| CPC H04W 72/1263 (2013.01) [H04W 72/40 (2023.01)] | 20 Claims |

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1. A terminal device, comprising:
a processor; and
a memory, configured to store a computer program;
wherein the processor is configured to call and run the computer program stored in the memory to cause the terminal device to:
acquire Configured Grant (CG) configuration information; and
perform a sidelink (SL) transmission based on the CG configuration information;
wherein the CG configuration information comprises information of a plurality of CG resource sets in a CG resource period;
wherein the CG configuration information further comprises at least one of: the CG resource period, a reference time slot, an offset time slot, and time-frequency configuration information of each CG resource in the CG resource sets;
wherein the offset time slot is an offset time slot of a first CG resource configured by the CG configuration information relative to the reference time slot;
wherein a time slot involved in the CG configuration information is a SL time slot or a resource-pool time slot;
wherein the SL time slot is a time slot configured for the SL transmission, and the resource-pool time slot is a time slot of a resource pool associated with the CG configuration information.
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