A resource selection apparatus of a first terminal, wherein the apparatus comprises: an information determining module, configured to determine second parameter information of a second terminal reserving a resource, wherein the second parameter information is sent by the second terminal and received by the first terminal, and configuration information; and a threshold determining module, configured to determine a target threshold based on the configuration information, the second parameter information, and first parameter information of the first terminal, wherein the target threshold is used by the first terminal to perform resource selection; wherein the configuration information is configured, preconfigured, or predefined by a network side device; wherein the configuration information includes a threshold T1, a threshold T2, a threshold T3, and a threshold T4; wherein the second parameter information is used to determine at least a terminal type of the second terminal and the first parameter information comprises at least a terminal type of the first terminal, and when the second parameter information is used to determine the terminal type of the second terminal and the first parameter information includes the terminal type of the first terminal, the threshold determining module is configured to: when the terminal type of the first terminal is a vehicle-type user equipment, V-UE, and the terminal type of the second terminal is a V-UE, to select the threshold T1; when the terminal type of the first terminal is a V-UE and the terminal type of the second terminal is a pedestrian-type UE, P-UE, to select the threshold T2; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is V-UE, to select the threshold T3; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is P-UE, to select the threshold T4. an information determining module, configured to determine second parameter information of a second terminal reserving a resource, wherein the second parameter information is sent by the second terminal and received by the first terminal, and configuration information; and a threshold determining module, configured to determine a target threshold based on the configuration information, the second parameter information, and first parameter information of the first terminal, wherein the target threshold is used by the first terminal to perform resource selection; wherein the configuration information is configured, preconfigured, or predefined by a network side device; wherein the configuration information includes a threshold T1, a threshold T2, a threshold T3, and a threshold T4; wherein the second parameter information is used to determine at least a terminal type of the second terminal and the first parameter information comprises at least a terminal type of the first terminal, and when the second parameter information is used to determine the terminal type of the second terminal and the first parameter information includes the terminal type of the first terminal, the threshold determining module is configured to: when the terminal type of the first terminal is a vehicle-type user equipment, V-UE, and the terminal type of the second terminal is a V-UE, to select the threshold T1; when the terminal type of the first terminal is a V-UE and the terminal type of the second terminal is a pedestrian-type UE, P-UE, to select the threshold T2; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is V-UE, to select the threshold T3; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is P-UE, to select the threshold T4. when the terminal type of the first terminal is a vehicle-type user equipment, V-UE, and the terminal type of the second terminal is a V-UE, to select the threshold T1; when the terminal type of the first terminal is a V-UE and the terminal type of the second terminal is a pedestrian-type UE, P-UE, to select the threshold T2; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is V-UE, to select the threshold T3; when the terminal type of the first terminal is P-UE and the terminal type of the second terminal is P-UE, to select the threshold T4.