Sidelink transmission method, and terminal and computer-readable storage medium

A sidelink transmission method, comprising:

• acquiring a time-frequency resource for transmission on a sidelink;
• and
• taking a preset position on the time-frequency resource as a time domain transmission position of sidelink control information, and transmitting the sidelink control information on the sidelink;
• wherein the preset position comprises a first preset position or a second preset position, and taking a preset position on the time-frequency resource as a time domain transmission position of sidelink control information comprises:
• determining that the preset position is the first preset position or the second preset position based on a time when the time-frequency resource is successfully acquired, wherein a start position of the first preset position is earlier than a start position of the second preset position in a time domain,
• wherein determining that the preset position is the first preset position or the second preset position based on a time when the time-frequency resource is successfully acquired comprises:
• based on that the time when the time-frequency resource is successfully acquired is later than a start time of the first preset position, determining that the preset position is the second preset position;
• or based on that the time when the time-frequency resource is successfully acquired is earlier than or is the start time of the first preset position, determining that the preset position is the first preset position,
• wherein based on that the preset position is the second preset position, the method further comprises:
• transmitting sidelink data corresponding to the sidelink control information at a start time of a first symbol or a second symbol after the time-frequency resource is successfully acquired within a time window where the time-frequency resource is acquired.