A wireless communication method and device, a chip, and a system are provided. The method includes a terminal device determines multiple uplink channels/signals transmitted in a target time unit, the multiple uplink channels/signals being at least in part overlapped in a time domain; when the multiple uplink channels/signals fulfill a constraint condition, the terminal device multiplexes information borne in the multiple uplink channels/signals into one channel/signal in the target time unit for transmission. The constraint condition includes a first symbol of the earliest uplink channel/signal in the multiple uplink channels/signals is not before an A-th symbol later than the starting time of the target channel/signal or after the last symbol, A being a non-negative integer. By means of the constraint condition, the terminal device can determine whether to multiplex the information borne in the multiple uplink channels/signals into one channel/signal in the target time unit for transmission, and information to be transmitted can be effectively transmitted.