CN112997551A - Method and terminal equipment for transmitting sideline channel - Google Patents

Abstract

The embodiment of the application relates to a method for transmitting a sidelink channel and terminal equipment. The method comprises the following steps: the method comprises the steps that after a first terminal device excludes at least one candidate resource in a first resource set, a second resource set is obtained, wherein the first resource set comprises a plurality of candidate resources, and each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel; the first terminal equipment determines a target resource in the second resource set; and the first terminal equipment adopts the target resource to send the first sidelink channel. The method for transmitting the sideline channel and the terminal equipment can avoid resource waste.

Description

Method and terminal equipment for transmitting sideline channel Technical Field

The present application relates to the field of communications, and in particular, to a method and a terminal device for transmitting a sidelink channel.

Background

In a New Radio (NR) Vehicle to other equipment (V2X) system, automatic driving needs to be supported, and therefore higher requirements are placed on data interaction between vehicles, such as higher throughput, lower latency, higher reliability, larger coverage, more flexible resource allocation, and the like.

In the NR-V2X system, a plurality of transmission modes are introduced, such as mode 1 and mode 2, where mode 1 is that the network allocates transmission resources for the terminal, and mode 2 is that the terminal selects transmission resources. In mode 2, the support terminal acquires available transmission resources by listening. In the case that a Physical Sidelink Shared Channel (PSSCH) resource pool includes a time domain resource of a Sidelink Synchronization Signal (SLSS) and a Physical Sidelink Broadcast Channel (PSBCH), how to perform interception and resource selection is a problem to be solved at present.

Disclosure of Invention

The application provides a method and terminal equipment for transmitting a sideline channel, which can avoid resource waste.

In a first aspect, a method for transmitting a sidelink channel is provided, including: the method comprises the steps that after a first terminal device excludes at least one candidate resource in a first resource set, a second resource set is obtained, wherein the first resource set comprises a plurality of candidate resources, and each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel; the first terminal equipment determines a target resource in the second resource set; and the first terminal equipment adopts the target resource to send the first sidelink channel.

In a second aspect, a terminal device is provided, which is configured to perform the method in the first aspect or each implementation manner thereof. Specifically, the terminal device includes a functional module for executing the method in the first aspect or each implementation manner thereof.

In a third aspect, a terminal device is provided that includes a processor and a memory. The memory is used for storing a computer program, and the processor is used for calling and running the computer program stored in the memory, and executing the method in the first aspect or each implementation manner thereof.

In a fourth aspect, a chip is provided for implementing the method in any one of the above first aspects or implementations thereof. Specifically, the chip includes: a processor configured to call and run the computer program from the memory, so that the device on which the chip is installed performs the method according to any one of the above first aspects or the implementation manners thereof.

In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, which causes a computer to execute the method of the first aspect or its implementations.

A sixth aspect provides a computer program product comprising computer program instructions for causing a computer to perform the method of the first aspect or its implementations.

In a seventh aspect, a computer program is provided, which, when run on a computer, causes the computer to perform the method of the first aspect or its implementations.

Through the technical scheme, the terminal equipment excludes partial candidate resources from the resource set comprising a plurality of candidate resources, so that resource overlapping and resource waste can be avoided. For example, excluding resources overlapping with S-SSB avoids collision of PSSCH transmission resources and S-SSB transmission resources; the resources overlapped with the resources reserved by other terminals are eliminated in the resource selection window, so that the conflict with the transmission resources of other terminals is avoided; and resources having resource conflict with the S-SSB in the current or future N periods are excluded from the resource selection window, so that the conflict between the transmission resources of the PSSCH and the transmission resources of the S-SSB is avoided, and the method is suitable for the resource selection of the periodic service.

Drawings

Fig. 1 is a schematic diagram of a communication system architecture provided in an embodiment of the present application.

Fig. 2 is a schematic diagram of sidelink transmission provided in an embodiment of the present application.

Fig. 3 is a schematic diagram of excluding resources in a selection window according to an embodiment of the present application.

Fig. 4 is a schematic diagram of partitioning a resource pool according to an embodiment of the present application.

FIG. 5 is a schematic diagram of an S-SSB provided in an embodiment of the present application.

Fig. 6 is a schematic diagram of a method for transmitting a sideline channel according to an embodiment of the present disclosure.

Fig. 7 is another schematic diagram of excluding resources in a selection window according to an embodiment of the present application.

Fig. 8 is a schematic diagram of resource overlapping provided in an embodiment of the present application.

Fig. 9 is a further schematic diagram of excluding resources in a selection window according to an embodiment of the present application.

Fig. 10 is a further schematic diagram of excluding resources in a selection window according to an embodiment of the present application.

Fig. 11 is a further schematic diagram of excluding resources in a selection window according to an embodiment of the present application.

Fig. 12 is a schematic diagram of a partition manner of a resource pool according to an embodiment of the present application.

Fig. 13 is a schematic block diagram of a terminal device according to an embodiment of the present application.

Fig. 14 is a schematic block diagram of a communication device according to an embodiment of the present application.

Fig. 15 is a schematic block diagram of a chip provided in an embodiment of the present application.

Fig. 16 is a schematic diagram of a communication system provided in an embodiment of the present application.

Detailed Description

Technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The technical scheme of the embodiment of the application can be applied to various communication systems, for example: a Global System for Mobile communications (GSM) System, a Code Division Multiple Access (CDMA) System, a Wideband Code Division Multiple Access (WCDMA) System, a General Packet Radio Service (GPRS), a Long Term Evolution (Long Term Evolution, LTE) System, an LTE Frequency Division Duplex (FDD) System, an LTE Time Division Duplex (TDD), a Universal Mobile Telecommunications System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) communication System, or a 5G System.

Illustratively, a communication system 100 applied in the embodiment of the present application is shown in fig. 1. The communication system 100 may include a network device 110, and the network device 110 may be a device that communicates with a terminal device 120 (or referred to as a communication terminal, a terminal). Network device 110 may provide communication coverage for a particular geographic area and may communicate with terminal devices located within that coverage area. Optionally, the Network device 110 may be a Base Transceiver Station (BTS) in a GSM system or a CDMA system, a Base Station (NodeB, NB) in a WCDMA system, an evolved Node B (eNB or eNodeB) in an LTE system, or a wireless controller in a Cloud Radio Access Network (CRAN), or may be a Network device in a Mobile switching center, a relay Station, an Access point, a vehicle-mounted device, a wearable device, a hub, a switch, a bridge, a router, a Network-side device in a 5G Network, or a Network device in a Public Land Mobile Network (PLMN) for future evolution, or the like.

The communication system 100 further comprises at least one terminal device 120 located within the coverage area of the network device 110. As used herein, "terminal equipment" includes, but is not limited to, connections via wireline, such as Public Switched Telephone Network (PSTN), Digital Subscriber Line (DSL), Digital cable, direct cable connection; and/or another data connection/network; and/or via a Wireless interface, e.g., to a cellular Network, a Wireless Local Area Network (WLAN), a digital television Network such as a DVB-H Network, a satellite Network, an AM-FM broadcast transmitter; and/or means of another terminal device arranged to receive/transmit communication signals; and/or Internet of Things (IoT) devices. A terminal device arranged to communicate over a wireless interface may be referred to as a "wireless communication terminal", "wireless terminal", or "mobile terminal". Examples of mobile terminals include, but are not limited to, satellite or cellular telephones; personal Communications Systems (PCS) terminals that may combine cellular radiotelephones with data processing, facsimile, and data Communications capabilities; PDAs that may include radiotelephones, pagers, internet/intranet access, Web browsers, notepads, calendars, and/or Global Positioning System (GPS) receivers; and conventional laptop and/or palmtop receivers or other electronic devices that include a radiotelephone transceiver. Terminal Equipment may refer to an access terminal, User Equipment (UE), subscriber unit, subscriber station, mobile station, remote terminal, mobile device, User terminal, wireless communication device, User agent, or User Equipment. An access terminal may be a cellular telephone, a cordless telephone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device having Wireless communication capabilities, a computing device or other processing device connected to a Wireless modem, a vehicle mounted device, a wearable device, a terminal device in a 5G network, or a terminal device in a future evolved PLMN, etc.

Optionally, a Device to Device (D2D) communication may be performed between the terminal devices 120.

Alternatively, the 5G system or the 5G network may also be referred to as a New Radio (NR) system or an NR network.

Fig. 1 exemplarily shows one network device and two terminal devices, and optionally, the communication system 100 may include a plurality of network devices and may include other numbers of terminal devices within the coverage of each network device, which is not limited in this embodiment of the present application.

Optionally, the communication system 100 may further include other network entities such as a network controller, a mobility management entity, and the like, which is not limited in this embodiment.

It should be understood that a device having a communication function in a network/system in the embodiments of the present application may be referred to as a communication device. Taking the communication system 100 shown in fig. 1 as an example, the communication device may include a network device 110 and a terminal device 120 having a communication function, and the network device 110 and the terminal device 120 may be the specific devices described above and are not described herein again; the communication device may also include other devices in the communication system 100, such as other network entities, for example, a network controller, a mobility management entity, and the like, which is not limited in this embodiment.

It should be understood that the terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The car networking system is based on a Sidelink (SL) transmission technology of D2D, and unlike the traditional LTE system in which communication data is received or sent through a base station, the car networking system adopts a terminal-to-terminal direct communication mode, so that the car networking system has higher spectral efficiency and lower transmission delay.

V2X is standardized in release 14 of 3GPP (Rel-14), defining two transmission modes: mode 3 and mode 4. Fig. 2 shows schematic diagrams of two transmission modes in the car networking system according to the embodiment of the application.

As shown in fig. 2, the left pattern 3 represents: the transmission resource of the vehicle-mounted terminal is allocated by the base station through a Downlink (DL), and the vehicle-mounted terminal transmits data on the SL according to the resource allocated by the base station; the base station can allocate single-transmission resources to the vehicle-mounted terminal, and can also allocate semi-static transmission resources to the vehicle-mounted terminal.

As shown in fig. 2, pattern 4 on the right side represents: the vehicle-mounted terminal transmits the SL by adopting a transmission mode of interception (sending) and reservation (reservation). The vehicle-mounted terminal acquires an available transmission resource set in the resource pool in an intercepting mode, and randomly selects one resource from the set to transmit data. Because the service in the car networking system has a periodic characteristic, the vehicle-mounted terminal usually adopts a semi-static transmission mode, that is, after the vehicle-mounted terminal selects one transmission resource, the resource can be continuously used in a plurality of transmission cycles, so that the probability of resource reselection and resource conflict is reduced. The vehicle-mounted terminal can carry the information of the reserved secondary transmission resource in the control information transmitted this time, so that other vehicle-mounted terminals can judge whether the resource is reserved and used by the user by detecting the control information of the user, and the aim of reducing resource conflict is fulfilled.

For the method in which the terminal autonomously selects the transmission resource (for example, the mode 4 in the LTE-V2X), the terminal selects the transmission resource from the candidate resource set by listening. The process of interception and resource selection will be briefly described below with reference to fig. 3.

Fig. 3 shows a schematic diagram of interception and resource selection, and for each sidelink process (sidelink process), as shown in fig. 3, assuming that a new data packet arrives at time n, resource selection is required for data transmission. The terminal may first determine that the range of the resource selection window is [ n + T1, n + T2], and the terminal performs listening within the listening window [ n-1000, n-1], so as to perform resource selection within the selection window according to the listening result within the listening window. It is assumed here that T1 ≦ 4; t2 is more than or equal to 20 and less than or equal to 100.

The process of selecting resources by the terminal in the selection window may refer to the operation steps in 3GPP TS36.213, and only a few main resource selection steps are taken as examples for description here. Assuming that the terminal uses all available resources in the selection window as a set a, the terminal may perform several exclusion operations on the resources in the set a as follows.

1. If the terminal has no listening result in some subframes in the listening window, for example, if the terminal sends data in a certain subframe, the terminal has no listening result in the subframe, for example, a white dotted block in the listening window in fig. 3 may be a subframe without a listening result, and after K periods (for example, after one period in fig. 3) for these subframes, resources on the corresponding subframe in the selection window need to be excluded, that is, black blocks in the selection window in fig. 3 are excluded.

2. If a terminal detects a Physical Sidelink Control Channel (PSCCH), for example, a black square in the listening window in fig. 3, and the PSSCH-Reference Signal Received Power (RSRP) of its scheduled psch (i.e., a white dashed square in the selection window in fig. 3) is higher than a threshold, and the next transmission resource reserved by the PSCCH conflicts with a resource of data to be transmitted by the terminal, the resource is excluded in set a, i.e., the white dashed square in the selection window in fig. 3.

3. If the number of the remaining resources in the set a is less than 20% of the total number of resources in the selection window, the terminal raises the PSSCH-RSRP threshold, for example, by 3dB, and repeats the above steps 1 and 2 until the number of the remaining resources in the set a is greater than or equal to 20% of the total number of resources in the selection window.

4. The terminal detects the Signal Strength Indication (S-RSSI) of the Sidelink Received Signal Strength Indication for the remaining resources in the set a, sorts the resources according to energy level, and puts the 20% resource (20% of the total resource) with the lowest energy among the resources that are not excluded in the selection window into the set B.

5. The terminal selects a resource from the set B for data transmission, for example, the terminal may select randomly with equal probability.

The above interception and resource selection are performed in a resource pool of the PSCCH or PSCCH, and in LTE-V2X, transmission resources of the PSCCH and transmission resources of the PSCCH are in one-to-one correspondence, so that the transmission resources of the PSCCH are determined, and the transmission resources of the PSCCH corresponding to the transmission resources of the PSCCH are also determined.

In LTE-V2X, the SLSS and PSBCH occupy one subframe, but the subframe for transmitting the SLSS/PSBCH is not included in the resource pool of the PSSCH. As shown in fig. 4, each small rectangular box represents one subframe in the time domain, wherein SLSS/PSBCH occupies 6 Physical Resource Blocks (PRBs) and one subframe is not included in the Resource pool of PSCCH/PSCCH. In addition, in the SLSS/PSBCH subframe, the SLSS/PSBCH occupies bandwidth middle frequency domain resources, and the resources on two sides are free and are not used for transmitting side row data.

In NR-V2X, autonomous driving needs to be supported, and thus higher requirements are placed on data interaction between vehicles, such as higher throughput, lower latency, higher reliability, greater coverage, more flexible resource allocation, and the like.

In the NR-V2X system, a plurality of transmission modes are introduced, for example, mode 1 and mode 2, where mode 1 is that the network allocates transmission resources for the terminal (similar to mode 3 in LTE-V2X), and mode 2 is that the terminal selects the transmission resources. In mode 2, the support terminal acquires available transmission resources by listening.

In NR-V2X, the Synchronization Signal and PSBCH together form a side-line Synchronization Signal Block (S-SSB). Specifically, FIG. 5 shows a schematic diagram of an S-SSB, and as shown in FIG. 5, for an S-SSB, a lateral Primary Synchronization Signal (S-PSS), a lateral Secondary Synchronization Signal (S-SSS), and a PSBCH may be included. In the time domain, one S-SSB occupies 4 adjacent OFDM symbols, while the frequency domain occupies 20 PRBs. Thus, one S-SSB may occupy only a portion of one subframe or slot (slot).

In the NR-V2X system, the bandwidth of the system can be supported to hundreds of megahertz (MHz), which would cause waste of resources if the same manner as LTE-V2X is adopted, i.e. the sub-frames (or time slots, or time domain symbols) for SLSS transmission are not included in the resource pool of the psch, because SLSS transmission is usually narrow. For example, if one carrier of NR-V2X includes a 100MHz bandwidth with 20MHz being used for transmitting SLSS, if the sub-frame of SLSS is excluded from the PSSCH resource pool, the remaining 80MHz in the SLSS sub-frame cannot be used for transmitting the PSSCH, resulting in wasted resources. If the resource pool of the PSSCH includes the time domain resource of the SLSS, how to perform the interception and resource selection is an urgent problem to be solved at present.

Therefore, the embodiment of the present application provides a method 200 for transmitting a sidelink channel, which can select resources for transmitting the sidelink channel in a resource pool and avoid resource waste.

Fig. 6 is a schematic flow chart of a method 200 for transmitting a sidelink channel according to an embodiment of the present disclosure. The method 200 may be performed by a terminal device, which is referred to as a first terminal device herein, and the first terminal device may refer to any terminal device supporting sideline data transmission, for example, the terminal device may be any terminal device shown in fig. 1, and may also be any terminal device shown in fig. 2. As shown in fig. 6, the method 200 includes: s210, after excluding at least one candidate resource in a first resource set, a first terminal device obtains a second resource set, wherein the first resource set comprises a plurality of candidate resources, and each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel; s220, the first terminal equipment determines a target resource in the second resource set; s230, the first terminal device transmits the first sidelink channel by using the target resource.

In this embodiment, the sending side row channel may refer to sending data carried by the side row channel, and similarly, the receiving side row channel in this embodiment may refer to receiving data carried by the side row channel. For example, taking the first terminal device sending the first sidelink as an example, it may refer to the first terminal device sending data carried by the first sidelink to other terminal devices.

It should be understood that prior to S210, the method 200 further includes: the first terminal device determines the first resource set, specifically, fig. 7 shows a schematic diagram of the listening window and the selection window according to the embodiment of the present application, as shown in fig. 7, where it is assumed that the first terminal device has a new data packet arriving at time n and needs to perform resource selection for sidelink channel transmission. The first terminal device may determine the time domain range of the first set of resources as a time slot (or sub-frame) [ n + T1, n + T2], i.e., the range of the resource selection window [ n + T1, n + T2] in fig. 7, where T1 and T2 are both integers greater than 0.

Specifically, the value of T1 and/or T2 may be selected autonomously by the terminal device, that is, the method 200 may further include: and the first terminal equipment determines the size of the first resource set according to the service attribute of the data carried by the first sidelink channel. The service attribute of the data carried by the first sidelink channel may include at least one of the following attributes: priority, reliability, latency, transmission rate, QoS Class Identifier (QCI), QoS Flow Identifier (QFI), and PC5 interface QoS Index (PC5 QoS Index, PQI). For example, the first terminal device may select T2 according to an attribute or a requirement of a service of data carried by the sidelink channel, for example, select T2 according to a delay requirement of the service, where T2 is less than or equal to the delay requirement of the service, for example, the T2 in fig. 7 is 100 slots.

The method 200 further comprises: the terminal device determines a plurality of candidate resources in the first resource set, wherein each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel, and the first sidelink channel is any sidelink channel transmitted between the first terminal device and other terminal devices. Specifically, for the first set of resources shown in fig. 7, i.e. the selection window in fig. 7, the first terminal device may use all transmission resources within the resource selection window as available candidate resources. The first terminal device may partition a plurality of candidate resources in the first resource set according to a size of resources occupied by the first sidelink channel, where each candidate resource may be used for transmitting the first sidelink channel. For example, the sidelink data corresponding to the sidelink channel to be transmitted needs to occupy 1 slot and 10 PRBs, and each candidate resource is a transmission resource block occupying 1 slot and 10 PRBs.

In S210, after excluding at least one candidate resource from the first resource set, the first terminal device obtains a second resource set, that is, the second resource set is a subset of the first resource set. Specifically, the first terminal device may exclude at least one candidate resource from the first set of resources in one or more ways, where the at least one candidate resource may include a resource overlapping with other resources.

For example, the at least one candidate resource may include a resource overlapping with a resource occupied by the S-SSB, for example, if a black square in the selection window shown in fig. 7 represents a resource occupied by the S-SSB, the at least one candidate resource may include a candidate resource partially overlapping with the black square; in addition, the at least one candidate resource may further include a resource overlapping with a resource occupied by the psch or PSCCH of another terminal device, for example, as shown in fig. 7, the UE1 and UE2 except the first terminal device respectively correspond to a reserved resource in the selection window, that is, a white dotted square part in the selection window in fig. 7, then the at least one candidate resource may include a candidate resource overlapping with the white dotted square part.

Examples of at least one candidate resource excluded from the first set of resources according to embodiments of the present application will be described in detail below with reference to several specific embodiments.

Optionally, as a first embodiment, the at least one candidate resource may include a first candidate resource, where the first candidate resource overlaps with the resource occupied by the S-SSB, there may be one or more resources overlapping with the resource occupied by the S-SSB, and the first candidate resource may refer to any one or more resources overlapping with the resource occupied by the S-SSB. Specifically, if there is any one or more candidate transmission resources overlapping with the transmission resources of the S-SSB in the first set of resources, i.e., within the resource selection window shown in fig. 7, the candidate transmission resources are excluded from the set of resources, i.e., the first candidate resource is excluded from the first set of resources.

The S-SSB in the embodiment of the application can comprise S-PSS, S-SSS and PSBCH. For example, the S-SSB can be the S-SSB shown in FIG. 5, and for brevity, will not be described again.

It should be understood that the overlapping of the first candidate resource and the resource occupied by the S-SSB in the embodiment of the present application may refer to a complete overlapping or a partial overlapping, and the overlapping may include a time domain overlapping and/or a frequency domain overlapping. Specifically, the first candidate resource is overlapped with the resource occupied by the S-SSB. Fig. 8 is a schematic diagram illustrating resource overlapping according to an embodiment of the present application, where solid boxes in (a) and (b) in fig. 8 represent a first resource set.

As shown in the left diagram (a) of fig. 8, it is assumed that the diagonal square represents resources occupied by S-SSB, and the candidate resource 1 in the first resource set partially overlaps with the resources occupied by S-SSB in the frequency domain, and completely overlaps in the time domain, then the first terminal device may determine that the candidate resource 1 overlaps with the resources occupied by S-SSB, and then exclude the candidate resource 1 in the first resource set, that is, the first candidate resource includes the candidate resource 1.

Similarly, as shown in the right (b) diagram of fig. 8, still assuming that the diagonal square represents the resources occupied by the S-SSB, and the candidate resource 2 in the first resource set partially overlaps with the resources occupied by the S-SSB in the frequency domain and also partially overlaps with the resources occupied by the S-SSB in the time domain (for example, the candidate resource 2 occupies one time slot and the S-SSB occupies 4 time domain symbols), the first terminal device may determine that the candidate resource 2 overlaps with the resources occupied by the S-SSB, and then exclude the candidate resource 2 from the first resource set, that is, the first candidate resource includes the candidate resource 2.

In the first embodiment, the resources occupied by the S-SSB are located in the first resource set, resulting in overlapping with the candidate resources in the first resource set, thereby excluding the overlapping first candidate resources. Correspondingly, for the case of periodic transmission of the S-SSB, it is also necessary to exclude the case of resource overlapping that may occur after a plurality of periods.

Optionally, as a second embodiment, for a case that the first sidelink channel and the S-SSB are transmitted periodically, the at least one candidate resource may further include a second candidate resource, and the second candidate resource overlaps with a resource occupied by the S-SSB at least once in N transmission periods, where N is a positive integer. Similar to the first candidate resource, the second candidate resource may also be one or more resources, and for brevity, the description is omitted here.

Specifically, if the S-SSB is transmitted periodically and the data service carried by the first sidelink channel to be transmitted is also transmitted periodically, when the terminal selects the transmission resource in the resource selection window, the transmission resource is reserved for the periodic service transmission. For example, for a second candidate resource in the first resource set, that is, the second candidate resource may be any one candidate resource in the resource selection window, assuming that the second candidate resource is used to transmit periodic traffic carried by the first sidelink channel, the terminal device may continuously use the resource corresponding to the second candidate resource in the following N periods according to the period of the traffic, and in the N periods, if there is at least one overlap with the transmission resource of the S-SSB, the terminal device excludes the second candidate transmission resource from the first resource set.

For example, FIG. 9 shows a schematic diagram of a periodically transmitted S-SSB and sidelink channels. As shown in fig. 9, assuming that the range of the first resource set is time slot [ N +1, N +100], that is, the range of the resource selection window is time slot [ N +1, N +100], for the second candidate resource, assuming that the resource at the time N + k is the second candidate resource, that is, the white dotted square in the selection window, if the first terminal device selects the second candidate resource for sidelink data transmission, and the pending data traffic of the terminal device is periodic traffic, the traffic period is 100ms, the first terminal device will use the transmission resource for transmission at the time N + k + m +100 of the next N periods, where m is 1,2, …, N. If there is an overlap of at least one resource with the transmission resource of the S-SSB in the N periods, e.g. at time N + k +100 in the figure, the first terminal device excludes the second candidate resource from the first set of resources.

It should be understood that the value N is a positive integer, which may be determined for the first terminal device. For example, the value N may be a preset value; or, the value N may be determined by the first terminal device in a preset set, where the preset set is a value range, and the first terminal device selects a value in the value range as the value N; or, the value N may also be determined by the first terminal device according to configuration information sent by the network, for example, the network device configures a parameter range, and the first terminal device selects a value from the parameter range as the value N; alternatively, the value N may be randomly selected by the first terminal device.

Therefore, for the resource selection of the periodic service, the resources which conflict with the S-SSB in the current or future N periods are eliminated in the resource selection window, and the conflict between the transmission resources of the PSSCH and the transmission resources of the S-SSB is avoided; the method is suitable for the resource selection of the periodic service.

Optionally, as a third embodiment, the at least one candidate resource further includes a third candidate resource, and the third candidate resource overlaps with a first transmission resource, where the first transmission resource is a resource reserved by the second terminal device for transmitting a second Sidelink Channel, and optionally, the second Sidelink transmission Channel may be a PSCCH, a psch, or a Physical Sidelink Feedback Channel (PSFCH). Specifically, if the first terminal detects that the second terminal device reserves the first transmission resource in the resource selection window (i.e., the first resource set) within the listening window, the first terminal device excludes the candidate resource overlapping with the first transmission resource of the second terminal device from the first resource set, where the second terminal device refers to any terminal device except the first terminal device.

In this embodiment, the first terminal device may determine the reserved resource of the second terminal device in various ways. For example, the first terminal device may determine the reserved resource of the second terminal device, that is, the first transmission resource of the second terminal device, by detecting Sidelink Control Information (SCI) of the second terminal device in the listening window.

Specifically, the method 200 may further include: the first terminal device receives an SCI of the second terminal device, where the SCI is carried in a PSCCH channel, and the SCI includes first indication information, and the first indication information is used to indicate that the second terminal device reserves the first transmission resource. For example, as shown in FIG. 10, the listening window determined by the first terminal device ranges from [ n-1, n-1000 ]. If the first terminal device detects an SCI of the second terminal device within the listening window, where the SCI includes first indication information indicating that a first transmission resource (i.e., a white dotted square within the selection window in fig. 10) within the selection window (i.e., the first resource set) is reserved for transmitting the PSSCH of the second terminal device, the first terminal device may exclude a third candidate resource in the first resource set, where the third candidate resource is a resource overlapping with the first transmission resource of the second terminal device.

Alternatively, the first terminal device may further detect a PSCCH-RSRP of the PSCCH carrying the SCI and compare the PSCCH-RSRP with a first threshold, and if the PSCCH-RSRP is greater than or equal to the first threshold, the first terminal device excludes a third candidate resource overlapping the first transmission resource from the first set of resources.

Optionally, the SCI may further include second indication information indicating a second transmission resource for transmitting a third side row channel of a second terminal device, where the second transmission resource is not located in the first set of resources but precedes the first set of resources in a time domain.

As shown in fig. 11, it is also assumed that the listening window determined by the first terminal device ranges from time slot n-1, n-1000. If the first terminal device detects the SCI of the second terminal device within the listening window, the SCI includes first indication information and second indication information, where the second indication information indicates that the second transmission resource transmits the pscch of the second terminal device, i.e. the white square within the listening window in fig. 11; and the first indication information indicates that a first transmission resource (i.e., a white dotted square in the selection window in fig. 10) in the selection window (i.e., the first resource set) is reserved, wherein the first transmission resource can be used for transmitting retransmission data of the PSSCH of the second terminal device, or the first transmission resource can be used for transmitting the PSSCH of the next cycle of the periodic service, the first terminal device may exclude a third candidate resource in the first resource set, which is a resource overlapping with the first transmission resource reserved by the second terminal device.

Alternatively, the first terminal device may also detect a psch-RSRP of the psch on the second transmission resource and compare it to a second threshold, and exclude a third candidate resource overlapping the first transmission resource within the first set of resources if the psch-RSRP is greater than or equal to the second threshold. In addition, the first terminal device may further detect a PSCCH-RSRP of the PSCCH carrying the SCI and compare the PSCCH-RSRP with a first threshold, and if the PSCCH-RSRP is greater than or equal to the first threshold, the first terminal device excludes a third candidate resource overlapping with the first transmission resource in the first resource set.

It should be appreciated that the first threshold and/or the second threshold described above may be determined in a variety of ways. For example, the first threshold and/or the second threshold may be preconfigured. Also for example, the first threshold and/or the second threshold may be network device configured. For another example, the first threshold and/or the second threshold may also be determined by the first terminal device according to related parameters, and the embodiment of the present application is not limited thereto.

In particular, the first threshold and/or the second threshold may be determined by the first terminal device according to at least one of the following methods: the first terminal device determines the first threshold and/or the second threshold according to the priority of the data carried by the first sideline channel and/or the priority carried by the sideline control information; the first terminal device determines the first threshold value and/or the second threshold value according to a Channel Busy Ratio (CBR). The priority may also be replaced by other parameters, such as: reliability, delay, transmission rate, Quality of Service (QoS) parameter, QCI, QFI, PQI, etc., but the embodiments of the present application are not limited thereto.

Therefore, the resources overlapped with the resources reserved by other terminals are excluded in the resource selection window, the conflict with the transmission resources of other terminals is avoided, and the method can be suitable for the resource selection of periodic services or aperiodic services.

The first terminal device, through all or some of the three embodiments, obtains a second resource set after excluding at least one candidate resource set from the first resource set; in S220, the first terminal device determines a target resource in the second resource set, so that in S230, the first terminal device transmits the first sidelink channel by using the target resource. In particular, the first terminal device may employ various methods to determine the target resource in the second set of resources. For example, the first terminal device determines the target resource randomly with equal probability in the second resource set, but the embodiment of the present application is not limited thereto.

Therefore, in the method for transmitting the sidelink channel according to the embodiment of the present application, by excluding a part of candidate resources from a resource set including a plurality of candidate resources, resource overlapping and resource waste can be avoided. For example, excluding resources overlapping with S-SSB avoids collision of PSSCH transmission resources and S-SSB transmission resources; the resources overlapped with the resources reserved by other terminals are eliminated in the resource selection window, so that the conflict with the transmission resources of other terminals is avoided; and resources having resource conflict with the S-SSB in the current or future N periods are excluded from the resource selection window, so that the conflict between the transmission resources of the PSSCH and the transmission resources of the S-SSB is avoided, and the method is suitable for the resource selection of the periodic service.

The embodiment of the present application further provides another way for transmitting a sidelink channel, and when the terminal device divides the resource pool including the candidate resource, the terminal device may consider dividing the resource pool into a resource pool including a transmission resource occupied by the S-SSB (i.e., a transmission resource of the S-SSB) and a resource pool not including the transmission resource of the S-SSB, so that the terminal device may select a target resource from the resource pool not including the transmission resource of the S-SSB, and transmit the sidelink channel using the target resource.

Specifically, for the candidate resource pool allocated by the network device, the candidate resources included in the candidate resource pool may be used for the terminal device to select the target resource for the transmission sidelink channel, for example, fig. 12 shows a schematic diagram of a dividing method of multiple resource pools, as shown in fig. 12, all the resources in fig. 12 may be the candidate resources in the candidate resource pool configured by the network device.

The terminal device may divide the candidate resource pool into a first resource pool and a second resource pool according to the position of the transmission resource of the S-SSB in the candidate resource pool, where the first resource pool does not include the transmission resource occupied by the S-SSB, and the second resource pool includes the transmission resource occupied by the S-SSB. Here, the first resource pool is taken as a first psch resource pool, and the second resource pool is taken as a second psch resource pool.

Or the candidate resource pool configured by the network device for the terminal device includes the two resource pools, wherein the first PSSCH resource pool does not include S-SSB resources, and the second PSSCH resource pool includes S-SSB resources.

Specifically, the method for dividing the first psch resource pool and the second psch resource pool included in the candidate resource pool may be as shown in fig. 12.

The first PSSCH resource pool does not comprise S-SSB transmission resources, so that the influence of the S-SSB transmission resources does not need to be considered in the resource interception and resource selection processes; however, the second pscch resource pool includes transmission resources of the S-SSB, so that avoiding collision with the transmission resources of the S-SSB needs to be considered in the process of selecting resources, and a specific way of avoiding collision may refer to the above embodiments, for example, one or more of the first to third embodiments, and details are not described herein for brevity.

Optionally, in addition to the exclusion manner in each of the above embodiments, the subframe (or timeslot) where the S-SSB is located may be directly excluded from the second pscch resource pool, that is, the second pscch resource pool does not include the subframe or timeslot where the S-SSB is located, so that the configured pscch resource pool and the transmission resource of the S-SSB do not overlap, and therefore, the transmission resource of the S-SSB does not need to be considered in the resource sensing and selecting process.

Therefore, by dividing different PSSCH resource pools, the influence of S-SSB transmission resources on resource selection is limited in a specific resource pool, and for the resource pool without S-SSB transmission resources, the terminal equipment does not need to consider the influence of the S-SSB transmission resources.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The method for transmitting the sidelink channel according to the embodiment of the present application is described in detail above with reference to fig. 1 to 12, and the terminal device according to the embodiment of the present application will be described below with reference to fig. 13 to 16.

As shown in fig. 13, a terminal device 300 according to an embodiment of the present application includes: a processing unit 310 and a transceiving unit 320. Specifically, the processing unit 310 is configured to: after excluding at least one candidate resource in a first resource set, obtaining a second resource set, wherein the first resource set comprises a plurality of candidate resources, and each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel; and, in the second set of resources, determining a target resource; the transceiving unit 320 is configured to: and transmitting the first sidelink channel by adopting the target resource.

Optionally, as an embodiment, the at least one candidate resource includes a first candidate resource, and the first candidate resource overlaps with a resource occupied by the S-SSB.

Optionally, as an embodiment, the first sidelink channel and the S-SSB are transmitted periodically, the at least one candidate resource includes a second candidate resource, the second candidate resource overlaps with a resource occupied by the S-SSB at least once in N transmission periods, and N is a positive integer.

Optionally, as an embodiment, the processing unit 310 is further configured to: determining a value N in a preset set; or, the value N is determined according to configuration information sent by the network.

Optionally, as an embodiment, the S-SSB includes a side row primary synchronization signal, a side row secondary synchronization signal, and a physical side row broadcast channel.

Optionally, as an embodiment, the at least one candidate resource includes a third candidate resource, and the third candidate resource overlaps with a first transmission resource, where the first transmission resource is a resource reserved by the second terminal device for transmitting the second sidelink channel.

Optionally, as an embodiment, the transceiver unit 320 is further configured to: and receiving side-row control information of the second terminal device, where the side-row control information includes first indication information, and the first indication information is used to indicate that the second terminal device reserves the first transmission resource.

Optionally, as an embodiment, the reference signal received power of the physical sidelink control channel carrying the sidelink control information is greater than or equal to a first threshold.

Optionally, as an embodiment, the side row control information includes second indication information indicating a resource for transmitting a third side row channel, and a reference signal received power of the third side row channel is greater than or equal to a second threshold.

Optionally, as an embodiment, the first threshold and/or the second threshold are preconfigured; or, the first threshold and/or the second threshold are configured by the network device; alternatively, the first threshold and/or the second threshold are determined by the processing unit 310 according to at least one of the following methods: determining the first threshold and/or the second threshold according to the priority of the data carried by the first sideline channel and/or the priority carried by the sideline control information; and determining the first threshold value and/or the second threshold value according to the channel occupancy rate CBR.

Optionally, as an embodiment, the overlapping includes overlapping of time domain resources and frequency domain resources.

Optionally, as an embodiment, the processing unit 310 is further configured to: and determining the size of the first resource set according to the service attribute of the data carried by the first sidelink channel.

Optionally, as an embodiment, the service attribute of the data carried by the first sidelink channel includes at least one of the following attributes: priority, reliability, latency, transmission rate, QCI, QFI, and PQI.

Optionally, as an embodiment, the processing unit 310 is further configured to: in the second set of resources, the target resource is randomly determined.

It should be understood that the terminal device 300 according to the embodiment of the present application may correspond to performing the method 200 in the embodiment of the present application, and the above and other operations and/or functions of each unit in the terminal device 300 are respectively for implementing corresponding flows of the terminal device in each method in fig. 1 to fig. 12, and are not described herein again for brevity.

Therefore, the terminal device according to the embodiment of the present application may exclude a part of candidate resources from a resource set including a plurality of candidate resources, thereby avoiding resource overlapping and resource waste. For example, excluding resources overlapping with S-SSB avoids collision of PSSCH transmission resources and S-SSB transmission resources; the resources overlapped with the resources reserved by other terminals are eliminated in the resource selection window, so that the conflict with the transmission resources of other terminals is avoided; and resources having resource conflict with the S-SSB in the current or future N periods are excluded from the resource selection window, so that the conflict between the transmission resources of the PSSCH and the transmission resources of the S-SSB is avoided, and the method is suitable for the resource selection of the periodic service.

Fig. 14 is a schematic structural diagram of a communication device 400 according to an embodiment of the present application. The communication device 400 shown in fig. 14 includes a processor 410, and the processor 410 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, as shown in fig. 14, the communication device 400 may further include a memory 420. From the memory 420, the processor 410 can call and run a computer program to implement the method in the embodiment of the present application.

The memory 420 may be a separate device from the processor 410, or may be integrated into the processor 410.

Optionally, as shown in fig. 14, the communication device 400 may further include a transceiver 430, and the processor 410 may control the transceiver 430 to communicate with other devices, and specifically, may transmit information or data to the other devices or receive information or data transmitted by the other devices.

The transceiver 430 may include a transmitter and a receiver, among others. The transceiver 430 may further include antennas, and the number of antennas may be one or more.

Optionally, the communication device 400 may specifically be a network device in the embodiment of the present application, and the communication device 400 may implement a corresponding process implemented by the network device in each method in the embodiment of the present application, which is not described herein again for brevity.

Optionally, the communication device 400 may specifically be a mobile terminal/terminal device in the embodiment of the present application, and the communication device 400 may implement a corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, and for brevity, details are not described here again.

Fig. 15 is a schematic structural diagram of a chip of an embodiment of the present application. The chip 500 shown in fig. 15 includes a processor 510, and the processor 510 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, as shown in fig. 15, the chip 500 may further include a memory 520. From the memory 520, the processor 510 can call and run a computer program to implement the method in the embodiment of the present application.

The memory 520 may be a separate device from the processor 510, or may be integrated into the processor 510.

Optionally, the chip 500 may further comprise an input interface 530. The processor 510 may control the input interface 530 to communicate with other devices or chips, and in particular, may obtain information or data transmitted by other devices or chips.

Optionally, the chip 500 may further include an output interface 540. The processor 510 may control the output interface 540 to communicate with other devices or chips, and in particular, may output information or data to the other devices or chips.

Optionally, the chip may be applied to the network device in the embodiment of the present application, and the chip may implement the corresponding process implemented by the network device in each method in the embodiment of the present application, and for brevity, details are not described here again.

Optionally, the chip may be applied to the mobile terminal/terminal device in the embodiment of the present application, and the chip may implement the corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, and for brevity, no further description is given here.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip or a system-on-chip, etc.

Fig. 16 is a schematic block diagram of a communication system 600 according to an embodiment of the present application. As shown in fig. 16, the communication system 600 includes a terminal device 610 and a network device 620.

The terminal device 610 may be configured to implement the corresponding function implemented by the terminal device in the foregoing method, and the network device 620 may be configured to implement the corresponding function implemented by the network device in the foregoing method, for brevity, which is not described herein again.

It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

It should be understood that the above memories are exemplary but not limiting illustrations, for example, the memories in the embodiments of the present application may also be Static Random Access Memory (SRAM), dynamic random access memory (dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhanced SDRAM, ESDRAM), Synchronous Link DRAM (SLDRAM), Direct Rambus RAM (DR RAM), and the like. That is, the memory in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.

The embodiment of the application also provides a computer readable storage medium for storing the computer program.

Optionally, the computer-readable storage medium may be applied to the network device in the embodiment of the present application, and the computer program enables the computer to execute the corresponding process implemented by the network device in each method in the embodiment of the present application, which is not described herein again for brevity.

Optionally, the computer-readable storage medium may be applied to the mobile terminal/terminal device in the embodiment of the present application, and the computer program enables the computer to execute the corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, which is not described herein again for brevity.

Embodiments of the present application also provide a computer program product comprising computer program instructions.

Optionally, the computer program product may be applied to the network device in the embodiment of the present application, and the computer program instructions enable the computer to execute corresponding processes implemented by the network device in the methods in the embodiment of the present application, which are not described herein again for brevity.

Optionally, the computer program product may be applied to the mobile terminal/terminal device in the embodiment of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the mobile terminal/terminal device in the methods in the embodiment of the present application, which are not described herein again for brevity.

The embodiment of the application also provides a computer program.

Optionally, the computer program may be applied to the network device in the embodiment of the present application, and when the computer program runs on a computer, the computer is enabled to execute the corresponding process implemented by the network device in each method in the embodiment of the present application, and for brevity, details are not described here again.

Optionally, the computer program may be applied to the mobile terminal/terminal device in the embodiment of the present application, and when the computer program runs on a computer, the computer is enabled to execute the corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, which is not described herein again for brevity.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With regard to such understanding, the technical solutions of the present application may be essentially implemented or contributed to by the prior art, or may be implemented in a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (33)

1. A method for transmitting a sidelink, comprising:

   the method comprises the steps that after a first terminal device excludes at least one candidate resource in a first resource set, a second resource set is obtained, wherein the first resource set comprises a plurality of candidate resources, and each candidate resource in the plurality of candidate resources can be used for sending a first sidelink channel;

   the first terminal equipment determines a target resource in the second resource set;

   and the first terminal equipment adopts the target resource to send the first sideline channel.
2. The method of claim 1, wherein the at least one candidate resource comprises a first candidate resource that overlaps with a resource occupied by a sidelink synchronization signal block (S-SSB).
3. The method of claim 1 or 2, wherein the first sidelink channel and S-SSB are periodic transmissions,

   the at least one candidate resource includes a second candidate resource, the second candidate resource overlaps with a resource occupied by the S-SSB at least once in N transmission periods, and N is a positive integer.
4. The method of claim 3, further comprising:

   the first terminal equipment determines a value N in a preset set; alternatively, the first and second electrodes may be,

   and the first terminal equipment determines the value N according to configuration information sent by a network.
5. The method of any of claims 2 to 4, wherein the S-SSB comprises a sideline primary synchronization signal, a sideline secondary synchronization signal, and a physical sideline broadcast channel.
6. The method according to any of claims 1 to 5, wherein the at least one candidate resource comprises a third candidate resource, which overlaps with a first transmission resource, wherein the first transmission resource is a resource reserved by a second terminal device for transmitting a second sidelink channel.
7. The method of claim 6, further comprising:

   and the first terminal equipment receives the side-row control information of the second terminal equipment, wherein the side-row control information comprises first indication information, and the first indication information is used for indicating the second terminal equipment to reserve the first transmission resource.
8. The method of claim 7, wherein a reference signal received power of a physical sidelink control channel carrying the sidelink control information is greater than or equal to a first threshold.
9. The method according to claim 7 or 8, wherein the side row control information comprises second indication information indicating a resource for transmitting a third side row channel, and a reference signal received power of the third side row channel is greater than or equal to a second threshold.
10. The method according to claim 9, characterized in that the first threshold value and/or the second threshold value is preconfigured; or

    The first threshold and/or the second threshold are configured by a network device; or

    The first threshold and/or the second threshold are/is determined by the first terminal device according to at least one of the following methods:

    the first terminal device determines the first threshold and/or the second threshold according to the priority of the data carried by the first sidelink channel and/or the priority carried by the sidelink control information;

    and the first terminal equipment determines the first threshold value and/or the second threshold value according to the channel occupancy rate CBR.
11. The method of any of claims 2 to 10, wherein the overlapping comprises overlapping time domain resources and frequency domain resources.
12. The method according to any one of claims 1 to 11, further comprising:

    and the first terminal equipment determines the size of the first resource set according to the service attribute of the data carried by the first sidelink channel.
13. The method of claim 12, wherein the traffic attribute of the data carried by the first sidelink channel comprises at least one of the following attributes: priority, reliability, latency, transmission rate, QoS class identifier, QCI, QoS flow identifier, QFI, and PC5 interface QoS index, PQI.
14. The method according to any of claims 1 to 13, wherein the first terminal device determines a target resource in the second set of resources, comprising:

    and the first terminal equipment randomly determines the target resource in the second resource set.
15. A terminal device, comprising:

    a processing unit, configured to obtain a second resource set after excluding at least one candidate resource in a first resource set, where the first resource set includes multiple candidate resources, and each candidate resource in the multiple candidate resources can be used to send a first sidelink channel;

    the processing unit is further to: determining a target resource in the second resource set;

    and the transceiving unit is used for sending the first sidelink channel by adopting the target resource.
16. The terminal device of claim 15, wherein the at least one candidate resource comprises a first candidate resource that overlaps with a resource occupied by a sidelink synchronization signal block S-SSB.
17. The terminal device of claim 15 or 16, wherein the first sidelink channel and S-SSB are periodic transmissions,

    the at least one candidate resource includes a second candidate resource, the second candidate resource overlaps with a resource occupied by the S-SSB at least once in N transmission periods, and N is a positive integer.
18. The terminal device of claim 17, wherein the processing unit is further configured to:

    determining a value N in a preset set; alternatively, the first and second electrodes may be,

    and determining the value N according to configuration information sent by the network.
19. The terminal device of any of claims 16-18, wherein the S-SSB comprises a sidelink primary synchronization signal, a sidelink secondary synchronization signal, and a physical sidelink broadcast channel.
20. The terminal device of any of claims 15 to 19, wherein the at least one candidate resource comprises a third candidate resource, the third candidate resource overlapping with a first transmission resource, wherein the first transmission resource is a resource reserved by a second terminal device for transmission of a second sidelink channel.
21. The terminal device according to claim 20, wherein the transceiver unit is further configured to:

    and receiving side row control information of the second terminal device, wherein the side row control information comprises first indication information, and the first indication information is used for indicating the second terminal device to reserve the first transmission resource.
22. The terminal device of claim 21, wherein a reference signal received power of a physical sidelink control channel carrying the sidelink control information is greater than or equal to a first threshold.
23. The terminal device according to claim 21 or 22, wherein the side row control information comprises second indication information indicating a resource for transmitting a third side row channel, and wherein a reference signal received power of the third side row channel is greater than or equal to a second threshold.
24. A terminal device according to claim 23, wherein the first threshold value and/or the second threshold value is preconfigured; or

    The first threshold and/or the second threshold are configured by a network device; or

    The first threshold value and/or the second threshold value is determined by the processing unit according to at least one of the following methods:

    determining the first threshold and/or the second threshold according to the priority of the data carried by the first sideline channel and/or the priority carried by the sideline control information;

    and determining the first threshold value and/or the second threshold value according to the channel occupancy rate CBR.
25. The terminal device according to any of claims 16 to 24, wherein the overlap comprises an overlap of time domain resources and frequency domain resources.
26. The terminal device of any of claims 15 to 25, wherein the processing unit is further configured to:

    and determining the size of the first resource set according to the service attribute of the data carried by the first sideline channel.
27. The terminal device of claim 26, wherein the service attribute of the data carried by the first sidelink channel comprises at least one of the following attributes: priority, reliability, latency, transmission rate, QoS class identifier, QCI, QoS flow identifier, QFI, and PC5 interface QoS index, PQI.
28. The terminal device of any of claims 15 to 27, wherein the processing unit is further configured to:

    randomly determining the target resource in the second set of resources.
29. A terminal device, comprising: a processor and a memory for storing a computer program, the processor being configured to invoke and execute the computer program stored in the memory to perform the method of any of claims 1 to 14.
30. A chip, comprising: a processor for calling and running a computer program from a memory so that a device on which the chip is installed performs the method of any one of claims 1 to 14.
31. A computer-readable storage medium for storing a computer program which causes a computer to perform the method of any one of claims 1 to 14.
32. A computer program product comprising computer program instructions for causing a computer to perform the method of any one of claims 1 to 14.
33. A computer program, characterized in that the computer program causes a computer to perform the method according to any of claims 1 to 14.

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