A sidelink transmission method, comprising: determining, by a first terminal, that first information is transmitted 1 or N times according to configuration information, wherein N is a positive integer greater than 1; if it is determined that the first information is transmitted N times, transmitting, by the first terminal, the first information to a second terminal N times on a sidelink; if it is determined that the first information is transmitted once, transmitting, by the first terminal, the first information to the second terminal once on the sidelink; characterized in that in the case that link information of the sidelink meets a preset condition, the first terminal determines that the first information is transmitted N times according to the configuration information; in the case that the link information of the sidelink does not meet the preset condition, the first information is only transmitted once during one transmission process; wherein the link information includes a link state and/or link service information; wherein in the case that the second terminal is one terminal, the link information of the sidelink meeting the preset condition refers to at least one of the following: a sidelink channel state is lower than a channel state threshold; a sidelink channel congestion degree is lower than a channel congestion threshold; sidelink service QoS is higher than a service QoS threshold; or, in a case where the second terminalis a plurality of terminals, the link information of the sidelink meeting a preset condition refers to at least one of the following: a proportion of the sidelink channel state being lower than the channel state threshold is higher than a first proportion threshold; a proportion of the sidelink channel congestion degree being lower than the channel congestion threshold is higher than a second proportion threshold; or the sidelink QoS is higher than the service QoS threshold. determining, by a first terminal, that first information is transmitted 1 or N times according to configuration information, wherein N is a positive integer greater than 1; if it is determined that the first information is transmitted N times, transmitting, by the first terminal, the first information to a second terminal N times on a sidelink; if it is determined that the first information is transmitted once, transmitting, by the first terminal, the first information to the second terminal once on the sidelink; characterized in that in the case that link information of the sidelink meets a preset condition, the first terminal determines that the first information is transmitted N times according to the configuration information; in the case that the link information of the sidelink does not meet the preset condition, the first information is only transmitted once during one transmission process; wherein the link information includes a link state and/or link service information; wherein in the case that the second terminal is one terminal, the link information of the sidelink meeting the preset condition refers to at least one of the following: a sidelink channel state is lower than a channel state threshold; a sidelink channel congestion degree is lower than a channel congestion threshold; sidelink service QoS is higher than a service QoS threshold; or, in a case where the second terminalis a plurality of terminals, the link information of the sidelink meeting a preset condition refers to at least one of the following: a proportion of the sidelink channel state being lower than the channel state threshold is higher than a first proportion threshold; a proportion of the sidelink channel congestion degree being lower than the channel congestion threshold is higher than a second proportion threshold; or the sidelink QoS is higher than the service QoS threshold. a sidelink channel state is lower than a channel state threshold; a sidelink channel congestion degree is lower than a channel congestion threshold; sidelink service QoS is higher than a service QoS threshold; or, in a case where the second terminalis a plurality of terminals, the link information of the sidelink meeting a preset condition refers to at least one of the following: a proportion of the sidelink channel state being lower than the channel state threshold is higher than a first proportion threshold; a proportion of the sidelink channel congestion degree being lower than the channel congestion threshold is higher than a second proportion threshold; or the sidelink QoS is higher than the service QoS threshold. a proportion of the sidelink channel state being lower than the channel state threshold is higher than a first proportion threshold; a proportion of the sidelink channel congestion degree being lower than the channel congestion threshold is higher than a second proportion threshold; or the sidelink QoS is higher than the service QoS threshold.