A method for data transmission, comprising: selecting, by a terminal device, a physical uplink shared channel, PUSCH, from at least two PUSCHs serving as selection objects, wherein the at least two PUSCHs at least partially overlap with a physical uplink control channel, PUCCH, to be sent in terms of time; and multiplexing, by the terminal device, first uplink control information, UCI, into the selected PUSCH for transmission, characterized in that, the selecting, by a terminal device, a physical uplink shared channel, PUSCH, from at least two PUSCHs serving as selection objects comprises: combining a mode of selecting a slot based PUSCH from the at least two PUSCHs and a mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs to select the PUSCH, wherein priority of the mode of selecting a slot based PUSCH from the at least two PUSCHs is higher than priority of the mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs, wherein combining the two modes to select the PUSCH comprises: first selecting, from the at least two PUSCHs, at least one slot based PUSCH; and then selecting, from the at least one slot based PUSCH, the PUSCH with the start symbol position not prior to the start symbol position of the PUCCH; and if the number of the selected PUSCH with the start symbol position not prior to the start symbol position of the PUCCH is greater than one, selecting the PUSCH with a smallest carrier number as a finally needed PUSCH for transmission. selecting, by a terminal device, a physical uplink shared channel, PUSCH, from at least two PUSCHs serving as selection objects, wherein the at least two PUSCHs at least partially overlap with a physical uplink control channel, PUCCH, to be sent in terms of time; and multiplexing, by the terminal device, first uplink control information, UCI, into the selected PUSCH for transmission, characterized in that, the selecting, by a terminal device, a physical uplink shared channel, PUSCH, from at least two PUSCHs serving as selection objects comprises: combining a mode of selecting a slot based PUSCH from the at least two PUSCHs and a mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs to select the PUSCH, wherein priority of the mode of selecting a slot based PUSCH from the at least two PUSCHs is higher than priority of the mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs, wherein combining the two modes to select the PUSCH comprises: first selecting, from the at least two PUSCHs, at least one slot based PUSCH; and then selecting, from the at least one slot based PUSCH, the PUSCH with the start symbol position not prior to the start symbol position of the PUCCH; and combining a mode of selecting a slot based PUSCH from the at least two PUSCHs and a mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs to select the PUSCH, wherein priority of the mode of selecting a slot based PUSCH from the at least two PUSCHs is higher than priority of the mode of selecting a PUSCH with a start symbol position not prior to a start symbol position of the PUCCH from the at least two PUSCHs, wherein combining the two modes to select the PUSCH comprises: first selecting, from the at least two PUSCHs, at least one slot based PUSCH; and then selecting, from the at least one slot based PUSCH, the PUSCH with the start symbol position not prior to the start symbol position of the PUCCH; and first selecting, from the at least two PUSCHs, at least one slot based PUSCH; and then selecting, from the at least one slot based PUSCH, the PUSCH with the start symbol position not prior to the start symbol position of the PUCCH; and if the number of the selected PUSCH with the start symbol position not prior to the start symbol position of the PUCCH is greater than one, selecting the PUSCH with a smallest carrier number as a finally needed PUSCH for transmission.