Communication method and apparatus

Abstract

The present application relates to a communication method and apparatus. The method comprises: determining at least one signal received in a first window, the at least one signal comprising a first signal, a first time-frequency resource indicated by the first signal being located in a second window, and the second window comprising at least one time-frequency resource; and on the basis of the intensity of a first signal on the first time-frequency resource and at least one threshold, determining a candidate resource set from the second window, some or all resources in the candidate resource set being used for sending a first sensing signal.

Description

Communication method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on January 30, 2024, with application number 202410135180.8 and application name "A Communication Method and Communication Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of communications, and in particular to a communication method and device. Background Art

[0004] In integrated communication and perception technology, devices can perform both communication and perception. The signals sent by devices for communication are called communication signals, and the signals sent by devices for perception are called perception signals. If the resources used by one device to transmit communication signals overlap with those used by another device to transmit perception signals, the perception signals will interfere with the communication signals, impacting communication performance. Summary of the Invention

[0005] The present application provides a communication method and a communication device for reducing or avoiding conflicts between communication resources and sensing resources, thereby reducing or avoiding interference of sensing signals on communication signals. The technical solution of the present application can be used in a sidelink (SL) communication system as well as in other communication systems.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a communication method. The method may be performed by a first communication device. The first communication device may be a terminal device (also referred to as user equipment, UE), or the first communication device may be a component used to implement the functions of the terminal device. For example, the first communication device may be a unit / module, circuit, or chip within the terminal device. The method provided in the first aspect is described below using the first communication device as an example of a first terminal device.

[0008] The communication method includes: a first terminal device determining at least one signal received within a first window, the at least one signal including a first signal, a first time-frequency resource indicated by the first signal being located in a second window, the second window including at least one time-frequency resource; and determining a set of candidate resources from the second window based on the strength of the first signal and at least one threshold. Some or all of the resources in the set of candidate resources are used to send a first perception signal.

[0009] A perception signal refers to a signal used for sensing, and perception can also be called detection, exploration, etc. The working principle of perception is to determine the attribute information of the perceived target (such as speed, distance, shape, size, etc.) by sending a signal and receiving the signal reflected by the perceived target. Compared with the perception signal, there is another signal (such as a communication signal). The communication signal can carry information / content that needs to be interacted between the two ends of the communication. The perception signal itself may not carry any content. In an integrated communication and perception system, the same time-frequency resource can be used to send perception signals and also to send communication signals. If the perception signal and the communication signal are sent simultaneously on the same time-frequency resource, the perception signal will interfere with the communication signal. To this end, for the resource selection window (i.e., the second window), the first terminal device can determine the candidate resources for sending the perception signal from the second window based on the strength of the first signal and at least one threshold, so as to select a suitable time-frequency resource to send the perception signal, thereby reducing or avoiding the interference of the perception signal on the communication signal.

[0010] In one implementation, the first terminal device determines a set of candidate resources from the second window based on the strength of the first signal on the first time-frequency resource and at least one threshold, including: the first terminal device excludes the second time-frequency resource from the second window based on the strength of the first signal and at least one threshold. The second time-frequency resource partially overlaps or completely overlaps with the first time-frequency resource. The process of the first terminal device determining the set of candidate resources from the second window can be regarded as excluding unavailable second time-frequency resources from the second window, and the remaining resources after excluding the second time-frequency resources constitute the candidate resource set.

[0011] In one implementation, any threshold of the at least one threshold is associated with one or more of the following priorities: a priority of the first perception signal, a priority of the communication signal from the second communication device, or a priority of the perception signal from the second communication device.

[0012] At least one threshold is used to select a resource for sensing a signal. The at least one threshold may be (pre)configured or predefined, or determined by the first terminal device itself. For example, each threshold may be determined based on one or more priorities as described above.

[0013] In one implementation, the at least one threshold includes a first threshold, and the strength of the first signal is higher than the first threshold.

[0014] The first threshold can be (pre) configured. When the strength of the first signal is higher than the first threshold, it can be considered that the first time-frequency resource is used or reserved, for example, there is a communication signal and / or a perception signal on the first time-frequency resource. Therefore, when the strength of the first signal is higher than the first threshold, the second time-frequency resource that partially overlaps or completely overlaps with the first time-frequency resource can be excluded from the second window. Through this solution, the first terminal device selects an unused time-frequency resource to send a perception signal, so it does not cause interference to the communication signal and / or other perception signals.

[0015] Optionally, the first threshold is lower than the first communication threshold, and the first communication threshold is related to the priority of the communication signal sent by the second communication device. Alternatively, the first communication threshold is related to the priority of the communication signal sent by the second communication device. In this way, as many resources as possible in the second window can be excluded, so that the resulting candidate resources do not cause interference with the communication signal and / or other perception signals.

[0016] In one implementation, the proportion of time-frequency resources remaining in the second window after excluding the second time-frequency resources is lower than the first proportion, and the method further includes: the first terminal device raises the first threshold, and determines a set of candidate resources from the second window based on the raised first threshold and the strength of the first signal.

[0017] The first ratio can be (pre)configured or predefined. In this solution, if the proportion of candidate resources determined according to the first threshold in the second window is lower than the first ratio, it can be considered that the resources available to the first terminal device for sending the perception signal are insufficient. In this case, the first threshold can be increased, and the candidate resource set can be determined again from the second window based on the increased first threshold, so that the available candidate resources are sufficient for the first terminal device to use.

[0018] In one implementation, the at least one threshold includes a second threshold, and the strength of the first signal is lower than the second threshold.

[0019] The second threshold can be (pre)configured. When the strength of the first signal is lower than the second threshold, it can be considered that the signal strength received by other communication devices around the first terminal device is weak. At this time, if the first terminal device still uses the first time-frequency resource to send the perception signal, the perception signal will interfere with the receiving signal of other communication devices. Therefore, when the strength of the first signal is lower than the second threshold, the second time-frequency resource that partially or completely overlaps with the first time-frequency resource can be excluded from the second window. Through this solution, the first terminal device excludes time-frequency resources that may be used by other terminal devices to send perception or communication signals, thereby reducing or even avoiding interference with communication signals or other perception signals.

[0020] Optionally, the first threshold is higher than the second communication threshold, and the second communication threshold is related to the priority of the communication signal sent by the second communication device. Alternatively, the second communication threshold is related to the priority of the communication signal sent by the second communication device. In this way, when the second time-frequency resource is excluded from the second window, as many candidate resources as possible remain, thereby improving resource utilization.

[0021] In one implementation, the proportion of time-frequency resources remaining in the resource selection window after excluding the second time-frequency resources in the second window is lower than the first proportion, and the method also includes: the first terminal device lowers the second threshold, and determines the candidate resource set from the first window based on the lowered second threshold and the strength of the first signal.

[0022] In this solution, if the proportion of candidate resources determined based on the second threshold in the second window is lower than the first proportion, it can be considered that the resources available for the first terminal device to send the perception signal are insufficient. In this case, the second threshold can be lowered, and the candidate resource set can be determined again from the second window based on the lowered second threshold, so that the available candidate resources are sufficient for the first terminal device to use.

[0023] In one implementation, the at least one threshold includes a third threshold and a fourth threshold, the fourth threshold is greater than the third threshold, and the strength of the first signal is higher than the third threshold and lower than the fourth threshold.

[0024] The third threshold is similar to the first threshold and can be greater than or equal to the first threshold. The fourth threshold is similar to the second threshold and can be less than or equal to the second threshold. When the strength of the first signal is greater than or equal to the third threshold and less than or equal to the fourth threshold, it can be considered that if the perception signal is sent on the first time-frequency resource, the superposition of all perception signals on the first time-frequency resource may cause interference to the communication signal and / or other perception signals on the first time-frequency resource. Therefore, when the strength of the first signal is greater than or equal to the third threshold and less than or equal to the fourth threshold, the second time-frequency resource that partially or completely overlaps with the first time-frequency resource can be excluded from the second window. Through this solution, the first terminal device excludes time-frequency resources that may be used by other terminal devices to send perception signals, which can reduce or even avoid interference with communication signals and / or other perception signals. In addition, the third and fourth thresholds can exclude fewer unavailable resources, leaving more candidate resources available, and the candidate resources are more flexible.

[0025] In one implementation, the proportion of the remaining time-frequency resources in the resource selection window after excluding the second time-frequency resources in the second window is lower than the first proportion, and the method also includes: the first terminal device lowers the third threshold, and determines the candidate resource set from the second window based on the strength of the first signal and the lowered third threshold; and / or, the first terminal device raises the fourth threshold, and determines the candidate resource set from the second window based on the strength of the first signal and the raised fourth threshold.

[0026] In this solution, if the proportion of candidate resources determined based on the third and fourth thresholds in the second window is lower than the first proportion, it can be considered that the resources available for the first terminal device to send the perception signal are insufficient. In this case, the third threshold can be lowered and / or the fourth threshold can be increased, and the candidate resource set can be determined again from the second window based on the updated third and fourth thresholds, so that the available candidate resources are sufficient for the first terminal device to use.

[0027] In a second aspect, an embodiment of the present application provides a communication device. The communication device has the function of implementing the behavior in the method example of the first aspect above. The beneficial effects can be found in the relevant description of the first aspect and will not be repeated here. For example, the communication device can be the first terminal device in the first aspect. For another example, the communication device can be a device that can support the terminal device to implement the functions required by the method provided in the first aspect, for example, the communication device can be a chip or chip system in the terminal device.

[0028] In one possible design, the communication device includes a baseband device and a radio frequency device.

[0029] In one possible design, the communication device includes corresponding means or modules for executing the method of the first aspect. For example, the communication device includes a processing unit (sometimes also referred to as a processing module or processor) and / or a transceiver unit (sometimes also referred to as a transceiver module or transceiver). The transceiver unit can realize the sending function and the receiving function. When the transceiver unit realizes the sending function, it can be called a sending unit (sometimes also referred to as a sending module). When the transceiver unit realizes the receiving function, it can be called a receiving unit (sometimes also referred to as a receiving module). The sending unit and the receiving unit can be the same functional unit, which is called a transceiver unit, and the functional unit can realize the sending function and the receiving function; or, the sending unit and the receiving unit can be different functional units, and the transceiver unit is a general term for these functional units. These units (modules) can perform the corresponding functions in the above-mentioned first aspect method example. Please refer to the detailed description in the method example for details, which will not be repeated here.

[0030] In a third aspect, an embodiment of the present application provides a communication device. The communication device may be the communication device in the second aspect of the above embodiment, or a chip or chip system provided in the communication device in the second aspect. The communication device includes a communication interface and a processor, and optionally, further includes a memory. The memory is used to store computer programs, instructions, or data, and the processor is coupled to the memory and the communication interface. When the processor reads the computer program, instructions, or data, the communication device executes the method executed by the first terminal device in the above method embodiment. For example, the communication device may be a terminal device, or the communication device may be a functional module in the terminal device, such as a baseband chip and a radio frequency chip.

[0031] In a fourth aspect, an embodiment of the present application provides a chip system. The chip system includes a processor and may also include a communication interface for implementing the method described in the first aspect. Optionally, the chip system also includes a memory. The memory is used to store computer programs (also referred to as code, or instructions). The processor is used to call and run the computer program from the memory so that the device equipped with the chip system executes the method in the first aspect and any one of its implementations. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0032] In a fifth aspect, embodiments of the present application provide a communication device. The communication device includes an input / output interface and a logic circuit. The input / output interface is used to input and / or output information. The input / output interface can be an interface circuit, an output circuit, an input circuit, a pin, or related circuits. The logic circuit is used to execute the method described in the first aspect.

[0033] In a specific implementation, the communication device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the logic circuit may be a transistor, a gate circuit, a trigger, or various logic circuits. The input signal received by the input circuit may be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter. The input circuit and the output circuit may be the same circuit, which functions as an input circuit and an output circuit, respectively, at different times. This application does not limit the specific implementation of the input and output interfaces and logic circuits.

[0034] In one implementation, when the communication device is a wireless communication device, the wireless communication device may be a terminal device such as a mobile phone. The interface circuit may be a radio frequency processing chip in the wireless communication device, and the processing circuit may be a baseband processing chip in the wireless communication device.

[0035] In a sixth aspect, an embodiment of the present application provides a communication system. The communication system includes at least one terminal device, wherein each terminal device is used to implement the functions of the method described in the first aspect. Optionally, the communication system also includes a network device.

[0036] In a seventh aspect, embodiments of the present application provide a computer-readable storage medium for storing a computer program or instruction, which, when executed, implements the method described in the first aspect and any one of its implementations.

[0037] In an eighth aspect, embodiments of the present application further provide a computer program product comprising instructions, which, when executed on a computer, implements the method described in the first aspect and any one of its implementations.

[0038] The beneficial effects of the above-mentioned second to eighth aspects and their implementation methods can refer to the description of the beneficial effects of the first aspect and any one of its implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 is a schematic diagram of an architecture of a communication system provided in an embodiment of the present application;

[0040] FIG2 is a schematic diagram of a typical application scenario of an embodiment of the present application;

[0041] FIG3 is a schematic diagram of a perception window and a resource selection window provided in an embodiment of the present application;

[0042] FIG4 is a flow chart of a communication method according to an embodiment of the present application;

[0043] FIG5 is a schematic diagram of a first type of resource exclusion provided in an embodiment of the present application;

[0044] FIG6 is a schematic diagram of a second type of resource exclusion provided in an embodiment of the present application;

[0045] FIG7 is a schematic diagram of a third type of resource exclusion provided in an embodiment of the present application;

[0046] FIG8 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0047] FIG9 is another schematic diagram of the structure of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions provided by the embodiments of the present application can be applied to a communication-perception integration system. A communication-perception integration system is a system in which a communication system and a perception system are integrated. Sensing can also be understood as detection, for example, detecting the position, distance, angle, etc. of a target object. In a communication-perception integration system, one or more communication devices can be used as perception (detection) nodes to form a perception network. The working principle of perception is to determine the attribute information (such as speed, distance, shape, size, etc.) of the perceived target by sending a signal and receiving a signal (also called an echo signal) reflected by the perceived target. The perceived target can be a fixed object, such as a mountain, forest, or building, or a movable object, such as a vehicle, a drone, a pedestrian, or a terminal device. A communication device serving as a perception node is also called a perception device, a perception device, or a detector, etc. Any device with a perception function can be used as a perception device. For example, a terminal device with a perception function is a type of perception device.

[0049] The embodiments of the present application do not limit the type of communication system in the communication perception integration system. For example, the communication system may be one or more of the following: long term evolution (LTE) system, fifth generation mobile communication technology (5G) system, that is, NR system, or next generation communication system, such as 6G system. Of course, the technical solutions of the embodiments of the present application can also be applied to other communication systems. For example, the technical solutions provided by the embodiments of the present application can also be applied to vehicle to everything (V2X), internet of things (IoT), narrowband internet of things (NB-IoT), etc., such as IoT based on wireless fidelity (WiFi) or wearable WiFi network. Among them, the wearable WiFi network can be a WiFi network composed of a terminal device (such as a mobile phone) as a virtual access point and an associated wearable device.

[0050] As an example, Figure 1 is a schematic diagram of a network architecture of a communication system provided in an embodiment of the present application. The communication system includes a radio access network 100 and a core network 200. Optionally, the communication system may also include the Internet (Figure 1 takes this as an example).

[0051] Among them, the wireless access network 100 may include at least one network device (such as 110a, 110b and 110c in Figure 1) and at least one terminal device (such as 120a-120j in Figure 1). The network architecture shown in Figure 1 is only a schematic, and the number of terminal devices and / or network devices may be less or more. The communication system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the communication system to which the embodiment of the present application is applicable. For example, the communication system may also include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1. It is known to those skilled in the art that with the evolution of network architecture, the technical solutions provided in the embodiment of the present application are also applicable to similar technical problems. When the technical solutions of the embodiment of the present application are applied to other communication systems, the devices, components, modules, etc. in the embodiment can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0052] A network device is an access device that a terminal device uses to access the mobile communication system wirelessly. The network devices involved in the embodiments of the present application are mainly access network devices. Therefore, in the following text, unless otherwise specified, the "network device / network device" refers to a radio access network (RAN) device, which can be referred to as an access network device. RAN can be a 3GPP-related cellular system, such as a 5G mobile communication system, or a future-oriented evolution system (such as a 6G mobile communication system). RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a virtualized radio access network (vRAN). RAN can also be a communication system that is a fusion of two or more of the above systems. RAN devices can also be referred to as RAN nodes, RAN entities, or access nodes.

[0053] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, or a base station in a future mobile communication system. A RAN node can be a macro base station, a micro base station, an indoor station, a relay node, a donor node / host node, or a wireless controller. A RAN node can also be a server, a wearable device, a vehicle, or an onboard device. For example, a RAN node in V2X technology can be a roadside unit (RSU).

[0054] In another possible scenario, the RAN node may be a module or unit that performs part of the functions of the base station; or multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, and different RAN nodes respectively perform part of the functions of the base station. For example, the RAN node may be a centralized unit (CU), a distributed unit (DU), or a radio unit (RU). The functions of the CU may be implemented by one entity, or by different entities. For example, the functions of the CU may be further divided, that is, the control plane and the user plane may be separated and implemented by different entities, namely the control plane CU entity (i.e., CU-control plane (CP) entity) and the user plane CU entity (i.e., CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity may be coupled with the DU to jointly perform the functions of the RAN node. The CU and DU may be set separately, or may be included in the same network element, such as the baseband unit (BBU).

[0055] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0056] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above it (such as the radio resource control (RRC) layer and / or the service data adaptation protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as the radio link control (RLC), MAC layer, and / or physical (PHY) layer, etc.). For another example, the CU is configured to implement the functions of the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the PDCP layer and the protocol layers below it (such as the RLC layer, the MAC layer, and / or the PHY layer, etc.). For a detailed description of each of the above protocol layers, please refer to the relevant technical specifications of 3GPP or the technical specifications of other applicable communication protocols. The above division of the processing functions of the CU and DU according to the protocol layer is only an example, and can also be divided in other ways, which is not limited by this application. For example, in one design, the CU or DU can also be divided into parts with partial processing functions of the protocol layer. In one design, part of the RLC layer functions and the functions of the protocol layers above the RLC layer are set in the CU, and the remaining functions of the RLC layer and the functions of the protocol layers below the RLC layer are set in the DU.

[0057] Terminal equipment, also known as user equipment, has wireless transceiver functions and can send signals to network equipment or receive signals from network equipment. In the embodiments of the present application, anything that can communicate data with a base station can be considered a terminal device. Terminal equipment includes user equipment (UE), terminals, access stations, UE stations, remote stations, wireless communication equipment, or user devices, chips, and the like. Terminal equipment can be widely used in various scenarios, such as D2D communication, V2X communication, machine-type communication (MTC), IoT, virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearables, smart transportation, or smart cities. For example, the terminal device may be a mobile phone, a computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a robotic arm, a camera, a robot, or a smart home device (such as a TV, an air conditioner, a vacuum cleaner, a speaker, a set-top box), a relay, a customer premises equipment (CPE), a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0058] Among them, when the terminal device is applied to V2X, it may also be called V2X device, for example, smart car (or intelligent car), digital car (digital car), unmanned car (or driverless car or pilotless car or automobile), self-driving car (or autonomous car), pure electric vehicle (pure EV or Battery EV), hybrid electric vehicle (HEV), range extended EV (REEV), plug-in hybrid electric vehicle (plug-in HEV, PHEV), new energy vehicle (new energy vehicle), roadside unit (RSU).

[0059] The various terminal devices introduced above, if located on a vehicle (for example, placed / installed in a vehicle), can be considered as vehicle-mounted terminal devices. The vehicle-mounted terminal device can be an on-board module, on-board module, on-board component, on-board chip or on-board unit built into the vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in on-board module, on-board module, on-board component, on-board chip or on-board unit. The on-board terminal device can be a complete vehicle device, an on-board module, a vehicle, an on-board unit (on board unit, OBU), an RSU, a vehicle-mounted system (or a vehicle-mounted sending unit) (telematics box, T-box), a chip or a system on chip (system on chip, SOC), etc. The above chip or SOC can be installed in a vehicle, OBU, RSU or T-box. Direct communication (PC5) interface communication is supported between terminal devices, that is, transmission is supported through a side link.

[0060] In addition, in the embodiments of the present application, the terminal device may refer to an apparatus for realizing the function of the terminal device, or may be an apparatus capable of supporting the terminal device to realize the function, such as a chip system, which may be installed in the terminal device. For example, the terminal device may also be a vehicle detector. In the embodiments of the present application, the chip system may be composed of chips, or may include chips and other discrete devices. In the technical solutions provided in the embodiments of the present application, the technical solutions provided in the embodiments of the present application are described by taking the terminal device itself as an example of the apparatus for realizing the function of the terminal device. The terminal device may be a terminal device, or it may be a chip provided in the terminal device. Unless otherwise specified, the terminal device and the terminal device are interchangeable.

[0061] In the system shown in Figure 1, each terminal device can communicate with each other based on a side link. A side link refers to a link established between devices of the same type, and may also be referred to as a side link or a secondary link. The so-called devices of the same type may be a link between terminal devices, a link between network devices, or a link between relay nodes, etc., and the embodiments of the present application do not limit this. When a terminal device has a sensing function, for example, the terminal device is a vehicle detector or a sensor in a gas station, the terminal device can also be used as a sensing node.

[0062] For ease of distinction, the signal used for perception is called a perception signal, and in contrast, the signal used for communication is called a communication signal. Perception signals can also be called detection signals, radar signals, radar perception signals, radar detection signals, environmental perception signals, etc. Perception signals can be pulse signals or possible signals in wireless communication systems, such as sounding reference signals (SRS), demodulation reference signals (DMRS), and channel state information reference signals (CSI-RS). Communication signals, for example, include signals carried on the physical downlink shared channel (PDSCH) and signals carried on the physical sidelink shared channel (PSSCH). In particular, communication signals can also be used for perception. As a typical application scenario of integrated communication and perception, as shown in Figure 2, Figure 2 includes 4 terminal devices and 1 network device. The terminal device in Figure 2 can communicate with or without network infrastructure. For the convenience of description, this article takes the terminal device in Figure 2 as an on-board terminal device as an example, that is, takes the embodiment of the present application applied to the V2X scenario as an example. The embodiments of the present application do not limit the specific form of the terminal device. For example, the terminal device may also be a mobile phone, etc. The four terminal devices in Figure 2 are terminal device 1, terminal device 2, terminal device 3, and terminal device 4. Any one of these four terminal devices can send information to the other three terminal devices around it, and can also receive information from the other three terminal devices. The number of terminal devices in Figure 2 is only an example. In actual applications, the network device can provide services for multiple terminal devices. Figure 2 takes the example of terminal device 1 and terminal device 2 having no network coverage, and terminal device 3 and terminal device 4 having network coverage.

[0063] In the system shown in Figure 2, terminal devices 1 through 4 can communicate with each other via a sidelink. Any of these devices can also be used for sensing. For example, if terminal device 1 includes an onboard radar, it can send sensing signals to sense the environment around other vehicles, such as the location of other vehicles and objects around them, thereby providing assistance in blind spot monitoring, lane change assistance, collision warning, adaptive cruise control, and other areas.

[0064] Before sending a communication signal, the terminal device needs to determine the resources that can be used. There are two main modes of resource allocation for the side link, one is the network device allocation resource mode (mode-1), and the other is the terminal device self-selection resource mode (mode-2). Mode-1 is mainly used for V2X communication in situations where there is network coverage, and the base station allocates resources to each terminal device. Under mode-2, the transmission resources of the terminal device do not depend on the network device. This mode is not limited to network coverage. Regardless of whether there is network coverage, the terminal device can use this mode to communicate. The embodiments of this application are mainly for mode-2, so the following mainly introduces mode-2, and no further introduction is given to mode-1.

[0065] Mode-2 means that the network device can allocate one or more resource pools in advance, and the terminal device can independently select available resources from these one or more resource pools. The resource pool is a collection of time-frequency resources used by the terminal device for sidelink communication. The resource pool includes one or more frequency domain units in the frequency domain. The frequency domain unit can be a resource element (RE), a resource block (RB), or a subchannel, a carrier, a bandwidth part (BWP), etc. For the convenience of description, the embodiment of the present application takes the frequency domain unit as a subchannel as an example, unless otherwise specified. The resource pool includes one or more time units in the time domain. The time unit can be a symbol, a slot, a mini-slot, a subframe, a frame, a half subframe or a half frame, etc. One or more time units can be continuous or discrete in time.

[0066] In the case of network device coverage, the network device may configure the resource pool through a system information block (SIB), cell-level RRC signaling, or user-level RRC signaling. For example, the network device may send sidelink resource configuration information through an SIB, cell-level RRC signaling, or user-level RRC signaling. The resource configuration information may be used to indicate a resource pool and / or sidelink bandwidth part (BWP) configuration for sidelink communication. In the case of no network coverage, the resource pool may be pre-configured.

[0067] Before communicating (e.g., transmitting sidelink information), each terminal device needs to determine the resources used to transmit the sidelink information. "Transmission" in the embodiments of the present application includes sending and / or receiving. Each terminal device determines the resources used to transmit the sidelink information by sending sidelink control information (SCI) to other terminal devices in the resource pool during a sensing window (also called a listening window).

[0068] SCI is divided into first-stage SCI and second-stage SCI. The first-stage SCI is carried on the physical sidelink control channel (PSCCH) and is used to schedule the second-stage SCI and PSSCH.

[0069] The first-level SCI includes a frequency domain resource allocation (frequency resource assignment) field and a time domain resource allocation (time resource assignment) field. Among them, the frequency domain resource allocation field indicates the frequency domain resources of PSSCH, and the time domain resource allocation field indicates the time domain resources of PSSCH. Optionally, the first-level SCI also includes a resource reservation period (resource reservation period) field. Among them, the resource reservation period field indicates the period of PSSCH reserved resources. The value of the resource reservation period field is configured by the network device, or pre-configured (pre-configuration), or predefined. For example, the network device indicates the time domain resources, frequency domain resources and period of PSSCH to the terminal device through radio resource control (RRC) signaling. Among them, the content indicated by the above RRC signaling can be determined based on sl-ResourceReservePeriod.

[0070] The second-stage SCI is carried in the PSSCH. The second-stage SCI is mainly used for hybrid automatic repeat request (HARQ) feedback of the NR SL, such as indicating the HARQ process number, source ID, destination ID, and other related information. The format of the second-stage SCI is indicated by the second-stage SCI format field in the first-stage SCI.

[0071] After receiving the SCI and correctly decoding the first-level SCI, the terminal device decodes the second-level SCI based on the decoding result of the first-level SCI, that is, decodes the PSSCH. To reduce the complexity of the terminal device's blind decoding of the PSCCH, the time-frequency resource position of the PSCCH is relatively fixed, and the format of the first-level SCI carried on the PSCCH is relatively unique. In this way, the terminal device detects the presence of the first-level SCI at the fixed PSCCH time-frequency resource position, without the need to blindly detect the time-frequency resource position where the PSCCH is located, nor does it need to blindly detect SCI of different formats.

[0072] The resource selection process is described below using terminal device 1 as an example.

[0073] The terminal device 1 can sense the SCI sent by other terminal devices in the resource pool in the perception window (also called the listening window). The perception includes the process of detecting (listening or sensing) the SCI, or may include the process of detecting the SCI, decoding the SCI, and measuring the signal strength of the resource according to the indication of the SCI (for example, the reference signal receiving power (RSRP)). The terminal device 1 selects resources by itself within the resource selection window (RSW) based on the perception result. Assuming that the PHY layer of the terminal device 1 knows through the MAC layer that there is information to be transmitted, and the terminal device 1 determines to trigger resource selection at time unit n, then the perception window can be defined as T time slots before the resource selection is triggered, and the resource selection window can be [n+T1, n+T2], where T, T1 and T2 are all greater than 0, as shown in Figure 3. Figure 3 shows the perception window and the resource selection window.

[0074] in, It is the time delay of terminal device 1 to process resource selection and data transmission. For terminal devices with different capabilities, The value of will also be different. The value of is also related to the subcarrier spacing μ used to transmit the side information. SL Related, as shown in Table 1. 2min ≤T2≤PDB. T 2min The PDB can be predefined or configured by a network device or other terminal device through RRC signaling. The packet delay budget (PDB) is a parameter used to reflect the transmission delay requirement of the data to be sent, and the unit can be milliseconds (ms) or time slots. Continuing with the example of Figure 2, for example, if terminal device 1 wants to send first data to terminal device 2, terminal device 1 needs to ensure that the data is sent within the remaining PDB, otherwise it will be considered a transmission failure.

[0075] Table 1

[0076] The perception window can be Including the time delay of terminal device 1 processing the perception result. For terminal devices with different capabilities, The value of will also be different. The value of and the subcarrier spacing μ used to transmit side information SL The correlation is shown in Table 2.

[0077] Table 2

[0078] If the SCI perceived by the terminal device 1 includes resources that have been reserved by other terminal devices, and the reserved resources are within the resource selection window [n+T1, n+T2], the terminal device 1 measures the resources corresponding to the reserved resources in the resource selection window, and the RSRP of the resources can be obtained through measurement. If the measured RSRP is greater than the RSRP threshold, it can be considered that the resource has been occupied, and the terminal device 1 excludes the resource from the resource selection window. If the measured RSRP is less than the RSRP threshold, it can be considered that the resource is not currently occupied, and the terminal device 1 can select the resource from the resource selection window as a candidate resource for sending side information. The RSRP threshold is related to the priority of the information to be sent (prio TX ) and the priority indicated by the received SCI (prio RX For example, the RSRP threshold can be the first "prio" in the RSRP threshold value set configured for the resource pool. RX +(prio TX -1)×8” RSRP thresholds.

[0079] It is understandable that the initial available resource set S A It is the collection of all time-frequency resources in the resource selection window, for example, S A The resource selection window contains all candidate time-frequency resource units. A candidate time-frequency unit is a unit consisting of a time slot and at least one subchannel. The terminal device 1 selects the resource set S from the resource set S according to the measurement result of the resource. A Exclude unavailable resources, such as those that are occupied or reserved. For example, from the resource set S A If the excluded resources meet the following conditions A or B, then they are excluded from the resource set S A Excluded.

[0080] Condition A: Time slot t is a time slot within the sensing window, and the first terminal device does not perform any listening or sensing in time slot t. For example, the first terminal device is in a transmitting state in time slot t.

[0081] Condition B: Assume that the first-level SCI is received at time t, and the candidate time-frequency resources overlap with the time slots of the periodic reservation resources configured by the resource pool (eg, configured by the higher-layer parameter sl-ResourceReservePeriodList).

[0082] According to conditions A and B, from resource collection S A After excluding some resources, if the proportion of the remaining resources in the resource selection window is lower than a certain threshold, such as X%, then reselect from the resource set S A Exclude unavailable resources from the resource set S. That is, do not select resources from the resource set S according to conditions A and B. A Exclude unavailable resources from the resource set S. A Exclude unavailable resources from the resource set S A Exclude resources that meet conditions C and E at the same time.

[0083] Condition C: The received first-order SCI decoding is successful.

[0084] Condition D, the energy measurement result of the resource reserved by the received first-order SCI indication is greater than a certain threshold. For example, the first-order SCI indication reserves resources for transmission of PSSCH, including resources of the PSSCH demodulation reference signal (DMRS). Condition D may be that the RSRP of the resource is higher than the RSRP threshold value. It is understandable that the PSSCH time-frequency resources also include time-frequency resources reserved by periodic reservations, time resource indicator value (TRVI) and frequency resource indicator value (FRVI) reservations. The RSRP threshold value is interchangeable with the RSRP threshold, and the RSRP threshold is related to the priority, that is, the RSRP threshold can be determined according to the priority.

[0085] Condition E: The resources reserved indicated by the received first-order SCI are within the resource selection window. The resources reserved indicated by the first-order SCI may include reserved resources of multiple consecutive cycles, and reserved resources indicated by TRVI and FRVI.

[0086] For example, terminal device 1 receives the first-order SCI in a certain time slot and decodes it successfully. If the first-order SCI indicates that the reserved resource is within the resource selection window, and the energy measurement result of the first-order SCI indicates that the reserved resource is greater than a certain threshold, then terminal device 1 selects the resource from resource set S. AResources reserved by first-level SCI instructions are excluded.

[0087] According to condition C-condition E, from resource collection S A After excluding unavailable resources, if the remaining resources account for less than X% of the resource selection window, the RSRP threshold can be increased. For example, each time the decibel is increased by 3 dB, and the resource set S is selected according to condition C-condition E. A Unavailable resources are excluded until the remaining resources account for no less than X% in the resource selection window. X% may be (pre)configured.

[0088] Similar to the terminal device sending a communication signal, the terminal device also needs to determine the resources that can be used before sending a perception signal. For the convenience of description, in the embodiment of the present application, the resources that carry communication signals are called communication resources, and the resources that carry perception signals are called perception resources. If the resources in the resource pool allocated to the terminal device can be used to transmit both communication signals and perception signals. The terminal device selects communication resources and perception resources in the same resource pool. If the communication resources of one terminal device overlap with the perception resources of another terminal device, the perception signal will interfere with the communication signal and affect the communication performance. In addition, if two terminal devices use the same resources to send perception signals, it will also cause mutual interference between the two terminal devices. For example, in the scenario shown in Figure 2, the resources used by adjacent vehicles in the same direction of traffic are completely or partially overlapped, which will cause continuous interference with each other.

[0089] To address the above-mentioned issues, a solution is provided in an embodiment of the present application. In this embodiment, when a terminal device selects a sensing resource, it excludes communication resources and / or sensing resources currently in use or reserved by other terminal devices, thereby reducing or avoiding conflicts between the selected sensing resource and the communication resources of other terminal devices, thereby reducing or avoiding interference of the sensing signal with the communication signal.

[0090] In an embodiment of the present application, the "resource selection window" and the "selection window" are replaceable. The "perception window" and the "listening window" are replaceable. (Pre-) configuration includes network device (pre-) configuration and terminal device (pre-) configuration. The network device (pre-) configuration can be (pre-) configured through one or more of SIB, RRC signaling, and MAC control element (CE). The terminal device (pre-) configuration can be (pre-) configured according to PC5-RRC signaling. For example, for the first terminal device, X_1 is (pre-) configuration, then X_1 can be indicated or configured to the first terminal device by the network device through RRC signaling, SIB or master information block (MIB) information, or X_1 can be indicated or configured to the first terminal device by the second terminal device through PC5 RRC signaling.

[0091] The time unit can be a subframe, a frame, a half subframe or half frame, a slot, a mini-slot, or an orthogonal frequency division modulation (OFDM) symbol. A mini-slot can include two or more OFDM symbols, and a slot can include 14 OFDM symbols. The frequency domain unit can be a subcarrier or a resource element (RE), or a physical resource block (PRB), or a resource block group (RBG), or a subchannel, etc. A PRB includes 12 REs in the frequency domain, and an RBG can include 2 PRBs, 4 PRBs, 8 PRBs, or 16 PRBs. There is no limit on the bandwidth occupied by a subchannel. For example, the bandwidth occupied by a subchannel is 20 MHz.

[0092] "When," "if," and "if" all imply that the device will take appropriate action under certain objective circumstances. They do not limit the timeframe, do not require the device to make a judgment, and do not imply any other limitations. Unless otherwise specified, "if" and "if" are interchangeable. "When" and "under the circumstances" are interchangeable. "When" and "if" are interchangeable.

[0093] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0094] In the embodiments of the present application, the number of nouns, unless otherwise specified, means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. 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. For example, A / B means: A or B. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0095] The ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish between multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects. For example, the first threshold and the second threshold refer to two different thresholds, and do not indicate the difference in the content, priority or importance of the two thresholds. For a technical feature, "A", "B", "C" and "D" are used to distinguish the technical features in the technical feature, and there is no order of precedence or order of size between the technical features described by "A", "B", "C" and "D". For example, condition A and condition B in this article are only for distinguishing different conditions, and do not limit the order of precedence or order of size, priority or importance, etc. between condition A and condition B.

[0096] The solution provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings. In the following introduction, the communication method provided by the embodiment of the present application is applied to the network architecture shown in Figure 1 or Figure 2 as an example. The network architecture and application scenarios described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of the network architecture and the emergence of new application scenarios, the technical solution provided by the embodiment of the present application is also applicable to similar technical problems.

[0097] The following describes the communication method provided in the embodiment of the present application by an example in which the communication method is executed by a first terminal device. The steps executed by the terminal device can be implemented by the terminal device itself, or by components in the terminal device (such as modules such as a chip, a processing unit, or a processor). The terminal device can be the terminal device itself, or it can be a chip (system) in the terminal device. It should be noted that the embodiment of the present application is only executed by the first terminal device as an example and is not limited to the first terminal device. For example, the embodiment of the present application can also be executed by more terminal devices. It should be understood that when more terminal devices are involved, each terminal device in these more terminal devices executes the same process. The first terminal device can communicate with or without a network infrastructure (such as a network device).

[0098] For example, Figure 4 is a schematic flow chart of a communication method 400 provided in an embodiment of the present application. Figure 4 takes the example of communication method 400 being executed by a first terminal device. It should be understood that communication method 400 can also be implemented by other devices, such as a chip or communication device with communication capabilities. As shown in Figure 4, the process of communication method 400 includes the following steps.

[0099] S401. A first terminal device determines at least one signal received within a first window.

[0100] The first window may be a perception window, and the embodiment of the present application does not limit the size of the first window. For example, the first window may be [n–T3, n–T4) in the time domain, where n is the time for triggering resource selection, T3 may be (pre) configured, and T4 may include the delay of the first terminal device processing the perception result, and the subcarrier spacing μ used for transmitting the side information. SL For example, the first window may be as shown in FIG3 That is, T3=T0, T0 and The specific value of can be found in the above related content, which will not be repeated here.

[0101] The first terminal device can determine the reserved resources in the second window by at least one signal received in the first window. The second window can be a resource selection window, including at least one time-frequency resource. The at least one time-frequency resource is a set consisting of M time units and N frequency domain units, and M and N are both positive integers. The M time units can be continuous or discontinuous, and the N frequency domain units can be continuous or discontinuous. Among them, M and N can be (pre) configured or predefined. For example, N=L1-Lcom, L1 is the frequency bandwidth required for the perception signal, and Lcom is the frequency bandwidth of the communication signal. Among them, L1 can be configured by higher-layer signaling, for example, L1 is configured by RRC signaling or MAC CE signaling. When the first terminal device does not need to send a communication signal, but has a perception requirement, it is necessary to select the frequency bandwidth of L1 to send the perception signal. In a possible scenario, when the first terminal device sends a communication signal, it is also necessary to send a perception signal, or when the first terminal device sends a perception signal, it is also necessary to send a communication signal. In this case, a portion of the perception signal bandwidth can be used to send the perception signal, while another portion can be used to send the communication signal. Alternatively, the first terminal device can use the communication signal for perception (i.e., use the communication signal as the perception signal). For example, assuming the communication signal bandwidth is Lcom, an additional frequency band of L1-Lcom can be selected to send the perception signal separately. Considering that there may be differences in the design of the communication signal and the perception signal, resulting in possible differences in perception performance, the L1 frequency band can also be selected to send the perception signal.

[0102] The second window can be [n+T5, n+T6), where n is the time to trigger resource selection, T5 is related to the delay of the first terminal device processing resource selection and data transmission, and is also related to the subcarrier spacing μ used by the first terminal device to transmit side information. SL T6 is related to the transmission delay of the data to be sent by the first terminal device. For example, the second window can be [n+T1, n+T2) as shown in Figure 3, that is, T5=T1, T6=T2. The specific values ​​of T1 and T2 can be referred to the above related content and will not be repeated here.

[0103] At least one signal may include at least one SCI or a signal carrying at least one SCI, used to indicate resources reserved by other communication devices other than the first terminal device. For example, if other terminal devices (such as a second terminal device) have reserved resources, the second terminal device will send an SCI to indicate the reserved resources. The resources reserved by the second terminal device include resources for retransmission and periodically reserved resources. Similarly, if a third terminal device has reserved resources in the second window, it will also send an SCI to indicate the reserved resources. In this way, the first terminal device may receive one or more signals from one or more other communication devices within the first window. For each received signal, the first terminal device can determine the resources indicated by the signal. For example, if the first terminal device receives signal A from the second terminal device in the first window, it can determine the time-frequency resources indicated by signal A. For another example, if the first terminal device receives signal B from the third terminal device in the first window, it can determine the time-frequency resources indicated by signal B. The time-frequency resources indicated by each signal include the resources corresponding to the reserved resources indicated by the signal within the second window. For example, the time-frequency resources indicated by signal A include the resources corresponding to the reserved resources indicated by signal A within the second window.

[0104] The at least one signal may also include a signal with a sensing function (i.e., a sensing signal). The sensing signal may indicate resources reserved by the communication device sending the sensing signal. For example, the sensing signal may carry resource reservation information. It should be noted that for the sensing signal, its resource reservation information is not necessarily indicated in real time and may be (pre)configured or predefined. The at least one signal may include both a signal carrying at least one SCI and a sensing signal or other possible signal. The at least one signal may also indicate both sensing resources and communication resources, or may indicate both reserved sensing resources and communication resources.

[0105] The resources within the second window can be used to send perception signals and to send communication signals. If the resources used by the first terminal device to send the perception signal overlap with the resources used by another terminal device to send the communication signal, the perception signal will interfere with the communication signal and affect the communication performance. Therefore, in order to reduce or even avoid the first terminal device sending the perception signal causing interference to the communication signal and / or perception signal of other communication devices, when the first terminal device sends the perception signal, it can determine the candidate resources for sending the perception signal from the second window based on the measurement result of the first signal and at least one threshold. The measurement result of the first signal includes the signal to interference plus noise ratio (SINR), signal to noise ratio (SNR), RSRP or received signal strength indication (RSRI), reference signal receiving quality (RSRQ), etc. obtained by measuring the first signal. The measurement result of the first signal can be characterized by the strength of the first signal or the measurement result of the first signal can characterize the strength of the first signal. The following takes the example of the first terminal device determining the candidate resource set from the second window based on the strength of the first signal and at least one threshold.

[0106] S402. The first terminal device determines a candidate resource set from the second window according to the strength of the first signal and at least one threshold, and some or all of the resources in the candidate resource set are used to send the first perception signal.

[0107] The first signal belongs to at least one signal, and the at least one signal may include one first signal or multiple first signals. Alternatively, the at least one signal includes a first signal from at least one communication device. For example, using the example of Figure 2, the first terminal device is terminal device 1, and the other terminal devices may be one or more terminal devices among terminal device 2, terminal device 3, and terminal device 4, and the at least one signal may be the first signal sent by the one or more terminal devices. The first signal sent by a communication device may indicate the resources used or reserved by the communication device, and the content of the first signals sent by different communication devices may be the same or different. For example, the first signal sent by the second terminal device indicates resource A used or reserved by the second terminal device, and the first signal sent by the third terminal device indicates resource B used or reserved by the third terminal device. The at least one signal includes first signal A and first signal B, and the time-frequency resources indicated by the at least one signal include resource A and resource B.

[0108] For each first signal of at least one signal, the first terminal device may determine a set of candidate resources in the second window according to the strength of the first signal and at least one threshold. The process of the first terminal device determining a set of candidate resources from the second window according to the strength of the first signal and at least one threshold may also be a process of the first terminal device excluding unavailable resources from the second window according to the strength of the first signal and at least one threshold. The set of all time-frequency resources in the second window may be the initial available resource set S A Therefore, the process of the first terminal device determining the candidate resource set from the second window according to the strength of the first signal and at least one threshold may also be that the first terminal device determines the candidate resource set from the initial available resource set S according to the strength of the first signal and at least one threshold. A The process of excluding unavailable resources.

[0109] For ease of description, in an embodiment of the present application, a first signal indicates a first time-frequency resource, and the resource to be excluded from the second window is referred to as a second time-frequency resource. It is understandable that the first time-frequency resource includes the resource corresponding to the resource indicated by the first signal in the second window. The first terminal device determines a set of candidate resources from the second window based on the strength of the first signal and at least one threshold, including the first terminal device excluding the second time-frequency resource from the second window based on the strength of the first signal and at least one threshold. The second time-frequency resource partially overlaps or completely overlaps with the first time-frequency resource. The second time-frequency resource completely overlaps with the first time-frequency resource means that the second time-frequency resource is the first time-frequency resource. The partial overlap of the second time-frequency resource with the first time-frequency resource includes that the second time-frequency resource partially overlaps with the first time-frequency resource in the time domain and / or frequency domain, for example, a portion of the second time-frequency resource belongs to the first time-frequency resource or a portion of the first time-frequency resource is the second time-frequency resource. In an embodiment of the present application, the signal strength can be understood as the energy value of the signal, including energy detection (ED), RSRP, or received signal strength indication (RSRI). When the signal strength is RSRP, the threshold is the RSRP threshold accordingly; when the signal strength is RSSI, the threshold is the RSSI threshold accordingly.

[0110] In the embodiment of the present application, any one of the at least one threshold is related to the priority of the information to be sent and the priority indicated by the received SCI. The priority indicated by the received SCI includes the priority of the communication signal and / or the perception signal from other communication devices. From this perspective, any one of the at least one threshold is related to one or more of the following priorities: the priority of the first perception signal (prio TX ), the priority of the communication signal from the second communication device (prioRX,com ), or the priority of the sensing signal from the second communication device (prioRX,sensing). The second communication device may be another communication device other than the first terminal device.

[0111] It should be noted that the priority of information / signal is represented by the priority value. TX 、prio RX,com and prioRX,sensing can both be a specific value. Taking information as an example, the smaller the priority value of the information, the higher the priority of the information. For example, the priority value of the information may include {0,1,2,3,4,5,6,7}, and the priority value of the information is 0, and the priority of the information is the highest. For another example, the priority value of the information may include {1,2,3,4,5,6,7,8}, and the priority value of the information is 1, and the priority of the information is the highest. For example, the priority of the information to be sent by the terminal device is higher than a certain priority threshold, that is, the priority value of the information to be sent by the terminal device is less than a certain priority value (unless otherwise specified, the two can be replaced).

[0112] In a possible implementation, a resource pool may be configured with multiple thresholds. For the resource pool, at least one threshold may be at least one threshold selected from the multiple thresholds. For example, the first terminal device may select at least one threshold from the multiple thresholds based on one or more of the following three priorities: the priority of the first perception signal, the priority of the communication signal from the second communication device, or the priority of the perception signal from the second communication device. For example, a threshold in the at least one threshold may be the Yth threshold in the threshold set corresponding to the resource pool, where Y is the same as the priority. TX 、prio RX,com Related to prioRX,sensing. For example, Y is the first “prio RX,com +(prio TX -1)×Z” thresholds. Or, Y is the threshold value set configured by the resource pool, “prioRX,sensing+(prio TX -1)×Z” thresholds. Or, Y is the “min{prio- RX,com ,prioRX,sensing}+(prio TX -1)×Z". Or, Y is the "max{prio- RX,com ,prioRX,sensing}+(prio TX-1)×Z". Wherein, Z is the number of priorities defined for the perception signal. For example, when the priority of the perception signal includes 8 priorities {0, 1, 2, 3, 4, 5, 6, 7}, Z=8.

[0113] Optionally, any threshold of at least one threshold can be (pre) configured, (pre) defined, or negotiated and agreed upon by both communicating parties. After the first terminal device determines the candidate resource set from the second window based on at least one threshold and the strength of the first signal, it uses the resources in the candidate resource set to send a first perception signal. The first perception signal includes one perception signal or multiple perception signals. At least one threshold can be one threshold or multiple thresholds. Depending on the at least one threshold, the second time-frequency resource is also different, including but not limited to the following three situations. One situation corresponds to an exclusion rule, and the specific exclusion rule to be used is not limited in the embodiments of the present application. In this article, "higher than" and "greater than or equal to" are interchangeable, and "lower than" and "less than or equal to" are interchangeable.

[0114] In case 1, at least one threshold includes a first threshold, or at least one threshold is a first threshold. The first threshold is a threshold used to select a resource for sensing a signal.

[0115] The first threshold can be used to determine the strength of the signal, or to determine whether there is a certain type of signal. For example, when the strength of the signal on a certain time-frequency resource is higher than the first threshold, it is considered that there is a communication signal on the time-frequency resource. The first threshold can be (pre) configured or predefined, or agreed upon. For example, the first threshold is, for example, -90dBm. For another example, the value of the first threshold can refer to the aforementioned related content. For example, the first threshold can be determined by the first terminal device based on the prio TX 、prio RX,com and prioRX,sensing are confirmed, which will not be described here.

[0116] Optionally, the first threshold is lower than the first communication threshold, and the first communication threshold is used to determine the candidate resource for sending the communication signal. The first communication threshold is related to the priority of the communication signal of the second communication device, or the first communication threshold is determined according to the priority of the communication signal of the second communication device. For example, the first communication threshold can be the "prio" in the RSRP threshold value set configured for the resource pool. RX +(prio TX -1)×8" RSRP thresholds. There is no limitation on the specific name of the first communication threshold, and the embodiment of the present application does not impose any limitation on this.

[0117] If the strength of the first signal is higher than the first threshold, it can be considered that the first time-frequency resource has been reserved or used by other terminal devices, or the terminal device using the first time-frequency resource is geographically far away from the first terminal device. At this time, sending signals on the same time-frequency resource will interfere with each other. In this case, the second time-frequency resource that partially overlaps or completely overlaps with the first time-frequency resource can be excluded from the second window. After the second time-frequency resource is excluded from the second window, the remaining resources are candidate resources for sending perception signals. Compared with the second time-frequency resource, the resources remaining in the second window after the second time-frequency resource is excluded can be understood as resources that are not used or resources that other communication devices will not use. Therefore, sending perception signals on the remaining resources will not interfere with useful signals sent by other communication devices, or the interference is relatively small. Useful signals sent by other communication devices include communication signals and / or perception signals.

[0118] For situation 1, the process of the first terminal device determining the candidate resource set may include the following steps 1A to 7A. It should be noted that the following process takes the minimum granularity of time domain resources as an example, which is a time slot. The time slot in the embodiment of the present application can be replaced by a time unit, which can be a frame, subframe, symbol, etc.

[0119] Step 1A: Determine the second window, that is, determine the resource selection window.

[0120] For example, the first terminal device triggers resource selection at time slot n, and the time slots occupied by the resource selection window in the time domain are [n+T5, n+T6]. T5 is determined by the capabilities of the first terminal device, and T6 is determined by the PDB. For details, please refer to the relevant content in S401 above and will not be repeated here.

[0121] Step 2A: Determine the first window, that is, determine the perception window.

[0122] For example, the first terminal device triggers resource selection in time slot n, and the time slot occupied by the perception window in the time domain is [n–T3, n–T4]. T3 can be indicated by the higher-layer parameter sl-SensingWindow, and T4 represents the delay of the first terminal device in processing the perception result within the perception window. Please refer to the relevant content in the aforementioned S401 and will not be repeated here.

[0123] The order of step 1A and step 2A is not limited in the present embodiment. For example, step 1A may be performed first, then step 2A, or step 2A may be performed first, then step 1A, or they may be performed simultaneously.

[0124] Step 3A: Determine the strength of the first signal and the first threshold.

[0125] The first signal includes a signal from the second terminal device and a signal from the third terminal device perceived by the first terminal device in the first window. The strength of the first signal can be the RSRP or RSSI of the first signal. The first threshold is (pre) configured or predefined, or the first threshold is determined according to the priority of the first perception signal to be sent by the first terminal device, the priority of the communication signal and / or perception signal of the second terminal device, and the priority of the communication signal and / or perception signal of the third terminal device. For details, please refer to the aforementioned related content and will not be repeated here.

[0126] Step 4A: Determine the initial candidate resource set

[0127] The candidate resource set is also called the available resource set. Accordingly, determining the initial candidate resource set can be replaced by determining the initial available resource set. This includes all candidate resources in the resource pool within the resource selection window. A candidate resource R can be L consecutive subchannels starting from subchannel x in a time slot. This embodiment of the application takes a candidate resource R as an example of three consecutive subchannels in a time slot. It is understandable that L = 3.

[0128] Step 5A: Initial candidate resource set A candidate resource R in the time slot t (assuming it is located in the time slot t) satisfies the following two conditions. Excluded:

[0129] Condition a: Time slot t is a time slot within the sensing window, and the first terminal device does not perform listening or channel sensing in time slot t. For example, the first terminal device is in a transmitting state in time slot t.

[0130] Condition b: The first-level SCI is received at time slot t, and the candidate resource R overlaps with the time slot of the configured periodic reservation resource. For example, the candidate resource R overlaps with the time slot of the periodic reservation resource configured by the higher-layer parameter sl-ResourceReservePeriodList.

[0131] Step 5A is an optional step, that is, it is not a required step. For example, after executing step 4A, step 5A may not be executed, and the subsequent step 6A may be executed. Alternatively, after executing step 4A, step 5A and step 6A may be executed.

[0132] Step 5a: If after step 5A, The number of remaining candidate resources in M totalIf the ratio is less than X, re-execute step 4A. After re-execution of step 4A, you can execute step 6A, and the exclusion in step 5A will no longer take effect. That is, if after step 5A, The number of remaining candidate resources in M total The ratio X is obtained, and step 4A is executed again. After that, step 6A can be executed without executing step 5A. Step 5a is an optional step, that is, step 5a is not a step that must be executed. total for The total number of included resources.

[0133] Step 6A: A candidate resource R in the time slot t' is moved from Excluded:

[0134] Condition c: the first terminal device receives the first signal at time slot t', and the strength of the first signal is higher than the first threshold.

[0135] Condition d: determining, based on the first signal, that the second time-frequency resource is within the resource selection window.

[0136] For ease of understanding, please refer to Figure 5. Exemplarily, Figure 5 is a schematic diagram of the first type of resource exclusion provided in an embodiment of the present application. Figure 5 only illustrates that the first terminal device excludes the second time-frequency resource based on the strength of the first signal and the first threshold, corresponding to the aforementioned step 6A. For ease of distinction, in Figure 5, the first signal from the second terminal device received by the first terminal device within the perception window is referred to as signal A, and the first signal from the third terminal device received by the first terminal device within the perception window is referred to as signal B. The resource carrying signal A within the perception window is referred to as resource A, and the resource carrying signal B is referred to as resource B. Signal A carries the SCI of the second terminal device, and signal B carries the SCI of the third terminal device. The time-frequency resource indicated by signal A (called resource C) is located within the resource selection window, and the time-frequency resource indicated by signal B (called resource D) is located within the resource selection window. As shown in Figure 5, the first terminal device receives signal A at resource A within the perception window and receives signal B at resource B within the perception window. Signal A occupies 4 subchannels and signal B occupies 2 subchannels. Signal A indicates that the resources reserved by the second terminal device occupy four subchannels within the resource selection window, and signal B indicates that the resources reserved by the third terminal device occupy two subchannels within the resource selection window. The reserved resources can be periodic resources, as shown in Figure 5, where the third terminal device reserves resources with a period of P.

[0137] Figure 5 takes the frequency domain resources where the candidate resources are located as L=3 sub-channels as an example. As shown in Figure 5, the strength of signal A sent by the second terminal device is lower than the first threshold. Therefore, when the time-frequency resource / resource C indicated by signal A overlaps with the candidate resource, there is no need to exclude the candidate resource; the strength of signal B sent by the third terminal device is higher than the first threshold. Therefore, the first terminal device excludes the candidate resource corresponding to the time-frequency resource / resource D indicated by signal B. It can be seen from Figure 5 that the selected resources (i.e., candidate resources) do not include the resources reserved by the third terminal device. The first terminal device uses the resources in the candidate resources to send perception signals, which will not cause interference to the communication signals and / or perception signals sent by other terminal devices.

[0138] Step 7A: If The number of remaining candidate resources is less than the first ratio × M total , increase the first threshold in step 3A, and return to step 4A to continue the process. The first ratio is greater than 0 and less than 1, for example, X%, where X can be (pre)configured.

[0139] Step 7A can be understood as follows: after the first terminal device excludes the second time-frequency resource from the second window for the first time, the remaining time-frequency resource in the second window accounts for less than the first proportion, the first threshold is increased, and the resource exclusion process is re-executed based on the increased first threshold and the strength of the first signal. After each resource exclusion, S A If the number of remaining candidate resources is less than the first ratio × M, the first threshold is continuously increased, and the resource elimination process is re-executed according to the increased first threshold and the strength of the first signal until the final candidate resource set S is obtained. A If S A The number of candidate resources remaining in is greater than the first ratio × M, and S A Report to senior management.

[0140] After the first terminal device excludes the second time-frequency resources from the second window for the first time, the proportion of the remaining time-frequency resources in the second window is lower than the first proportion. It can be considered that the resources that can be used by the first terminal device to send the perception signal are insufficient. In this case, the first threshold is raised, and the resource exclusion process is re-executed based on the raised first threshold, so that more candidate resources for use in the perception signal can be obtained. It should be noted that the embodiment of the present application does not limit the amplitude of each increase in the first threshold. For example, it can be increased by 3 decibels (dB) each time. For another example, the first threshold can be increased according to the first step length, and the first step length is, for example, 1dB, 2dB, or 3dB. The amplitude of each increase in the first threshold can be the same or different.

[0141] It should be noted that step 7A is an optional step, that is, when the first terminal device performs resource exclusion, step 7A may not be executed.

[0142] Optionally, the first threshold may be different depending on the type of the first signal. For example, if the first signal received by the first terminal device is a communication signal, for example, the first signal carries an SCI or the first signal is an SCI, the first terminal device may exclude resources according to the strength of the first signal and the first threshold A. For example, if the strength of the first signal is higher than the first threshold A, the second time-frequency resource is excluded according to the method in case one. If the first signal received by the first terminal device is not a communication signal, for example, the first signal is a perception signal, the first terminal device may exclude resources according to the strength of the first signal and the first threshold B. For example, if the strength of the first signal is higher than the first threshold B, the second time-frequency resource is excluded according to the method in case one. Optionally, the first threshold A and the first threshold B are the same or different. For example, the first threshold A is determined based on the RSRP of the signal, and the first threshold B is determined based on the energy detection of the signal.

[0143] In case 2, at least one threshold includes a second threshold, or at least one threshold is a second threshold. The second threshold is a threshold for selecting a resource for sensing a signal.

[0144] The second threshold can be used to determine the strength of the signal, or to determine whether there is a certain type of signal. The second threshold can be (pre) configured or predefined or agreed upon. The second threshold is greater than the first threshold. For example, the second threshold is -20dBm. For another example, the value of the second threshold can refer to the aforementioned related content. For example, the second threshold can be determined by the first terminal device based on the prio TX 、prio RX,com and prioRX,sensing, which will not be described in detail here. Optionally, the second threshold is higher than the second communication threshold, and the second communication threshold is used to determine the candidate resource for sending the communication signal. The second communication threshold is related to the priority of the communication signal of the second communication device, or the second communication threshold is determined according to the priority of the communication signal of the second communication device. For example, the second communication threshold can be the "prio" in the threshold value set of RSRP configured for the resource pool. RX +(prio TX -1)×8" RSRP thresholds. There is no limitation on the specific name of the second communication threshold, and the embodiment of the present application does not impose any limitation on this.

[0145] If the strength of the first signal is lower than the second threshold, it can be considered that the strength of the received signals of other communication devices around the first terminal device is weak. In this case, if the first terminal device still uses the first time-frequency resource to send the perception signal, then the perception signal will interfere with the received signals of other communication devices. For example, using the example of Figure 2, assuming that the first terminal device is terminal device 1, the first time-frequency resource includes the resources reserved by terminal devices 2 to 4, if the signal strength of the first time-frequency resource is lower than the second threshold, terminal device 1 believes that the first time-frequency resource can be used to send perception signals. If terminal devices 2 to 4 also detect the first time-frequency resource, they also believe that the first time-frequency resource can be used to send communication signals or perception signals. When terminal devices 1 to 3 send perception information on the first time-frequency resource, and terminal device 4 sends a communication signal on the first time-frequency resource, the superposition of the perception signals of terminal devices 1 to 3 interferes with the communication signal sent by terminal device 4.

[0146] Therefore, in scenario 2, to reduce the interference of the perception signal on the communication signal, when the strength of the second signal falls below the second threshold, the second time-frequency resource that partially or completely overlaps with the first time-frequency resource can be excluded from the second window. The second time-frequency resource is a time-frequency resource that may be used by other terminal devices to send perception signals or communication signals. Therefore, after excluding the second time-frequency resource in the second window, the remaining resources used to send the perception signal will cause less interference to the communication signals sent by other communication devices.

[0147] For the second scenario, the process for the first terminal device to determine the candidate resource set may include the following steps 1B to 7B. It should be noted that the following process takes the time slot as an example of the minimum granularity of the time domain resource. The time slot in the embodiment of the present application can be replaced by a time unit, which can be a frame, subframe, symbol, etc.

[0148] Step 1B: Determine the resource selection window, that is, determine the second window. Step 1B is the same as step 1A and will not be repeated here.

[0149] Step 2B: Determine the perception window, that is, determine the first window. Step 2B is the same as step 2A and will not be repeated here.

[0150] Step 3B: Determine the strength of the first signal and the first threshold. Step 3B is the same as step 3A and will not be described again here.

[0151] Step 4B: Determine the initial candidate resource set Step 4B is the same as step 4A and will not be repeated here.

[0152] Step 5B: For the initial candidate resource set When a candidate resource R (assuming it is in time slot t) satisfies conditions a and b in step 5A above, the candidate resource R is removed from Step 5B is the same as step 5A and will not be described again here. Step 5B is also an optional step.

[0153] Step 5b: If after step 5B, The number of remaining candidate resources in M total If the ratio is less than X, re-execute step 4B. After re-execution of step 4B, you can execute step 6B, and the exclusion in step 5B will no longer take effect. Step 5b is the same as step 5a and will not be repeated here.

[0154] Step 6B: A candidate resource R in the time slot t' is moved from Excluded:

[0155] Condition c: the first terminal device receives the first signal at time slot t', and the strength of the first signal is lower than the second threshold.

[0156] Condition d: determining, based on the first signal, that the second time-frequency resource is within the resource selection window.

[0157] For ease of understanding, please refer to Figure 6. For example, Figure 6 is a schematic diagram of the second resource exclusion provided in an embodiment of the present application. The difference between Figure 6 and Figure 5 is that signal B indicates that the third terminal device

[0158] The reserved resources occupy three sub-channels within the resource selection window, and the strength of signal B is lower than the second threshold.

[0159] As shown in Figure 6 , the strength of signal A transmitted by the second terminal device is higher than the second threshold. Therefore, when the time-frequency resource / resource C indicated by signal A overlaps with a candidate resource, there is no need to exclude the candidate resource. The strength of signal B transmitted by the third terminal device is lower than the second threshold. Therefore, the first terminal device excludes the candidate resource corresponding to the time-frequency resource / resource D indicated by signal B. As can be seen from Figure 6 , the selected resources (i.e., candidate resources) do not include the resources reserved by the third terminal device. The first terminal device uses resources from the candidate resources to transmit the perception signal, which does not cause interference with the communication signals and / or perception signals transmitted by other terminal devices.

[0160] Step 7B: If The number of remaining candidate resources is less than the first ratio × M total , lower the second threshold in step 3B, and return to step 4B to continue the process. The first ratio is greater than 0 and less than 1, for example, X%, where X can be (pre)configured.

[0161] Step 7B can be understood as follows: after the first terminal device excludes the second time-frequency resource from the second window for the first time, the remaining time-frequency resource in the second window accounts for less than the first proportion, the second threshold is lowered, and the resource exclusion process is re-executed based on the increased second threshold and the strength of the first signal. After each resource exclusion, S A If the number of remaining candidate resources is less than the first ratio × M, the second threshold is further lowered, and the resource elimination process is re-executed according to the lowered second threshold and the strength of the first signal until the final candidate resource set S is obtained. A If S A The number of candidate resources remaining in is greater than the first ratio × M, and S A Report to senior management.

[0162] The embodiment of the present application does not limit the magnitude of each reduction in the second threshold. For example, the second threshold may be reduced by 3 decibels (dB) each time. For another example, the first threshold may be reduced according to the first step length, such as 1 dB, 2 dB, or 3 dB. The magnitude of each reduction in the first threshold may be the same or different.

[0163] Step 7B is an optional step, that is, when the first terminal device performs resource exclusion, step 7B may not be executed.

[0164] Optionally, the resource exclusion method may be different depending on the type of the first signal. For example, if the first signal is a communication signal, the second time-frequency resource is excluded according to the method in case one; if the first signal is a perception signal, the second time-frequency resource is excluded according to the method in case two. For example, if the first signal carries SCI or the first signal is SCI, the first terminal device may exclude resources according to the strength of the first signal and the first threshold. When the strength of the first signal is higher than the first threshold, the second time-frequency resource is excluded according to the method in case one. If the first signal is a perception signal, the first terminal device may exclude resources according to the strength of the first signal and the second threshold. For example, if the strength of the first signal is lower than the second threshold, the second time-frequency resource is excluded according to the method in case two. Optionally, the first threshold and the second threshold may be the same or different. For example, the first threshold is determined based on the RSRP of the signal, and the second threshold is determined based on the energy detection of the signal.

[0165] Case three: the at least one threshold includes a third threshold and a fourth threshold.

[0166] The third threshold is similar to the first threshold and can be greater than or equal to the first threshold. The fourth threshold is similar to the second threshold and can be less than or equal to the second threshold. The third threshold can refer to the first threshold, and the fourth threshold can refer to the second threshold. The third threshold is greater than or equal to the first threshold, and the fourth threshold is less than or equal to the second threshold.

[0167] Similar to cases one and two, when the strength of the first signal is greater than or equal to the third threshold and less than or equal to the fourth threshold, it can be considered that if the perception signal is sent on the first time-frequency resource, the superposition of all perception signals on the first time-frequency resource may cause interference to the communication signal and / or other perception signals on the first time-frequency resource. Therefore, when the strength of the first signal is greater than the third threshold and lower than the fourth threshold, the second time-frequency resource that partially or completely overlaps with the first time-frequency resource can be excluded from the second window. After excluding the second time-frequency resource in the second window, the remaining resources are candidate resources for sending perception signals. This can not only reduce or even avoid interference with communication signals and / or other perception signals, but also ensure that fewer unavailable resources are excluded and more candidate resources remain available, making the candidate resources more flexible.

[0168] For situation three, the process for the first terminal device to determine the candidate resource set may include the following steps 1C to 7C. It should be noted that the following process takes the minimum granularity of time domain resources as an example, which is a time slot. The time slot in the embodiment of the present application can be replaced by a time unit, which can be a frame, subframe, symbol, etc.

[0169] Step 1C: Determine the resource selection window, that is, determine the second window. Step 1C is the same as step 1A and will not be repeated here.

[0170] Step 2C: Determine the sensing window, that is, determine the first window. Step 2C is the same as step 2A and will not be repeated here.

[0171] Step 3C: Determine the strength of the first signal and the first threshold. Step 3C is the same as step 3A and will not be described again here.

[0172] Step 4C: Determine the initial candidate resource set Step 4C is the same as step 4A and will not be repeated here.

[0173] Step 5C: For the initial candidate resource set When a candidate resource R (assuming it is in time slot t) satisfies conditions a and b in step 5A above, the candidate resource R is removed from Step 5C is the same as step 5A and will not be described again here. Step 5B is also an optional step.

[0174] Step 5c: If after step 5C, The number of remaining candidate resources in M total If the ratio is less than X, re-execute step 4C. After re-execution of step 4C, you can execute step 6C, and the exclusion in step 5C will no longer take effect. Step 5c is the same as step 5a and will not be repeated here.

[0175] Step 6C: A candidate resource R in the time slot t' is moved from Excluded:

[0176] Condition c: the first terminal device receives the first signal at time slot t', and the strength of the first signal is higher than the third threshold and lower than the fourth threshold.

[0177] Condition d: determining, based on the first signal, that the second time-frequency resource is within the resource selection window.

[0178] For easier understanding, please refer to Figure 7. For example, Figure 7 is a schematic diagram of the third type of resource exclusion provided in an embodiment of the present application. Figure 7 differs from Figure 5 in that the strength of signal B is higher than the third threshold and lower than the fourth threshold.

[0179] As shown in Figure 7 , the strength of signal A sent by the second terminal device is lower than the third threshold. Therefore, when the time-frequency resource / resource C indicated by signal A overlaps with a candidate resource, there is no need to exclude the candidate resource. The strength of signal B sent by the third terminal device is higher than the third threshold and lower than the fourth threshold. Therefore, the first terminal device excludes the candidate resource corresponding to the time-frequency resource / resource D indicated by signal B. As can be seen from Figure 6 , the selected resources (i.e., candidate resources) do not include the resources reserved by the third terminal device. The first terminal device uses resources from the candidate resources to send the perception signal, which will not cause interference with the communication signals and / or perception signals sent by other terminal devices.

[0180] Step 7B: If The number of remaining candidate resources is less than the first ratio × M total , lower the second threshold in step 3B, and return to step 4B to continue the process. The first ratio is greater than 0 and less than 1, for example, X%, where X can be (pre)configured.

[0181] Step 7B can be understood as follows: after the first terminal device excludes the second time-frequency resource from the second window for the first time, if the proportion of the remaining time-frequency resource in the second window is lower than the first proportion, the third threshold can be lowered and / or the fourth threshold can be raised, and the resource exclusion process is re-executed based on the strength of the first signal and the lowered third threshold and / or the raised fourth threshold. After each resource exclusion, S AIf the number of remaining candidate resources is less than the first ratio × M, the third threshold is lowered and / or the fourth threshold is raised, and the resource exclusion process is re-executed according to the lowering of the third threshold and / or the raising of the fourth threshold until the final candidate resource set S is obtained. A If S A The number of candidate resources remaining in is greater than the first ratio × M, and S A Report to senior management.

[0182] The embodiments of the present application do not limit the magnitude of each reduction in the third threshold. For example, the third threshold can be reduced by 3 decibels (dB) each time. For another example, the third threshold can be reduced according to the first step length, such as 1dB, 2dB, or 3dB. The magnitude of each reduction in the first threshold can be the same or different. The embodiments of the present application do not limit the magnitude of each increase in the fourth threshold. For example, the fourth threshold can be increased by 3 decibels (dB) each time. For another example, the fourth threshold can be increased according to the first step length, such as 1dB, 2dB, or 3dB. The magnitude of each increase in the fourth threshold can be the same or different.

[0183] Step 7C is an optional step, that is, when the first terminal device performs resource exclusion, step 7C may not be executed.

[0184] Optionally, the resource exclusion method may be different depending on the type of the first signal. For example, if the first signal is a communication signal, the second time-frequency resource is excluded according to the method in case one; if the first signal is a perception signal, the second time-frequency resource is excluded according to the method in case three. For example, if the first signal carries SCI or the first signal is SCI, the first terminal device may exclude resources according to the strength of the first signal and the first threshold. For example, if the strength of the first signal is higher than the first threshold, the second time-frequency resource is excluded according to the method in case one. For example, if the first signal is a perception signal, the first terminal device may exclude resources according to the strength of the first signal and the third and fourth thresholds. For example, if the strength of the first signal is between the third and fourth thresholds, the second time-frequency resource is excluded according to the method in case three. Optionally, the third threshold may be the same as or different from the first threshold. For example, the first threshold is determined based on the RSRP of the signal, and the third threshold is determined based on the energy detection of the signal. The fourth threshold may also be determined based on the energy detection of the signal.

[0185] Each of the above cases 1 to 3 actually corresponds to a criterion for selecting a resource for sensing signals. For the integrated communication and sensing system, communication method 400 proposes three criteria for selecting a resource for sensing signals. Any of these three criteria can reduce or even avoid interference with communication signals.

[0186] For the integrated communication perception system, resources for communication / resources for selecting communication signals can also be selected according to certain criteria. Taking the first terminal device as an example, the first terminal device receives the first signal within the perception window, and excludes resources based on the strength of the first signal and a threshold (for example, called the fifth threshold). For example, the first signal indicates the first time-frequency resource. When the strength of the first signal is higher than the fifth threshold, the second time-frequency resource is excluded, and the second time-frequency resource partially overlaps or completely overlaps with the first time-frequency resource. Among them, the fifth threshold can be determined based on energy detection to exclude resources that are being used or reserved by other terminal devices.

[0187] In the above-mentioned embodiments provided by the present application, the method provided by the embodiment of the present application is introduced by taking the selection of resources for sensing signals by the first terminal device as an example. Among them, the steps performed by the first terminal device can be implemented by different functional entities of the terminal device where the first terminal device is located. In order to implement the various functions in the method provided by the above-mentioned embodiment of the present application, the terminal device may include a hardware structure and / or a software module to implement the above-mentioned functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above-mentioned functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0188] The following describes the communication device used to implement the above method in the embodiment of the present application with reference to the accompanying drawings. Therefore, the above contents can be used in subsequent embodiments, and repeated contents will not be repeated.

[0189] Figure 8 is a schematic block diagram of a communication device 800 provided in an embodiment of the present application. The communication device 800 may be a terminal device in the aforementioned embodiments. The communication device 800 may implement the functions or steps implemented by the terminal device in the aforementioned method embodiments. For example, the communication device 800 may be the terminal device in Figure 1 or the terminal device in Figure 2; alternatively, the communication device 800 may be a chip (system) within the terminal device; or alternatively, the communication device 800 may be a software module within the terminal device. The communication device 800 may include a processing module 810 and a transceiver module 820. Optionally, the communication device 800 may also include a storage module, which may be used to store instructions (code or program) and / or data. The storage module may be, for example, a memory. The processing module 810 and the transceiver module 820 may be coupled to the storage module. For example, the processing module 810 may read the instructions (code or program) and / or data in the storage module to implement the corresponding method. When the communication device 800 is a chip within a terminal device or a terminal device, the storage module may be a storage module within the chip, such as a register or cache. For example, the storage module may also be a storage module located outside the chip within the network device / terminal device, such as a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc. The above-mentioned units may be independently provided or partially or fully integrated.

[0190] In one possible implementation, the processing module 810 may be a processor or controller, such as a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The transceiver module 820 is a transceiver, an interface circuit, a bus, a pin, or other possible communication interface for receiving signals from other devices. For example, when the device is implemented in the form of a chip, the transceiver module 820 is an interface circuit for the chip to receive signals from other chips or devices, or an interface circuit for the chip to send signals to other chips or devices.

[0191] For example, the communication device 800 can implement the corresponding behaviors and functions of the first terminal device in the above-mentioned method embodiment. The communication device 800 can be a terminal device, or a component (such as a chip or circuit) used in a terminal device, or a chip or chipset in the terminal device, or a part of a chip used to perform the functions of the relevant method, or a software module capable of implementing the method performed by the first terminal device in the above-mentioned method (such as communication method 400), without limitation.

[0192] In one implementation, the processing module 810 is used to: determine at least one signal received within a first window, the at least one signal including a first signal, the first time-frequency resource indicated by the first signal is located in a second window, and the second window includes at least one time-frequency resource; determine a candidate resource set from the second window based on the strength of the first signal and at least one threshold, and some or all of the resources in the candidate resource set are used to send a first perception signal.

[0193] As an optional implementation, the processing module 810 is specifically configured to exclude a second time-frequency resource from the second window according to the strength of the first signal and at least one threshold, where the second time-frequency resource partially or completely overlaps with the first time-frequency resource.

[0194] As an optional implementation, any threshold of the at least one threshold is related to one or more of the following priorities: the priority of the first perception signal, the priority of the communication signal from the second communication device, or the priority of the perception signal from the second communication device.

[0195] As an optional implementation manner, the at least one threshold includes a first threshold, and the strength of the first signal is higher than the first threshold.

[0196] As an optional implementation manner, the first threshold is lower than the first communication threshold, and the first communication threshold is related to the priority of the communication signal of the second communication device.

[0197] As an optional implementation method, the proportion of the remaining time-frequency resources in the second window after excluding the second time-frequency resources is lower than the first proportion, and the processing module 810 is also used to: increase the first threshold, and determine the candidate resource set from the second window based on the increased first threshold and the strength of the first signal.

[0198] As an optional implementation manner, the at least one threshold includes a second threshold, and the strength of the first signal is lower than the second threshold.

[0199] As an optional implementation manner, the second threshold is higher than the second communication threshold, and the second communication threshold is related to the priority of the communication signal of the second communication device.

[0200] As an optional implementation method, the proportion of the remaining time-frequency resources in the second window after excluding the second time-frequency resources is lower than the first proportion, and the processing module 810 is also used to: lower the second threshold, and determine the candidate resource set from the first window based on the lowered second threshold and the strength of the first signal.

[0201] As an optional implementation, the at least one threshold includes a third threshold and a fourth threshold, the fourth threshold is greater than the third threshold, and the strength of the second signal is higher than the third threshold and lower than the fourth threshold.

[0202] As an optional implementation method, the proportion of the remaining time-frequency resources in the second window after excluding the second time-frequency resources in the second window is lower than the first proportion, and the processing module 810 is also used to: lower the third threshold, and determine the candidate resource set from the second window based on the strength of the first signal and the lowered third threshold; and / or, increase the fourth threshold, and determine the candidate resource set from the second window based on the strength of the first signal and the increased fourth threshold.

[0203] When the communication device 800 is a chip-type device or circuit, the transceiver module may be an input / output circuit and / or a communication interface; the processing module may be an integrated processor or microprocessor or integrated circuit.

[0204] Figure 9 is a schematic block diagram of a communication device 900 provided in an embodiment of the present application. The communication device 900 can be the first terminal device in the above embodiment. For example, the communication device 900 can be the terminal device in Figure 1; or the communication device 900 is a chip (system) in the terminal device. In the embodiment of the present application, the chip system can be composed of a chip, or it can include a chip and other discrete devices. For specific functions, please refer to the description in the above method embodiment.

[0205] The communication device 900 includes one or more processors 901, which are used to implement or support the communication device 900 to implement the functions of the terminal device (e.g., the first terminal device) in the method provided in the embodiment of the present application. Please refer to the detailed description in the method example for details, which will not be repeated here. The processor 901 can also be called a processing unit or a processing module, which can implement certain control functions. The processor 901 can be a general-purpose processor or a dedicated processor. For example, it includes: a baseband processor, a central processing unit, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, a memory, and / or a neural network processor. The baseband processor can be used to process communication protocols and communication data. The central processing unit can be used to control the communication device 900 (e.g., a terminal device), execute software programs and / or process data. Different processors can be independent devices or integrated into one or more processors, for example, integrated into one or more dedicated integrated circuits.

[0206] In one design, the processor 901 may include a program 903 (sometimes also referred to as code or instructions), which may be executed on the processor 901 to cause the communication device 900 to perform the methods described in the following embodiments. In another possible design, the communication device 900 includes circuitry (not shown in FIG9 ) configured to implement the first terminal device functionality described in the above embodiments.

[0207] In one design, the communication device 900 may include one or more memories 902 on which a program 904 (sometimes also referred to as code or instructions) is stored. The program 904 can be run on the processor 901 so that the communication device 900 performs the method described in the above method embodiment.

[0208] In one design, the processor 901 and / or the memory 902 may include an artificial intelligence (AI) module 909 and an AI module 908, each configured to implement AI-related functions. The AI ​​module may be implemented using software, hardware, or a combination of software and hardware. For example, the AI ​​module may include a RAN intelligent controller (RIC) module. For example, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0209] In a possible design, data may also be stored in the processor 901 and / or the memory 902. The processor and memory may be provided separately or integrated together.

[0210] In one possible design, the communication device 900 may further include a transceiver 905 and / or an antenna 906. The processor 901 may also be sometimes referred to as a processing unit, and controls the communication device 900. The transceiver 905 may also be sometimes referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, and is configured to implement the transceiver function of the communication device through the antenna 906.

[0211] In one possible design, the communication device 900 may further include one or more of the following components: a wireless communication module, an audio module, an external memory interface, an internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It will be appreciated that in some embodiments, the communication device 900 may include more or fewer components, or some components may be integrated or separated. These components may be implemented as hardware, software, or a combination of software and hardware.

[0212] The communication device in the above embodiments can be a terminal device, a circuit, a chip used in a terminal device, or other combined devices, components, etc. having the above terminal devices. When the communication device is a terminal device, the transceiver module can be a transceiver, which can include an antenna and a radio frequency circuit, etc., and the processing module can be a processor, such as a CPU. When the communication device is a component having the functions of the above terminal device, the transceiver module can be a radio frequency unit, and the processing module can be a processor. When the communication device is a chip system, the communication device can be an FPGA, a dedicated ASIC, a system on chip (SoC), a CPU, a network processor (NP), a DSP, a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated circuit. The processing module can be the processor of the chip system. The transceiver module or communication interface can be the input / output interface or interface circuit of the chip system. For example, the interface circuit can be a code / data read / write interface circuit. The interface circuit can be used to receive code instructions (the code instructions are stored in a memory and can be read directly from the memory or read from the memory via another device) and transmit them to the processor; the processor can be used to execute the code instructions to perform the method in the above method embodiment. For example, the interface circuit can also be a signal transmission interface circuit between a communication processor and a transceiver.

[0213] The present application also provides a communication system. Specifically, the communication system includes at least one terminal device. Exemplarily, the communication system includes at least one terminal device for implementing the functions described in FIG. 4 . Optionally, the communication system also includes at least one network device. For details, please refer to the relevant description in the above method embodiment and will not be repeated here.

[0214] An embodiment of the present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, enables the computer to execute the method executed by the first terminal device in Figure 4.

[0215] An embodiment of the present application also provides a computer program product, including instructions, which, when executed on a computer, enables the computer to execute the method executed by the first terminal device in FIG4 .

[0216] The embodiment of the present application provides a chip system, which includes a processor and may also include a memory, for implementing the functions of the first terminal device in the aforementioned method. The chip system can be composed of a chip or include a chip and other discrete devices.

[0217] To implement the functions of the communication device shown in Figures 8 and 9, embodiments of the present application further provide a chip including a processor for supporting the communication device in implementing the functions of the first terminal device in the above method embodiments. In one possible design, the chip is connected to or includes a memory, which is used to store computer programs, instructions, and data necessary for the communication device.

[0218] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0219] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0220] Those skilled in the art will clearly understand that, for the 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.

[0221] 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0222] 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.

[0223] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the part that essentially contributes to the technical solution of the present application or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk.

[0224] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

Claims

1. A communication method, characterized in that: include: Determining at least one signal received within a first window, where the at least one signal includes a first signal, a first time-frequency resource indicated by the first signal is located in a second window, and the second window includes at least one time-frequency resource; A candidate resource set is determined from the second window according to the strength of the first signal and at least one threshold, and some or all of the resources in the candidate resource set are used to send the first perception signal.

2. The method according to claim 1, wherein Determining a set of candidate resources from the second window according to the strength of the first signal and at least one threshold includes: A second time-frequency resource is excluded from the second window according to the strength of the first signal and the at least one threshold, where the second time-frequency resource partially overlaps or completely overlaps with the first time-frequency resource.

3. The method according to claim 2, wherein Any threshold of the at least one threshold is associated with one or more of the following priorities: The priority of the first perception signal, the priority of the communication signal from the second communication device, or the priority of the perception signal from the second communication device.

4. The method according to claim 3, wherein The at least one threshold includes a first threshold, and the strength of the first signal is higher than the first threshold.

5. The method according to claim 4, wherein The first threshold is lower than a first communication threshold, and the first communication threshold is related to the priority of the communication signal of the second communication device.

6. The method according to claim 4 or 5, characterized in that The proportion of the time-frequency resources remaining in the second window after excluding the second time-frequency resources is lower than the first proportion, and the method further includes: raising the first threshold; The candidate resource set is determined from the second window according to the increased first threshold and the strength of the first signal.

7. The method according to claim 3, wherein The at least one threshold includes a second threshold, and the strength of the first signal is lower than the second threshold.

8. The method according to claim 7, wherein The second threshold is higher than a second communication threshold, and the second communication threshold is related to the priority of the communication signal of the second communication device.

9. The method according to claim 7 or 8, wherein The proportion of the time-frequency resources remaining in the second window after excluding the second time-frequency resources in the resource selection window is lower than the first proportion, and the method further includes: lowering the second threshold; The candidate resource set is determined from the first window according to the lowered second threshold and the strength of the first signal.

10. The method according to claim 3, wherein The at least one threshold includes a third threshold and a fourth threshold, the fourth threshold is greater than the third threshold, and the strength of the first signal is higher than the third threshold and lower than the fourth threshold.

11. The method according to claim 10, wherein The proportion of the time-frequency resources remaining in the second window after excluding the second time-frequency resources in the resource selection window is lower than the first proportion, and the method further includes: lowering the third threshold, and determining the candidate resource set from the second window according to the strength of the first signal and the updated third threshold; and / or, The fourth threshold is increased, and the candidate resource set is determined from the second window according to the strength of the first signal and the updated fourth threshold.

12. A communication device, characterized in that: include: a transceiver module, configured to receive at least one signal in a first window, the at least one signal including a first signal, a first time-frequency resource indicated by the first signal being located in a second window, and the second window including at least one time-frequency resource; A processing module is used to determine the at least one signal, determine a candidate resource set from the second window according to the strength of the first signal and at least one threshold, and some or all of the resources in the candidate resource set are used to send the first perception signal.

13. The device according to claim 12, wherein The processing module is specifically used for: A second time-frequency resource is excluded from the second window according to the strength of the first signal and the at least one threshold, where the second time-frequency resource partially overlaps or completely overlaps with the first time-frequency resource.

14. The device according to claim 13, wherein: Any threshold of the at least one threshold is associated with one or more of the following priorities: The priority of the first perception signal, the priority of the communication signal from the second communication device, or the priority of the perception signal from the second communication device.

15. The device according to claim 14, wherein The at least one threshold includes a first threshold, and the strength of the first signal is higher than the first threshold.

16. The device according to claim 15, characterized in that The first threshold is lower than a first communication threshold, and the first communication threshold is related to the priority of the communication signal of the second communication device.

17. The device according to claim 15 or 16, characterized in that The proportion of the remaining time-frequency resources in the second window after excluding the second time-frequency resources is lower than the first proportion, and the processing module is further configured to: raising the first threshold; The candidate resource set is determined from the second window according to the increased first threshold and the strength of the first signal.

18. The device according to claim 14, wherein The at least one threshold includes a second threshold, and the strength of the first signal is lower than the second threshold.

19. The device according to claim 18, wherein The second threshold is higher than a second communication threshold, and the second communication threshold is related to the priority of the communication signal of the second communication device.

20. The device according to claim 18 or 19, characterized in that The proportion of the time-frequency resources remaining in the second window after excluding the second time-frequency resource in the resource selection window is lower than the first proportion, and the processing module is further used to: lowering the second threshold; The candidate resource set is determined from the first window according to the lowered second threshold and the strength of the first signal.

21. The device according to claim 14, wherein The at least one threshold includes a third threshold and a fourth threshold, the fourth threshold is greater than the third threshold, and the strength of the first signal is higher than the third threshold and lower than the fourth threshold.

22. The device according to claim 21, wherein The proportion of the time-frequency resources remaining in the second window after excluding the second time-frequency resource in the resource selection window is lower than the first proportion, and the processing module is further used to: lowering the third threshold, and determining the candidate resource set from the second window according to the strength of the first signal and the updated third threshold; and / or, The fourth threshold is increased, and the candidate resource set is determined from the second window according to the strength of the first signal and the updated fourth threshold.

23. The device according to any one of claims 12 to 22, characterized in that The communication device includes user equipment or a chip.

24. A communication device, characterized in that: The communication device includes at least one processor, and the at least one processor is configured to cause the method according to any one of claims 1 to 11 to be executed by the communication device.

25. A chip or a chip system, characterized in that: The chip or chip system comprises: At least one processor and an interface, the at least one processor is configured to call and run instructions from the interface, and when the at least one processor executes the instructions, the method according to any one of claims 1 to 11 is executed.

26. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program, and when the computer program is executed, the method according to any one of claims 1 to 11 is implemented.

27. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed, the method according to any one of claims 1 to 11 is implemented.

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