determining a first time unit set, a time unit in the first time unit set being available for transmitting at least one of sidelink service data, sidelink control information, and sidelink feedback information, the first time unit set comprising a plurality of time units, the plurality of time units being consecutively numbered in a time sequence, and the time unit comprising a symbol or a slot;

determining to-be-sent periodic data, the periodic data comprising at least one of the sidelink service data, the sidelink control information, and the sidelink feedback information;

determining a first time unit from the first time unit set, the first time unit being used to send the periodic data;

determining a second time unit set from the first time unit set based on a first time domain interval and a reservation quantity N, a time unit in the second time unit set being used to send the periodic data, the second time unit set comprising N−1 time units, a time domain interval between a first one of time unit in the second time unit set and the first time unit being the first time domain interval, a time domain interval between any two adjacent time units in the second time unit set is the first time domain interval, and a number of a time unit in the second time unit set being greater than that of the first time unit; and

sending the periodic data in the first time unit and the time unit that is in the second time unit set.