This application may be applied to an internet of vehicles, for example, V2X and LTE-V. A first terminal apparatus determines, a first resource pool. The first terminal apparatus detects control information of a second terminal apparatus, where the control information indicates second service data of the second terminal apparatus, and the control information includes location information of the second terminal apparatus, a first frequency domain resource, and a periodicity of the second service data. The first terminal apparatus determines an unavailable time-frequency resource in the first resource pool based on location information of the first terminal apparatus, the location information of the second terminal apparatus, a first threshold, the first frequency domain resource, and the periodicity of the second service data. The first terminal apparatus selects a first time-frequency resource from available time-frequency resources in the first resource pool to transmit first service data.