A resource reservation method, comprising: sending, by a first terminal, a first channel, wherein the first channel is a physical sidelink control channel, PSCCH, and the PSCCH comprises information of a resource selected by the first terminal in a first selection window; receiving, by the first terminal, a second channel from a second terminal, wherein the second channel is a PSCCH and/or a physical sidelink shared channel, PSSCH, and the PSCCH and/or the PSSCH comprise/comprises information of a resource selected by the second terminal in the first selection window; determining, based on the first channel and the second channel, whether the first terminal can use the resource selected by the first terminal in the first selection window; and if the resource selected by the first terminal overlaps with a resource selected by the second terminal, determining, based on that a service priority of the first terminal is higher than that of the second terminal, that the first terminal can use the resource selected by the first terminal in the first selection window for transmitting data or signaling; or determining, based on that the service priority of the first terminal is lower than that of the second terminal, that the first terminal cannot use the resource selected by the first terminal in the first selection window to transmit data or signaling, wherein the service priority is a ProSe Per-Packet Priority, PPPP; the method further comprising: when the first terminal cannot use the resource selected by the first terminal to transmit data or signaling, performing, by the first terminal, resource sensing and resource reselection, characterized in that the step of sending, by the first terminal, the first channel comprises: sending, by the first terminal, the first channel in a last transmission period of a plurality of transmission periods of service data prior to a target moment, wherein the target moment indicates a moment at which service data reaches to the first terminal, or a moment at which a high layer generates the service data. sending, by a first terminal, a first channel, wherein the first channel is a physical sidelink control channel, PSCCH, and the PSCCH comprises information of a resource selected by the first terminal in a first selection window; receiving, by the first terminal, a second channel from a second terminal, wherein the second channel is a PSCCH and/or a physical sidelink shared channel, PSSCH, and the PSCCH and/or the PSSCH comprise/comprises information of a resource selected by the second terminal in the first selection window; determining, based on the first channel and the second channel, whether the first terminal can use the resource selected by the first terminal in the first selection window; and if the resource selected by the first terminal overlaps with a resource selected by the second terminal, determining, based on that a service priority of the first terminal is higher than that of the second terminal, that the first terminal can use the resource selected by the first terminal in the first selection window for transmitting data or signaling; or determining, based on that the service priority of the first terminal is lower than that of the second terminal, that the first terminal cannot use the resource selected by the first terminal in the first selection window to transmit data or signaling, wherein the service priority is a ProSe Per-Packet Priority, PPPP; the method further comprising: when the first terminal cannot use the resource selected by the first terminal to transmit data or signaling, performing, by the first terminal, resource sensing and resource reselection, characterized in that the step of sending, by the first terminal, the first channel comprises: sending, by the first terminal, the first channel in a last transmission period of a plurality of transmission periods of service data prior to a target moment, wherein the target moment indicates a moment at which service data reaches to the first terminal, or a moment at which a high layer generates the service data. when the first terminal cannot use the resource selected by the first terminal to transmit data or signaling, performing, by the first terminal, resource sensing and resource reselection, characterized in that the step of sending, by the first terminal, the first channel comprises: sending, by the first terminal, the first channel in a last transmission period of a plurality of transmission periods of service data prior to a target moment, wherein the target moment indicates a moment at which service data reaches to the first terminal, or a moment at which a high layer generates the service data.