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, characterized in that 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: if 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 if 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 when 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. 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, characterized in that 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: if 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 if 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 when 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. 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: if 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 if 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 when 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.