A reference signal measurement method, wherein the method comprises: obtaining, by a first terminal device, measurement configuration information; sending, by the first terminal device, the measurement configuration information to a second terminal device, wherein the measurement configuration information is used to indicate the second terminal device to measure, based on the measurement configuration information, a reference signal received by the second terminal device from the first terminal device, to obtain a measurement result of the reference signal; sending, by the first terminal device, the reference signal to the second terminal device; and receiving, by the first terminal device, the measurement result that is of the reference signal and that is sent by the second terminal device; and wherein the method further comprises: sending, by the first terminal device, a sidelink synchronization signal SLSS to a plurality of terminal devices in a group, wherein the plurality of terminal devices in the group comprise the second terminal device; receiving, by the first terminal device, feedback information sent by the second terminal device, wherein the feedback information is used by the first terminal device to determine that the second terminal device has performed a synchronization operation based on the SLSS; and sending, by the first terminal device, indication information to a base station based on the feedback information, wherein the indication information is used to indicate the base station to send the measurement configuration information to the first terminal device. obtaining, by a first terminal device, measurement configuration information; sending, by the first terminal device, the measurement configuration information to a second terminal device, wherein the measurement configuration information is used to indicate the second terminal device to measure, based on the measurement configuration information, a reference signal received by the second terminal device from the first terminal device, to obtain a measurement result of the reference signal; sending, by the first terminal device, the reference signal to the second terminal device; and receiving, by the first terminal device, the measurement result that is of the reference signal and that is sent by the second terminal device; and wherein the method further comprises: sending, by the first terminal device, a sidelink synchronization signal SLSS to a plurality of terminal devices in a group, wherein the plurality of terminal devices in the group comprise the second terminal device; receiving, by the first terminal device, feedback information sent by the second terminal device, wherein the feedback information is used by the first terminal device to determine that the second terminal device has performed a synchronization operation based on the SLSS; and sending, by the first terminal device, indication information to a base station based on the feedback information, wherein the indication information is used to indicate the base station to send the measurement configuration information to the first terminal device. sending, by the first terminal device, a sidelink synchronization signal SLSS to a plurality of terminal devices in a group, wherein the plurality of terminal devices in the group comprise the second terminal device; receiving, by the first terminal device, feedback information sent by the second terminal device, wherein the feedback information is used by the first terminal device to determine that the second terminal device has performed a synchronization operation based on the SLSS; and sending, by the first terminal device, indication information to a base station based on the feedback information, wherein the indication information is used to indicate the base station to send the measurement configuration information to the first terminal device.