc.

[0117] The user device in the embodiment of the present application can be a vehicle-mounted communication module or other embedded communication module, a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a tactile terminal device, a vehicle-mounted terminal device, a wireless terminal in unmanned driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a wearable terminal device, etc.

[0118] Currently, V2X communication can be achieved through two communication mechanisms (also known as communication modes). One is based on the Near Field Communication (PC5) interface, and the other is based on the Terrestrial Radio Access Network to User Equipment (UTRAN to UE, Uu) interface. The PC5 interface is a direct communication interface, a short-range direct communication interface between vehicles, people, and road infrastructure. The Uu interface is a cellular network communication interface, a communication interface between terminals and base stations.

[0119] Rel-16 defines two resource allocation modes for the PC5 interface: mode 1 and mode 2. In mode 1, the base station allocates transmission resources to V2X through the Uu interface. Therefore, the user equipment (UE) in mode 1 must be within the network coverage area. In mode 2, the terminal autonomously selects resources. In sidelink (SL) communications, mode 1 and mode 2 can be allocated to different resource pools or share a resource pool. Resource pool sharing can improve resource utilization efficiency, but it is also prone to conflicts between mode 1 and mode 2. Therefore, the UE in mode 1 will notify the UE in mode 2 of the resources allocated for its future transmission.

[0120] In Rel-16 V2X SL, UEs in user-selected resource mode (Mode 2) have independent transmission resource dependencies on the base station. There are two ways for the transmitting UE to determine resources: One is for the transmitting UE to independently select transmission resources within its own resource selection window based on its own perception results. The other is for the receiving UE to send a set of candidate resources to the transmitting UE, which then selects a transmission resource from the received set.

[0121] The first method is that the transmitting UE selects transmission resources within the resource selection window based on the perception results within its own perception window.

[0122] The transmitting UE selects transmission resources within the resource selection window for communication based on the results of its own perception window. Assuming that the transmitting UE triggers resource selection in time slot n, the specific resource selection process is shown in Figure 3, where UE1 in Figure 3 can be understood as the transmitting UE. The following describes the steps:

[0123] Step 1: Determine the time slot and L subCH The candidate resource R is a unit of continuous sub-channels. x,y， Resource selection window [n+T1,n+T2], where Determined from Table 2, μ SL For the configured subcarrier spacing, the choice of T1 is implementation-based. If T 2min (high-level configuration) is less than the remaining packet delay budget (PDB), then T 2min ≤T2≤Remaining PDB, where T2 is chosen based on the implementation; otherwise, T2 is set to the remaining PDB duration.

[0124] Table 2

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

[0126] Table 3

[0127] Step 3: Determine the threshold value Th(p i ,p j ), RSRP threshold and the prio of the data to be sent TX , and the priority indicated by the received SCI prio RX Related. Th(p i ,p j ) is specifically the prio in the RSRP threshold value set configured for the resource pool RX +(prio TX -1)*8 threshold values.

[0128] Step 4: Initialize the available resource set S A Includes all time-frequency resources in the resource selection window.

[0129] Step 5: From S A Exclude the following time-frequency resources: the time slots of all periodic resource reservations configured by the resource pool corresponding to the time slots not sensed in the sensing window (sent time slots). A If the excluded time-frequency resources are less than X% of the total resources in the resource selection window, re-execute the initialization of step 4 and skip step 5.

[0130] Step 6: Continue from S A The following time-frequency resources are excluded: the decoding of the received first-level SCI is successful, and the RSRP measurement result of the physical sidelink shared channel (PSSCH) demodulation reference signal (DMRS) of the time-frequency resources reserved by the received first-level SCI is higher than the RSRP threshold determined in step 3, and the time-frequency resources reserved by the received first-level SCI are within the resource selection window, including the retransmission resources and periodically reserved resources indicated by the first-level SCI.

[0131] Step 7: If S A The remaining resources in the resource selection window are less than X% of the total resources. The value of X% is configured by the resource pool and is consistent with the prio TX If relevant, then the RSRP threshold determined in step 3 is increased (by 3 each time) until S is satisfied. A The remaining resources in the resource selection window are not less than X% of the total resources, and continue to step 4.

[0132] S A Report to a higher layer, such as the Media Access Control (MAC) layer.

[0133] The MAC layer indicates the time-frequency resources (r0, r1, r2...) to the physical layer. If r i If it is not an SA, it needs to be re-evaluated before use;

[0134] The MAC layer indicates the time-frequency resources (r0', r1', r2'...) to the physical layer. If r i 'If it does not belong to SA, a preemptive evaluation is required before use;

[0135] The re-evaluated resources must meet one of the following conditions:

[0136] 1) Provide the sl-PreemptionEnable parameter and configure it to enable, and prio TX >prio RX ;

[0137] 2) Provide the sl-PreemptionEnable parameter but do not configure it to be enabled, and satisfy the prio RX >prio pre and prio TX >prio pre , where prio pre Configured by high-level management.

[0138] If r in (r0,r1,r2...) and (r0',r1',r2'...) i (r i ∈(r0,r1,r2...)) and / or r i '(r i '∈(r0',r1',r2'...))

[0139] Not S A (ie r i and / or r' i are excluded during re-evaluation and / or preemption detection, respectively), then i and / or r i 'Reselect. Wherein, time slot m is the next time slot to be transmitted, that is, time slot m belongs to (r0, r1, r2...) and (r0', r1', r2'...).

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

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

[0142] In FR2, all information transmission is directional, so resource usage should also be directional. The existing sensing, resource exclusion, and resource selection processes are designed for FR1 low-frequency SL distributed systems. This sensing process eliminates resources reserved by other UEs from the resource selection window and selects transmit resources from the remaining available resource set, thereby avoiding transmission conflicts. However, in the FR2 band, due to the directional nature of beams, the sensing and resource exclusion process in SL mode 2 resource selection is performed within a specific beam direction. The sensing results for beams in different directions may differ, corresponding to different sets of available candidate resources. Furthermore, the sensing results for transmit and receive beams may also differ. As shown in Figure 4, UE-A communicates with UE-B and UE-C, respectively. UE-B and UE-C are the transmitters, while UE-A is the corresponding receiver. The direction of UE-B's TX beam is unable to detect the interference caused by UE-C's transmit beam on UE-A's RX beam, and UE-B may select resources that conflict with UE-C to transmit to UE-A. Therefore, the sensing result of UE-A, the receiver, is more accurate.

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

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

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

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

[0147] During the beam scanning process, the scanning time for each beam direction is defined as the perception window for that beam. As shown in Figure 6, the perception window includes the SSB transmission time for the corresponding beam direction. If beam 3 is determined to be the optimal beam direction after the SSB scanning process, the corresponding time for subsequent reception / transmission using beam 3 is defined as the perception window for beam 3. The present invention does not limit the specific time location, such as the specific beam transmission period and pattern (SSB transmission time within the beam direction).

[0148] According to the above definition, when UE-A performs beam scanning using beam direction k, it also performs resource sensing while receiving / sending SSB. Therefore, as shown in Figure 7, while UE-A is beam scanning, it can determine the candidate resource set S for each beam direction based on the sensing results. A .

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

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

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

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

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

[0154] Step 5: From S A Exclude the following time-frequency resources: the time slots of all periodic resource reservations configured by the resource pool corresponding to the time slots not sensed in the sensing window (sent time slots or time slots using other beams). A If the excluded time-frequency resources are less than X% of the total resources in the resource selection window, re-execute the initialization of step 4.

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

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

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

[0158] As shown in Figure 8, when UE-B is the data transmitter (TX) and UE-A is the data receiver (RX), in order to more accurately determine the available resource set in SL FR2 and avoid resource conflicts, UE-A as the receiving end needs to set the candidate resource set S A (or S Ak ) is sent to UE-B, and UE-B selects the resources to be sent to UE-A from the received candidate resource set.

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

[0160] The 3rd Generation Partnership Project (3GPP) has defined two frequency ranges for NR, as shown in Table 4: sub-6 GHz and millimeter wave (mmWave). Sub-6 GHz is referred to as FR1, and mmWave is referred to as FR2. Beam management, a key technology for 5G NR in FR2, refers to the process by which 5G base stations (next generation NodeBs (gNBs)) and UEs acquire and maintain beam sets for transmission and reception.

[0161] Table 4

[0162] Beam management includes the following four technical points:

[0163] 1. Beam determination: This refers to the process by which the gNB or UE selects its transmit or receive beam.

[0164] 2. Beam measurement: This refers to the process by which the gNB or UE measures the received beamformed signal.

[0165] 3. Beam reporting: refers to the process of the UE reporting beam measurement results to the base station;

[0166] 4. Beam sweeping: This refers to the process by which the gNB or UE sequentially selects beams for transmission or reception in a specified scanning manner within a time period to cover a spatial area.

[0167] According to the working status, beam management can be divided into three states (as shown in Figure 9). The operations of each state are summarized as follows:

[0168] P-1: The gNB transmits a reference signal (RS) based on a set of transmit beams. The transmit beams in the set correspond to different transmit directions. The UE selects the gNB's transmit beam and the UE's receive beam by measuring and providing feedback.

[0169] P-2: Based on P-1, the gNB transmits RSs based on a smaller set of transmit beams. The UE measures and provides feedback to improve the gNB's transmit beams.

[0170] P-3: The gNB uses one transmit beam to transmit RS. The UE uses different receive beams to measure the transmit beam of the same gNB and improve the UE's receive beam.

[0171] Based on the above four technical points and three state operations, downlink beam management is performed. The basic process is as follows: The gNB configures up to 64 beam directions, each corresponding to a synchronization signal block (SSB) and the time-frequency resources that the UE should use for beam reporting. The gNB transmits the SSBs sequentially in a scanning manner, and the UE performs beam measurement to obtain the SSB reference signal received power (RSRP). The UE needs to match the measured SSB RSRP with a 6-bit SSB sequence number. To do this, it obtains the least significant 3 bits from the demodulation reference signal (DMRS) on the physical broadcast channel (PBCH) and the most significant 3 bits from the PBCH payload bits. These bits are combined to determine the sequence number of the received SSB. The PBCH DMRS is generated based on a pseudo-random sequence, and the least significant 3 bits of the SSB sequence number are used to determine the initial value of the pseudo-random sequence. The UE obtains the SSB sequence number by blindly detecting the PBCH DMRS. It then selects an SSB set by comparing the RSRP and reports the SSB sequence numbers and corresponding RSRPs within the set to the base station on the given time-frequency resources. The base station uses this information to perform beam determination, completing the initial beam selection process. Uplink beam management follows a similar process, but uses different reference signals.

[0172] In NR Uu, FR2 beam failure recovery includes the following processes: beam failure detection, new beam discovery, beam recovery request (BFRQ), and beam recovery response (BFRR). The details are as follows:

[0173] 1. Beam failure detection.

[0174] a) High-layer signaling configures the periodic CSI-RS resources with the set q0 through Beam-Failure-Detection-RS-ResourceConfig for beam failure detection signals.

[0175] b) If the higher layer does not configure this information, the UE uses the TCI-StatesPDCCH information to search for periodic CSI-RS or SSB with QCL relationship as the measurement signal.

[0176] c) The UE uses the q0 signal to measure the link quality and compares it with Qout,LR (determined by RLM-IS-OOS-thresholdConfig). When the link quality measured for beamFailureInstanceMaxCount times is lower than the threshold, the physical layer reports a Beam Failure Indication to the MAC layer.

[0177] 2. New beam discovery.

[0178] a) Higher-layer signaling configures the CSI-RS resources or SSB resources set to q1 through candidateBeamRSList for quality measurement of candidate beam links.

[0179] b) The UE uses the q1 signal to measure the link quality and compares it with the rsrp-ThresholdSSB. When the measured link quality is higher than the threshold, the newly detected beam is reported to the MAC layer.

[0180] 3. Beam Restoration Request (BFRQ).

[0181] a) The MAC layer receives the Beam Failure indication and new candidate beam indication from the PHY layer.

[0182] b) BFRQ is transmitted on the PRACH resources configured by higher layers, which are associated with the CSI-RS resources and / or SS / PBCH blocks used for new beam identification.

[0183] c) After MAC sends PRACH, it starts the beamFailureRecoveryTimer timer.

[0184] 4. Beamform Restoration Response (BFRR).

[0185] a) The UE starts monitoring the BFRR of the gNB on the PDCCH four slots after sending the PRACH. The size of the monitoring window is configured by higher layers.

[0186] b) If no successful response is received from the gNB before the beamFailureRecoveryTimer timer, a BFRQ Failure is reported to higher layers.

[0187] c) If a BFR response message is received from the gNB on the designated PDCCH CORESET, the BFR is successful and the timer is stopped.

[0188] Existing Mode 2 uses a reservation mechanism to prevent different terminals from using the same resources. Omnidirectional antennas are used in FR1, so reserved resources generally don't go unused. However, in FR2, since all information transmission is directional, a beam failure can cause reserved resources to go unused. Furthermore, because the terminal has already reserved the resource on the corresponding beam, other terminals rarely use it, resulting in resource waste.

[0189] To address the above technical issues, embodiments of the present application provide a resource determination method, related equipment, and vehicle. First, a first resource is determined and first sidelink control information indicating the first resource is sent. After determining that the first beam has failed, an indication message is sent indicating the cancellation of some or all of the reserved first resources. Specifically, if a reserved resource becomes unusable due to a beam failure or other reason, the unusable reserved resource is released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0190] The resource determination method provided in an embodiment of the present application is described below. The method can be executed by a terminal device or by a component of the terminal device (such as a processor, chip, or chip system, etc.). The terminal device includes a first terminal device and / or a third terminal device.

[0191] In this embodiment of the present application, the transmission beam from the first terminal device to the second terminal device is the first beam. The first terminal device can be understood as the transmitter of the first beam, and the second terminal device can be understood as the receiver of the first beam. The first terminal device is a terminal device other than the second terminal device and the third terminal device, and the third terminal device is a terminal device that communicates with the first terminal device. The third terminal device can be the second terminal device or any other terminal device other than the first terminal device and the second terminal device, and the specific details are not limited here.

[0192] In addition, when the second terminal device and the third terminal device are different terminal devices, the first terminal device communicates not only with the second terminal device but also with the third terminal device. The second terminal device may or may not communicate with the third terminal device, and the specific details are not limited here.

[0193] Please refer to Figure 10, which shows a flowchart of a resource determination method provided in an embodiment of the present application. This method can be applied to the transmitting UE (i.e., UE1 in Figure 3) shown in Figure 3 to autonomously select transmission resources within a resource selection window based on the results of its perception within its perception window. The method may include steps 1001 to 1005. Steps 1001 to 1005 are described in detail below.

[0194] Step 1001: A first terminal device determines a first resource.

[0195] The first terminal device determines a first resource, where the first resource is used to transmit sidelink information between the first terminal device and the second terminal device.

[0196] In the embodiments of the present application, there are multiple ways for the first terminal device to determine the first resource. These ways may be configured / preconfigured by the network device, or the first resource may be determined by the first terminal device within a resource selection window, etc., and the specifics are not limited here. The resource selection window is a window for the first terminal device to select resources, which can be understood as [n+T1, n+T2] in the embodiment shown in FIG. 3 . For specific parameters, please refer to the previous description and will not be repeated here.

[0197] It should be noted that the number of resources involved in the embodiments of the present application can be one or more, or it can be understood that resources can be replaced by the concept of resource sets. For example, the first resource can include one or more resources, and the first resource can be equivalent to the first resource set.

[0198] Optionally, when the first terminal device is within the coverage of the network device, the first terminal device can obtain the first resource by receiving a system information block (SIB), cell-level (cell-specific) radio resource control (RRC) signaling or terminal device user level (UE-specific) RRC signaling sent by the network device.

[0199] Optionally, the first terminal device may also use a preconfigured first resource.

[0200] Optionally, the manner in which the first terminal device determines the first resource within the resource selection window may refer to the description of the embodiment shown in FIG3 . That is, the first terminal device independently selects a transmission resource within the resource selection window. It should be noted that although this method selects the first resource within the resource selection window, it does not necessarily mean that the first resource is a resource within the resource selection window. Alternatively, it can be understood that the first terminal device determines a resource within the resource selection window to perform resource reservation, reserving a resource within or outside the resource selection window as the first resource.

[0201] The first resource in the embodiment of the present application may include at least one of the following: a resource for retransmission of sidelink information, a resource for periodic transmission of sidelink information, etc.

[0202] In one possible implementation, the first resource includes a resource for retransmitting the sidelink information, which can also be understood as the first terminal device reserving the resource for retransmitting the sidelink information.

[0203] In another possible implementation, the first resource includes resources for periodic transmission of sidelink information, which can also be understood as the first terminal device reserving resources for periodic transmission of sidelink information.

[0204] In another possible implementation, the first resources include not only resources for sidelink information retransmission but also resources for periodic transmission of sidelink information. This can also be understood as the first terminal device not only reserving resources for sidelink information retransmission but also reserving resources for periodic transmission of sidelink information.

[0205] In the embodiments of the present application, the reserved first resource can be understood as the first resource selected by the first terminal device to be used. It can also be understood that after other terminal devices receive the first SCI sent by the first terminal device, if the first SCI indicates the first resource and the RSRP measurement value of the first SCI collected by the other terminal devices is greater than the RSRP threshold, the other terminal devices determine that the first resource indicated by the first SCI is a valid reserved resource.

[0206] Optionally, the above-mentioned periodic transmission resources of the sidelink information can also be understood as resources used for initial transmission of the sidelink information.

[0207] Optionally, the above-mentioned first resource is included in an SL resource pool, and the resource pool may be a resource pool indicated by SL resource pool (resource pool) configuration information.

[0208] Among them, the SL resource pool configuration information is used to indicate the SL resource pool. The SL resource pool is a collection of time-frequency resources used for sideline communication between UEs. The SL resource pool may include code domain resources. The resources of the SL resource pool are used to include resources for the terminal device to send and receive at least one of the following physical channels: PSCCH (used to carry SCI), PSSCH (used to carry at least one of control information, data, sideline CSI feedback information, etc.), Physical Sidelink Discovery Channel (Physical Sidelink Discovery Channel, PSDCH) (used to carry discovery messages), Physical Sidelink Feedback Channel (Physical Sidelink Feedback Channel, PSFCH) (used for sideline feedback information).

[0209] The SL resource pool configuration information can also be used to indicate at least one of the following information, for example, energy-saving information, resource auxiliary information (including recommended resources, non-recommended resources, resource collisions, resource reservation conflicts, half-duplex conflicts that have occurred in the past or will occur in the future, etc.), Physical Sidelink Broadcast Channel (PSBCH) (used to carry information related to side synchronization), etc.

[0210] The above-mentioned sidelink feedback information can be used to respond to feedback information of sidelink information (including hybrid automatic repeat request (HARQ)), such as acknowledgement (ACK) or negative acknowledgement (NACK), and can also include channel state indication (CSI) feedback information.

[0211] In the time domain of the SL resource pool, one or more time units are included. A time unit may be one or more symbols, one or more time slots, one or more mini-slots, one or more subframes, or one or more frames. One or more time units may be continuous or discrete in time. It should be understood that the time domain units within a resource pool are logically continuous. For an understanding of the definition of symbols, mini-slots, time slots, subframes, and frames in the embodiments of the present application, reference can be made to 3GPP TS 38.211.

[0212] The SL resource pool configuration information may also include PSCCH configuration information, which includes the number of symbols occupied by the PSCCH in a timeslot and the number of resource blocks occupied by the PSCCH in a subchannel. The SL BWP configuration information may include SL resource pool information, which is used to configure the number of resource pools included in the BWP. The SL BWP configuration information may also include SL bandwidth information, which is used to indicate the bandwidth size for SL communication, for example, indicating that the SL bandwidth is 20 megahertz (MHz).

[0213] The SL BWP configuration information may also include SL symbol information, which is used to indicate the starting SL symbol position on a time slot and the number of continuous SL symbols occupied. The SL BWP configuration information may also include SL subcarrier spacing and cyclic prefix information, which are used to indicate the subcarrier spacing and cyclic prefix used for SL communication. The cyclic prefix indicates an extended cyclic prefix or a normal cyclic prefix. In one possible configuration, the SL BWP configuration information may also include SL resource pool configuration information. In this application, unless the meaning of the time unit is specifically stated, the time slot is used for description, but the time unit is not limited to the time slot; unless the meaning of the time-frequency domain unit is specifically stated, the subchannel is used for description, but the frequency domain unit is not limited to the subchannel.

[0214] Step 1002: The first terminal device sends a first SCI.

[0215] After determining the first resource, the first terminal device sends a first SCI, where the first SCI is used to indicate the first resource, or it can be understood that the first SCI is used to indicate the first resource that the first terminal device has reserved.

[0216] Optionally, the first resource includes at least one of the following: resources for retransmission of sidelink information, resources for periodic transmission of sidelink information, etc.

[0217] Optionally, in the case where the first resource includes resources for periodic transmission of side link information, the first SCI includes a period field (for example, the sl-ResourceReservePeriod1 field) for indicating the period. After other terminal devices receive the first SCI, they can determine the resources for periodic transmission of side link information based on the time and period of receiving the first SCI.

[0218] For example, the moment when other terminal devices receive the first SCI is T0, and the RSRP measurement value of the received first SCI is greater than the threshold, and the period indicated by the period field is P, then the other terminal devices can determine that the resources on T0+N*P are the resources reserved by the first terminal device for periodic transmission of side link information, and N is a positive integer.

[0219] Optionally, in the case where the first resource includes resources for retransmission of sidelink information, the first SCI includes a frequency domain field (e.g., Frequency resource assignment) and a time domain field (e.g., Time resource assignment), the frequency domain field is used to indicate the frequency domain resources for transmitting the sidelink information, and the time domain field is used to indicate the time domain resources for transmitting the sidelink information.

[0220] It can be understood that, when the first resources include resources for periodic transmission of sidelink information and resources for retransmission of sidelink information, the first SCI includes the above-mentioned period field, frequency domain field and time domain field.

[0221] The first SCI in the embodiment of the present application can be a first-level SCI, a second-level SCI, or an SCI other than the first stage and the second stage. The specific details are not limited here. For the description of the first-level SCI and the second-level SCI, please refer to the aforementioned glossary and will not be repeated here.

[0222] It is understandable that the first terminal device may send the first SCI to the third terminal device, or send the first SCI in a broadcast manner, which is not specifically limited here.

[0223] Step 1003: The first terminal device determines that the first beam fails.

[0224] Prior to this step, the first terminal device optionally determines, based on beam training, that the first terminal device's transmission beam to the second terminal device is the first beam. For example, the first terminal device measures the second terminal device's transmission beam set to obtain a measurement result; based on the measurement result, the first terminal device's transmission beam is selected as the first beam. This process can also be referred to as the beam scanning process shown in Figure 5 above and will not be further described here.

[0225] In the embodiments of the present application, there are various situations in which the first terminal device determines that the first beam has failed. These situations may be due to failure to receive feedback information from the second terminal device within a first preset time period, failure to receive feedback information from the second terminal device within a second preset time period, or a beam recovery timer expiration, etc., the specific situations of which are not limited herein. The first preset time period, the second time period, and the threshold value can be set according to actual needs, and the threshold value can be configured or preconfigured, which is not limited herein.

[0226] For example, when the first terminal device uses multiple consecutive resources on a transmitting beam, it does not receive feedback information from the corresponding receiving UE, and thus determines that the transmitting beam has failed.

[0227] Step 1004: The first terminal device sends indication information to the third terminal device.

[0228] After determining that the first beam fails, the first terminal device sends indication information to the third terminal device. Correspondingly, the third terminal device receives the indication information sent by the first terminal device.

[0229] It can be understood that the indication information in the embodiment of the present application can be sent in the form of broadcast, or can be sent separately to the third terminal device, etc., and the specific details are not limited here.

[0230] The indication information in the embodiments of the present application can have multiple meanings. For example, the indication information is used to indicate the cancellation of some or all of the reserved first resources. For another example, the indication information is used to instruct the first terminal device to cancel some or all of the resources reserved on the first beam. For another example, the indication information is used to indicate some or all of the resources that the first terminal device has reserved on the first beam but will not actually use. For another example, the indication information is used to indicate that other terminal devices can use some or all of the resources reserved by the first terminal device on the first beam, and so on.

[0231] Optionally, the indication information is carried in a second SCI, which may be a first-level SCI (or first SCI), a second-level SCI (or second SCI, 2nd SCI), or an SCI other than the first and second stages. The specific details are not limited here. For the description of the first-level SCI and the second-level SCI, please refer to the aforementioned glossary and will not be repeated here.

[0232] The indication information in the embodiment of the present application may include a first field and / or a second field, wherein the first field includes at least one bit, and the at least one bit is used to indicate whether to cancel the reservation of all or part of the resources in the first resource.

[0233] The second field indicates the first time period. Specifically, the indication information indicates that the resources whose reservations are to be canceled are those within the first time period. The first time period starts at the first preset time, ends at the second preset time, and is later than the first preset time. This can also be understood as the first time period being a shorter window of time than the duration occupied by the first resource. The second field indicates that the portion of the first resource that falls within the first time period in the temporal domain is to be canceled.

[0234] In the above manner, when the indication information includes the first time period, the indication information can also indicate that resources within a certain time period can be used by other terminal devices, so as to facilitate other terminal devices to determine the range of available resources.

[0235] It is understandable that the indication information may include only the first field, only the second field, or both the first field and the second field, etc., and the specific details are not limited here. For example, when the resources to be canceled are all the resources of the first resource, the indication information including the first field is more cost-effective (for example, only one bit is used to indicate the cancellation of the reservation). For another example, when the resources to be canceled are part of the first resource, the indication information may indicate which part of the resources are to be canceled through the second field. Of course, in actual applications, the indication information may also include both the first field and the second field, and the specific details are not limited here.

[0236] The first time period can be configured or preconfigured. For example, the first preset moment can be a preset moment or the moment when the indication information is sent, and the second preset moment can be a preset moment or the moment when the first beam is restored. When the end moment of the first time period is set to the moment when the first beam is restored, the first beam can be given sufficient time to recover, reducing the use of the resources by other terminal devices after the first beam is restored. During the time period before the first beam is restored, its reserved resources can be indicated to other terminal devices for use via indication information, effectively improving resource utilization efficiency.

[0237] It is understandable that there are multiple ways for the second field to indicate the first time period. The second field can indicate the end moment of the first time period. In this case, the start moment of the first time period is pre-configured or pre-agreed (for example, the first preset moment is the start moment of the first time period by default). The second field can also directly indicate the first time period, for example, using a time resource indicator value (TRIV) and other methods, which are not specifically limited here.

[0238] In the case where the indication information includes the first time period, time may be reserved for the recovery of the first beam. If the first beam is successfully recovered, the reserved resources may still be used without canceling the reservation.

[0239] For example, the first field includes 1 bit, and 1 bit "1" is used to indicate the cancellation of the first resource previously reserved by the first terminal device, whereas "0" is used to indicate the cancellation of the first resource previously reserved by the first terminal.

[0240] Optionally, in step 1001, the first terminal device determines that the first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource. In this step, the first terminal device may send indication information on the second resource, indicating the cancellation of the reservation of the remaining resources in the first resource excluding the second resource.

[0241] In addition, the third terminal device in the embodiment of the present application can be the second terminal device, or a terminal device other than the first terminal device and the second terminal device, which is not specifically limited here.

[0242] Step 1005: The third terminal device determines a set of available resources based on the indication information.

[0243] After receiving the indication information, the third terminal device determines an available resource set based on the indication information, where the available resource set includes all or a portion of the resources for which the indication information indicates that the reservation has been canceled. For ease of description, all or a portion of the resources for which the indication information indicates that the reservation has been canceled are referred to as third resources.

[0244] Optionally, when performing resource exclusion, the third terminal device does not exclude the third resource in the first resource selection window. The first resource selection window is the time window during which the third terminal device determines the set of available resources, and determines that the set of available resources includes the third resource. In this manner, when performing resource exclusion, the third terminal device may not exclude some or all of the resources for which the indication information indicates that the reservation is to be canceled, thereby reducing resource waste and improving resource utilization.

[0245] Among them, the first resource selection window can be [n+T1, n+T2] in the embodiment shown in Figure 3 above. It can be understood that n may be different for different terminal devices. For example, the n in the first resource selection window corresponding to the third terminal device in this step is different from the n in the resource selection window corresponding to the first terminal device in the aforementioned step 1001. Of course, in actual applications, it is also possible that n corresponding to different terminal devices is the same, and the specific details are not limited here. The process of executing resource exclusion by the third terminal device can refer to the process of steps 5 and 6 in the embodiment shown in Figure 3 above. Or it can be understood that in the process of executing resource exclusion, steps 5 and 6 in the embodiment shown in Figure 3 above do not exclude the third resource indicated by the indication information. Or it can be understood that the third resource whose reservation is canceled is put back into the available resource set (that is, it is determined that the available resource set includes all or part of the resources in the resource whose reservation is canceled as indicated by the indication information).

[0246] For example, there are two ways to modify step 6 in the embodiment shown in FIG3 :

[0247] In one possible implementation, the following steps are added after the existing step 6:

[0248] The steps added after step 6: if the received first-level SCI or second-level SCI is decoded successfully, the first-level SCI or second-level SCI indicates that the reservation of the first resource has been cancelled, and the first resource is the resource that has been excluded in the aforementioned step 5 or step 6, the first resource is put back into the available resource set.

[0249] In another possible implementation, the existing step 6 is modified, or it can be understood that the existing step 6 is replaced by the following steps:

[0250] Modified Step 6: Continue from S A The following time-frequency resources are excluded: the decoding of the received first-level SCI is successful, and the RSRP measurement result of the PSSCH DMRS of the time-frequency resources reserved by the received first-level SCI is higher than the RSRP threshold determined in step 3, and the time-frequency resources reserved by the received first-level SCI are within the resource selection window, and the time-frequency resources reserved by the received first-level SCI are not the resources whose reservation is canceled as indicated by the first-level SCI or the second-level SCI, including the retransmission resources and periodically reserved resources indicated by the first-level SCI.

[0251] Exemplarily, as shown in FIG11 , the third terminal device in this example is the second terminal device (i.e., the failed first beam is the beam between the third terminal device and the first terminal device). The third terminal device triggers resource selection at time n. Based on the information received before time n, it is determined that other terminal devices and the first terminal device have reservation information and have not been canceled. Then, in its own resource selection window, the third terminal device excludes its own resources based on the reserved retransmission resources indicated in the SCI sent by other terminal devices. And before time n, the third terminal device perceives through the indication information sent by the first terminal device that the first terminal device has canceled all or part of the subsequent reserved resources on the beam. Then, when the third terminal device makes resource selection, the resources whose reservations are canceled and fall in its resource selection window are not excluded and are regarded as available resources. The available resources are then formed into a resource set SA and reported to the MAC layer for MAC to select resources for data transmission. Among them, the first terminal device (P) in FIG11 represents the periodic resources reserved by the first terminal device, which can also be called initial transmission resources in some scenarios. The first terminal device (R1) and the first terminal device (R2) represent resources reserved by the first terminal device for data retransmission. The other terminal devices (Rx) and the other terminal devices (Ry) represent resources reserved by other terminal devices for data retransmission.

[0252] In a possible implementation, the indication information includes a first field, and the first field is used to indicate whether to cancel the reservation of all or part of the first resources.

[0253] In this case, if the first field is used to indicate cancellation of reservation of all or part of the first resources, the third terminal device determines, based on the first field, that the available resource set includes the resource whose reservation is canceled as indicated by the indication information.

[0254] In another possible implementation, the indication information includes a second field, and the second field is used to indicate the first time period. That is, the indication information is used to indicate that the resource to be canceled is the resource of the first resource falling within the first time period.

[0255] In this case, if the second field only indicates the second preset time, the third terminal device determines the first time period indicated by the indication information based on the first preset time period and the second field, and determines that the indication information is used to indicate that the resource to be canceled is the resource that falls within the first time period. The third terminal device then subsequently determines that the set of available resources includes the resource that falls within the first time period.

[0256] Of course, the indication information may also include a first field and a second field. Similarly, the third terminal device determines that the available resource set includes the resource whose reservation is canceled as indicated by the indication information.

[0257] Optionally, the indication information is used to indicate the cancellation of part of the first resource. The resources other than part of the first resource are reserved by the fourth terminal device, and are not canceled by the fourth terminal device or the third terminal device. The fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device. In other words, part of the resources canceled by the first terminal device are reserved by other terminal devices. Therefore, when the third terminal device determines the set of available resources, it also excludes the resources reserved by other terminal devices and not canceled. Or it can be understood that for resources canceled by the first terminal device but reserved by other terminal devices, the third terminal device may not put the entire resource back when excluding the resource, but may only use part of the resource to reduce conflicts with the reserved resources of other terminal devices.

[0258] In an embodiment of the present application, firstly, a first resource is determined and first sidelink control information indicating the first resource is sent. After determining that the first beam has failed, an indication is sent indicating the cancellation of some or all of the reserved first resources. Specifically, if a reserved resource becomes unusable due to beam failure or other reasons, the unusable reserved resource is released by canceling the reservation, thereby improving resource utilization and reducing resource waste. Furthermore, if a first terminal device cancels its reservation of the first resource, but other terminal devices have reserved some of the first resource, the third terminal device must also exclude the resources reserved by the other terminal devices when determining the set of available resources. Specifically, the third terminal device determines that the set of available resources includes the portion of the first resource reserved by the other terminal devices. Compared to existing technologies, which lack a resource reservation cancellation mechanism, this is particularly true for FR2, where services carry high-throughput demands. For example, high-definition video services are resource-constrained. If reserved resources are not used, resource utilization will be low, while the utilization probability of other resources will increase, thus reducing overall system performance. This solution proposes a resource reservation cancellation mechanism to improve overall resource utilization efficiency.

[0259] In addition, an embodiment of the present application also provides another resource determination method, which can be applied to the communication system shown in Figure 12. The communication system is suitable for the situation where the receiving end assists the transmitting end in making resource selection. For example, UE-1 and UE-3 are transmitting ends, UE-2 is the receiving end, and UE-1 and UE-3 request a set of available resources from UE-2. When UE1 reserves periodic resources and / or retransmission resources for sending to UE2 and other UEs, when UE1 has a beam failure on the beam, it means that the reserved resources on the beam will no longer be used, and UE2 can perceive this information. Because the beam that UE1 sends information and the beam that UE2 receives information are aligned. Then when there is UE3 requesting a set of available resources from UE2, UE2 can provide UE3 with the resources that UE1 no longer uses, so that UE3 can use these resources, thereby achieving the purpose of reusing unused reserved resources.

[0260] Alternatively, if UE-3 senses the direction of its own transmission beam and cannot detect UE-1's resource reservation, its selected resources are likely to conflict with those selected by UE-1. However, since UE-2, as the common receiver for UE-1 and UE-3, can detect the reservations made by both UE-1 and UE-3, UE-2 can then exclude resources and provide the most appropriate available resources to UE-3.

[0261] The process is described in detail below with reference to Figure 13. Figure 13 is another flowchart of the resource determination method provided by an embodiment of the present application, which is applicable to the case where the receiving end assists the transmitting end in resource selection as shown in Figure 8 or Figure 12 above.

[0262] Optionally,

[0263] The method may include steps 1301 to 1305. Steps 1301 to 1305 are described in detail below.

[0264] Step 1301: The second terminal device determines that the first beam fails.

[0265] The second terminal device determines that the first beam fails, and the first beam is the beam used by the first terminal device to send sidelink information to the second terminal device.

[0266] In the embodiment of the present application, there are multiple situations in which the second terminal device determines that the first beam has failed. The situation may be that the periodic information sent from the first terminal device is not received within the first preset time period; the number of times that the periodic information sent from the first terminal device is not received within the second preset time period is greater than or equal to a threshold; the situation may also be that the corresponding reference signal or reference information for beam maintenance is not received on the pre-configured beam maintenance resource; the situation may also be that the beam maintenance information is not received within a period of time, and the above-mentioned period of time and threshold are configured or pre-configured; the situation may also be that the maintenance beam recovery timer times out, etc., which are not specifically limited here. Among them, the first preset time period, the second time period and the threshold can be set according to actual needs and are not specifically limited here.

[0267] For example, after the second terminal device sends the BFRQ information on the corresponding CSI-RS, it does not receive the BFRR information from the transmitting end (ie, the first terminal device).

[0268] This step can be understood as the situation where the receiving end of the first beam determines that the first beam fails. Correspondingly, step 1003 in the embodiment shown in Figure 10 can be understood as the situation where the transmitting end of the first beam determines that the first beam fails.

[0269] Step 1302: The second terminal device determines the first resource.

[0270] The second terminal device determines a first resource, where the first resource is a resource reserved by the first terminal device on the first beam, or the first resource is a resource reserved by the first terminal device on the failed beam, or the first resource is a resource canceled by the first terminal device.

[0271] Alternatively, it can be understood that the first resource is a resource reserved by the first terminal device. The first resource may include at least one of the following: a resource for sidelink information retransmission, a resource for periodic transmission of sidelink information, etc. For the description of the first resource, reference can be made to the description in the embodiment shown in FIG10 , which will not be repeated here. The first resource in the embodiment shown in FIG13 differs from the first resource in the embodiment shown in FIG10 only in that the first resource in the embodiment shown in FIG13 may be all or part of the first resource in the embodiment shown in FIG10 .

[0272] Optionally, before this step, the second terminal device receives the first SCI sent by the first terminal device, where the first SCI is used to indicate the first resource. Specifically, the step of the second terminal device receiving the first SCI may be before or after step 1301, and is not specifically limited here.

[0273] It should be noted that the number of resources involved in the embodiments of the present application can be one or more, or it can be understood that resources can be replaced by the concept of resource sets. For example, the first resource can include one or more resources, and the first resource can be equivalent to the first resource set.

[0274] Step 1303: The third terminal device sends a resource set request to the second terminal device. This step is optional.

[0275] Optionally, the third terminal device sends a resource collection request to the second terminal device, and correspondingly, the second terminal device receives the resource collection request sent by the third terminal device. The resource collection request is used by the second terminal device to assist the third terminal device in making resource selection.

[0276] Step 1304: The second terminal device sends indication information to the third terminal device.

[0277] The second terminal device sends an indication message to the third terminal device, and correspondingly, the third terminal device receives the indication message sent by the second terminal device. The indication message is used to indicate the first resource set, which includes all or part of the resources whose reservation is canceled by the first terminal device.

[0278] In this case, the receiving end (i.e., the second terminal device) determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization and reducing resource waste.

[0279] Optionally, if some of the first resources whose reservation is canceled by the first terminal device have been reserved by other terminal devices and have not been canceled, the first resource set includes the remaining resources in the first resources except the some resources.

[0280] Alternatively, after the second terminal device determines that the first beam has failed, it does not exclude the resources reserved by the first terminal device on the first beam when providing resources to other terminal devices. That is, the first resource set includes the resources reserved by other terminal devices on the failed beam.

[0281] In one possible implementation, this step can be triggered proactively. For example, after the second terminal device determines that the first beam has failed, it sends the indication information to the third terminal device. For another example, after the second terminal device receives the indication information sent by the first terminal device to cancel the reservation, it sends the indication information to the third terminal device.

[0282] In another possible implementation, this step may be passively triggered. For example, after receiving the resource collection request sent by the third terminal device, the second terminal device sends the indication information to the third terminal device.

[0283] Optionally, the unreserved resources include at least one of the following: resources used for information retransmission and periodic transmission resources.

[0284] Optionally, the indication information may also be used to instruct a third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment when the failure of the first beam is determined, and the preset moment is later than the moment of failure. In this case, the indication information can be used to indicate the moment after which other terminal devices can use the resources canceled by the first terminal device, thereby clarifying the resource usage period.

[0285] Optionally, the indication information is further used to instruct a third terminal device to give priority to the resources canceled by the first terminal device. For example, the indication can be made in the form of a resource set, such as a prefer resource set. In this case, the indication information can also be used to instruct other terminal devices to give priority to the resources canceled by the first terminal device, thereby improving the resource utilization of the reserved resources on the failed beam.

[0286] In the embodiment of the present application, the first resource set indicated by the indication information can be an existing resource set or another independent resource set, such as a prefer resource set. Of course, the first resource set can also be part of the existing resource set, but the preferred resource (i.e., indicating that other terminal devices should give priority to the resource whose reservation has been canceled) can be indicated by additional indication information. It is understandable that the existing resource set and the prefer resource set can exist separately or simultaneously, and the specific details are not limited here.

[0287] Step 1305: The third terminal device preferentially uses the resources indicated by the indication information to transmit information. This step is optional.

[0288] Optionally, after receiving the indication information, the third terminal device preferentially uses the resources indicated by the indication information to transmit information.

[0289] Optionally, when the third terminal device performs resource preemption evaluation, if it is determined that the resource to be preempted is in the first resource set or the prefer resource set, priority comparison is not performed and the resource is used directly.

[0290] In the embodiment of the present application, on the one hand, compared with the embodiment shown in FIG10 in which the transmitting end sends an indication message for canceling the reserved resources, the embodiment of the present application proposes to directly cancel the reserved resources of the transmitting end with the failed beam when the receiving end performs resource exclusion, so that the unused reserved resources can still be used by other terminals. On the other hand, when the second terminal device provides a resource set to the third terminal device, it does not exclude the resources reserved on the failed beam, that is, in the case where the reserved resources cannot be used due to reasons such as beam failure, the reserved resources are released by configuring the resources for other terminal devices, thereby improving resource utilization and reducing resource waste. On the other hand, the second terminal device can give priority to the use of resources reserved by other terminal devices on the failed beam to the third terminal device, providing a resource solution for using invalid reservations and improving resource utilization efficiency.

[0291] The resource determination method in the embodiment of the present application is described above. The communication device in the embodiment of the present application is described below. Please refer to Figure 14. An embodiment of the communication device 1400 in the embodiment of the present application includes: a processing unit 1401 and a transceiver unit 1402.

[0292] In one possible implementation, the communication device 1400 may be the first terminal device in the embodiment shown in FIG. 5 . In this case, the functions of the various units are as follows:

[0293] The processing unit 1401 is configured to determine a first resource, where the first resource is used for transmitting sidelink information between a first terminal device and a second terminal device;

[0294] The transceiver unit 1402 is configured to send first sidelink control information SCI, where the first SCI is used to indicate a first resource;

[0295] The processing unit 1401 is further configured to determine that the first beam fails, the first beam being used to carry sidelink information;

[0296] The transceiver unit 1402 is further configured to send indication information, where the indication information is used to indicate cancellation of part or all of the reserved first resources.

[0297] Optionally, the indication information is carried in the second sideline control information SCI.

[0298] Optionally, the first resource includes at least one of the following: a resource for retransmission of sidelink information, and a resource for periodic transmission of sidelink information.

[0299] Optionally, the indication information is used to indicate the cancellation of part or all of the reserved first resources, including: the indication information is used to indicate that the cancelled reserved resources are resources of the first resources falling within a first time period, wherein the start time of the first time period is a first preset time, the end time of the first time period is a second preset time, and the second preset time is later than the first preset time.

[0300] Optionally, the first preset moment is the moment of sending the indication information, and the second preset moment is the moment of restoring the first beam.

[0301] Optionally, the first resource includes a second resource, and the second resource is the first resource among multiple resources included in the first resource; the transceiver unit 1402 is specifically used to send indication information on the second resource, and the indication information is used to indicate the cancellation of the reservation of the remaining resources in the first resource except the second resource.

[0302] Optionally, the processing unit 1401 is specifically used to not receive feedback information from the second terminal device within a first preset time period; or the processing unit 1401 is specifically used to not receive feedback information from the second terminal device within a second preset time period, and the number of times is greater than or equal to a threshold.

[0303] Optionally, the processing unit 1401 is further used to determine that the transmitting beam of the first terminal device is the first beam based on beam training.

[0304] In this embodiment, the operations performed by each unit in the first terminal device are similar to those described in the embodiment shown in Figure 5 above, and will not be repeated here.

[0305] In this embodiment, processing unit 1401 first determines a first resource and sends first sidelink control information indicating the first resource. After determining that the first beam has failed, processing unit 1401 sends indication information indicating the cancellation of some or all of the reserved first resources. Specifically, if a reserved resource becomes unusable due to a beam failure or other reason, the unusable reserved resource is released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0306] In another possible implementation, the communication device 1400 may be the third terminal device in the embodiment shown in FIG. 5 . In this case, the functions of the various units are as follows:

[0307] The transceiver unit 1402 is configured to receive first sidelink control information SCI sent by a first terminal device, where the first SCI is used to indicate a first resource reserved by the first terminal device;

[0308] The transceiver unit 1402 is further configured to receive instruction information sent by the first terminal device, where the instruction information is used to instruct to cancel the reservation of part or all of the first resource;

[0309] The processing unit 1401 is configured to determine an available resource set based on the indication information, where the available resource set includes a portion of the resources whose reservation is canceled as indicated by the indication information.

[0310] Optionally, the processing unit 1401 is specifically used to not exclude a part of the resources in the first resource selection window when performing resource exclusion, and the first resource selection window is a time window for determining the available resource set; the processing unit 1401 is specifically used to determine that the available resource set includes a part of the resources.

[0311] Optionally, the indication information is used to indicate the cancellation of part of the first resources, and the resources other than the part of the first resources are reserved by a fourth terminal device and have not been canceled by the fourth terminal device or the third terminal device. The fourth terminal device is different from the first terminal device, the second terminal device and the third terminal device.

[0312] Optionally, the third terminal device and the second terminal device are the same device.

[0313] In this embodiment, the operations performed by each unit in the third terminal device are similar to those described in the embodiment shown in Figure 5 above, and will not be repeated here.

[0314] In this embodiment, processing unit 1401 determines the first resource reserved by the first terminal device and, through the indication information, determines that the first terminal device has canceled its reservation of the resource. Consequently, the third terminal device can determine that the set of available resources includes the resource canceled by the first terminal device. Specifically, if a reserved resource becomes unusable due to a beam failure or other reason, the unusable reserved resource can be released by canceling the reservation, thereby improving resource utilization and reducing resource waste.

[0315] In another possible implementation, the communication device 1400 may be the second terminal device in the embodiment shown in FIG. 13 . In this case, the functions of the various units are as follows:

[0316] The processing unit 1401 is configured to determine that a first beam fails, where the first beam is a beam used by a first terminal device to send sidelink information to a second terminal device;

[0317] The processing unit 1401 is further configured to determine a first resource, where the first resource is a resource reserved by the first terminal device on the first beam;

[0318] The transceiver unit 1402 is used to send indication information to the third terminal device, where the indication information is used to indicate the first resource set, and the first resource set includes all or part of the first resources.

[0319] Optionally, the transceiver unit 1402 is further configured to receive a resource collection request from a third terminal device.

[0320] Optionally, the processing unit 1401 is specifically used to determine that the first beam failure includes at least one of the following: no periodic information sent from the first terminal device is received within a first preset time period; the number of times that the periodic information sent from the first terminal device is not received within a second preset time period is greater than or equal to a threshold, and the threshold may be configured or pre-configured; no corresponding reference signal or reference information for beam maintenance is received on the pre-configured resources for beam maintenance; no beam maintenance information is received within a period of time, and the above-mentioned period of time is configured or pre-configured; the maintained beam recovery timer times out.

[0321] Optionally, the unreserved resources include at least one of the following: resources used for information retransmission and periodic transmission resources.

[0322] Optionally, the indication information is also used to instruct the third terminal device to use the resources canceled by the first terminal device after a first moment, where the first moment is a preset moment or a moment of failure of determining the first beam, and the preset moment is later than the failure moment.

[0323] Optionally, the indication information is further used to instruct the third terminal device to preferentially use the resources canceled by the first terminal device.

[0324] In this embodiment, the operations performed by each unit in the second terminal device are similar to those described in the embodiment shown in Figure 13 above, and will not be repeated here.

[0325] In this embodiment, the processing unit 1401 determines that the first beam has failed, and uses all or part of the resources reserved by the first terminal device on the first beam as a set of resources provided to other terminal devices, thereby reducing the situation where the reserved resources cannot be used due to beam failure and other reasons, improving resource utilization, and reducing resource waste.

[0326] In another possible implementation, the communication device 1400 may be the third terminal device in the embodiment shown in FIG. 13 . In this case, the functions of the various units are as follows:

[0327] The transceiver unit 1402 is configured to send a resource set request to the second terminal device;

[0328] The transceiver unit 1402 is further configured to receive first indication information from the second terminal device, where the first indication information is configured to indicate a first resource set, where the first resource set includes a first resource, and the first resource is a resource for which the first terminal device cancels its reservation.

[0329] Optionally, the processing unit 1401 is configured to preferentially use the first resource for information transmission.

[0330] In this embodiment, the operations performed by each unit in the third terminal device are similar to those described in the embodiment shown in Figure 13 above, and will not be repeated here.

[0331] In this embodiment, the transceiver unit 1402 can determine through the first indication information sent by the second terminal device that the first resource set includes the first resource for which the first terminal device has canceled its reservation. Since the first terminal device will not use the first resource and other terminals have excluded the resource when performing resource exclusion, there is a high probability that there will be no resource usage conflict when using the resource, thereby reducing the probability of resource usage conflicts and improving system performance.

[0332] Please refer to Figure 15, which is another schematic structural diagram of a communication device 1500 provided in this application. The communication device 1500 includes a logic circuit 1501 and an input / output interface 1502. The communication device 1500 may be a chip or an integrated circuit.

[0333] The communication device 1500 may be the first terminal device, the second terminal device, or the third terminal device in the embodiments shown in FIG. 5 to FIG. 13 .

[0334] The transceiver unit 1402 shown in FIG14 may be a communication interface, which may be the input / output interface 1502 in FIG15 , which may include an input interface and an output interface. Alternatively, the communication interface may be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0335] Optionally, the input / output interface 1502 is used to receive or send data in the embodiments shown in FIG. 5 to FIG. 13 .

[0336] Optionally, the logic circuit 1501 is used to determine beam failure, first resources or priority resources, etc., and the related steps of determination and use in the embodiments shown in Figures 5 to 13 above.

[0337] The logic circuit 1501 and the input / output interface 1502 may also execute other steps executed by the terminal device in any embodiment and achieve corresponding beneficial effects, which will not be described in detail here.

[0338] In one possible implementation, the processing unit 1401 shown in FIG. 14 may be the logic circuit 1501 in FIG. 15 .

[0339] Optionally, the logic circuit 1501 may be a processing device, and the functions of the processing device may be partially or entirely implemented by software. The functions of the processing device may be partially or entirely implemented by software.

[0340] Optionally, the processing device may include a memory and a processor, wherein the memory is used to store a computer program, and the processor reads and executes the computer program stored in the memory to perform corresponding processing and / or steps in any one of the method embodiments.

[0341] Alternatively, the processing device may include only a processor. A memory for storing the computer program is located outside the processing device, and the processor is connected to the memory via circuits / wires to read and execute the computer program stored in the memory. The memory and processor may be integrated or physically separate.

[0342] Optionally, the processing device may be one or more chips, or one or more integrated circuits. For example, the processing device may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system-on-chips (SoCs), central processor units (CPUs), network processors (NPs), digital signal processors (DSPs), microcontroller units (MCUs), programmable logic devices (PLDs), or other integrated chips, or any combination of the above chips or processors.

[0343] Please refer to Figure 16, which shows the communication device 1600 involved in the above embodiments provided in an embodiment of the present application. The communication device 1600 can specifically be the communication device serving as the first terminal device, the second terminal device or the third terminal device in the embodiments shown in Figures 5 to 13 above.

[0344] Herein, a possible logical structure diagram of the communication device 1600 is shown. The communication device 1600 may include but is not limited to at least one processor 1601 and a communication port 1602 .

[0345] The transceiver unit 1402 shown in FIG14 may be a communication interface, which may be the communication port 1602 in FIG16 , which may include an input interface and an output interface. Alternatively, the communication port 1602 may be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0346] Further optionally, the device may also include at least one of a memory 1603 and a bus. In an embodiment of the present application, the at least one processor 1601 is used to control and process the actions of the communication device 1600.

[0347] In addition, processor 1601 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so on. Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0348] It should be noted that the communication device 1600 shown in Figure 16 can be specifically used to implement the steps implemented by the terminal device in the aforementioned method embodiment and achieve the corresponding technical effects of the terminal device. The specific implementation methods of the communication device shown in Figure 16 can refer to the description in the aforementioned method embodiment and will not be repeated here.

[0349] To facilitate understanding of this solution, the structure of the vehicle in the embodiment of this application is first described with reference to FIG17 . FIG17 is a schematic diagram of the structure of a vehicle 1700 provided in the embodiment of this application. Specifically, vehicle 1700 may be a terminal serving as the first terminal device, the second terminal device, or the third terminal device in the embodiments shown in FIG5 to FIG13 .

[0350] The vehicle 1700 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power source 110, and a user interface 116. Alternatively, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle may be interconnected via wired or wireless (e.g., Bluetooth).

[0351] The travel system 102 may include components that provide powered movement for the vehicle. In one embodiment, the travel system 102 may include an engine 118 , an energy source 119 , a transmission 120 , and wheels 121 .

[0352] The engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy. Examples of the energy source 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 119 may also provide energy for other systems of the vehicle. The transmission 120 may transmit the mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other devices, such as a clutch. The drive shaft may include one or more shafts that can be coupled to the wheels 121.

[0353] The sensor system 104 may include several sensors that sense information about the vehicle's location. For example, the sensor system 104 may include a positioning system 122 (the positioning system may be a global positioning system (GPS) system, or a BeiDou system or other positioning system), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may also include sensors of the monitored vehicle's internal systems (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensing data from one or more of these sensors may be used to detect objects and their corresponding characteristics (e.g., position, shape, direction, speed, etc.). This detection and recognition is a key function for the safe operation of autonomous vehicles.

[0354] Among them, the positioning system 122 can be used to estimate the geographic location of the vehicle, such as the latitude and longitude information of the vehicle's location. The IMU 124 is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope. The radar 126 can use radio signals to sense objects in the vehicle's surrounding environment, and can specifically be a millimeter wave radar or a laser radar. In some embodiments, in addition to sensing objects, the radar 126 can also be used to sense the speed and / or direction of travel of objects. The laser rangefinder 128 can use lasers to sense objects in the environment in which the vehicle is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. The camera 130 can be used to capture multiple images of the vehicle's surrounding environment. The camera 130 can be a still camera or a video camera.

[0355] The control system 106 controls the operation of the vehicle and its components and may include various components, including a steering system 132 , an accelerator 134 , a brake unit 136 , an electronic control unit (ECU) 138 , and a body control module (BCM) 140 .

[0356] The steering system 132 is operable to adjust the vehicle's forward direction. For example, in one embodiment, it may be a steering wheel system. The throttle 134 is used to control the operating rate of the engine 118 and, in turn, the vehicle's speed. The brake unit 136 is used to control vehicle deceleration. The brake unit 136 may use friction to slow the wheels 121. In other embodiments, the brake unit 136 may convert the kinetic energy of the wheels 121 into electrical current. The brake unit 136 may also take other forms to slow the rotational speed of the wheels 121 and thus control the vehicle's speed. The vehicle electronic control unit 138 may be implemented as a single ECU or multiple ECUs on the vehicle, configured to communicate with the peripheral devices 108 and the sensor system 104. The vehicle ECU 138 may include at least one processor 1381 and memory 1382 (read-only memory, ROM). The at least one processor may be implemented or executed using one or more general-purpose processors, content-addressable memory, digital signal processors, application-specific integrated circuits, field-programmable gate arrays, any suitable programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. In particular, the at least one processor may be implemented as one or more microprocessors, controllers, microcontroller units (MCUs), or state machines. Furthermore, the at least one processor may be implemented as a combination of computing devices, such as a digital signal processor or a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other combination of such configurations. ROM may provide storage for data, including, in this application, storage of addresses, routes, and driving directions.

[0357] BCM140 can provide ECU138 with information such as vehicle engine status, speed, gear position, steering wheel angle, etc.

[0358] The vehicle interacts with external sensors, other vehicles, other computer systems, or users via peripheral devices 108. Peripheral devices 108 may include a wireless communication system 146, a navigation system 148, a microphone 150, and / or a speaker 152. In some embodiments, peripheral devices 108 provide a means for the vehicle user to interact with user interface 116. For example, navigation system 148 may be implemented as part of an in-vehicle entertainment system, an in-vehicle display system, an in-vehicle instrument cluster, or the like. In one embodiment, navigation system 148 is implemented to include or collaborate with sensor system 104, which derives the vehicle's current geographic location in real time or substantially real time. Navigation system 148 is configured to provide navigation data to the vehicle's driver. The navigation data may include the vehicle's location data, suggested route planning driving instructions, and visible map information for the vehicle operator. Navigation system 148 may present this location data to the vehicle's driver via a display element or other presentation device. The current location of the vehicle may be described by one or more of the following: triangulated location, latitude / longitude location, x and y coordinates, or any other symbol or measurement indicating the geographic location of the vehicle.

[0359] The user interface 116 can also operate a navigation system 148 to receive user input. The navigation system 148 can be operated via a touch screen. The navigation system 148 provides route planning and navigation capabilities when the user enters geographic location values ​​for the starting and ending points. In other cases, the peripheral device 108 can provide a means for the vehicle to communicate with other devices located within the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio input) from the user of the vehicle. Similarly, the speaker 152 can output audio to the user of the vehicle. The wireless communication system 146 can wirelessly communicate with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as code division multiple access (CDMA), EVDO, global system for mobile communications (GSM) / general packet radio service (GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication. The wireless communication system 146 can use WiFi to communicate with a wireless local area network (WLAN). In some embodiments, the wireless communication system 146 may utilize infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, may be used. For example, the wireless communication system 146 may include one or more dedicated short range communications (DSRC) devices that may enable public and / or private data communications between vehicles and / or roadside stations.

[0360] Power source 110 can provide power to various components of the vehicle. In one embodiment, power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle. In some embodiments, power source 110 and energy source 119 can be implemented together, such as in some all-electric vehicles.

[0361] Alternatively, one or more of the above components may be installed or associated separately from the vehicle. For example, the memory 1382 may be partially or completely separate from the vehicle. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0362] Optionally, the above components are only an example. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 17 should not be understood as a limitation on the embodiments of the present application.

[0363] The above-mentioned vehicles can be cars, trucks, motorcycles, buses, boats, lawn mowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, and carts, etc., and the embodiments of the present application do not make special limitations.

[0364] An embodiment of the present application further provides a computer-readable storage medium for storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes the method described in the possible implementation of the terminal device in the aforementioned embodiment.

[0365] An embodiment of the present application also provides a computer program product (or computer program). When the computer program product is executed by the processor, the processor executes the method of the possible implementation mode of the above-mentioned terminal device.

[0366] An embodiment of the present application also provides a chip system, which includes at least one processor for supporting a communication device to implement the functions involved in the possible implementation methods of the above-mentioned communication device. Optionally, the chip system also includes an interface circuit, which provides program instructions and / or data to the at least one processor. In one possible design, the chip system may also include a memory for storing the necessary program instructions and data for the communication device. The chip system can be composed of a chip, or it can include a chip and other discrete devices, wherein the communication device can specifically be a terminal device in the aforementioned method embodiment.

[0367] An embodiment of the present application also provides a communication system, which includes the terminal device in any of the above embodiments.

[0368] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0369] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0370] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0371] When the above-mentioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal in the above-mentioned method embodiment. When the terminal chip receives information from other terminals, it can be understood that the information is first received by other modules in the terminal (such as a radio frequency module or antenna) and then sent to the terminal chip by these modules. When the terminal chip sends information to other terminals, it can be understood that the information is first sent to other modules in the terminal (such as a radio frequency module or antenna) and then sent to other terminals by these modules.

[0372] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0373] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and storage medium can also exist in a base station or a terminal as discrete components.

[0374] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0375] In the various embodiments of the present application, unless otherwise specified or there is any logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0376] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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