A semi-persistent transmission method in a sidelink communication scenario, comprising: obtaining, by user equipment, UE, a semi-persistent transmission resource allocated to the UE, by means of receiving, by the UE, information about the semi-persistent transmission resource and information about a logical channel having a correspondence with the semi-persistent transmission resource from a network device; determining, by the UE, the logical channel having the correspondence with the semi-persistent transmission resource; and transmitting, by the UE on the semi-persistent transmission resource, data in the logical channel having the correspondence with the semi-persistent transmission resource, wherein the method further comprises: sending (S101, S201, S401, S501), by the UE, a terminal capability report to the network device, wherein the terminal capability report carries indication information indicating whether the UE supports a plurality of parallel sidelink semi-persistent scheduling configurations, sending (S102, S203, S402, S503), by the UE, terminal assistance information to the network device, wherein the terminal assistance information comprises service characteristic information of the logical channel, to request the network device to perform sidelink semi-persistent scheduling configuration and/or activation for service data of the logical channel, receiving (S103, S202, S403, S502), by the UE, sidelink semi-persistent scheduling configuration information from the network device, receiving (S104, S204, S404, S504), by the UE, an activation message from the network device, where the activation message indicates the semi-persistent transmission resource; and determining, by the UE, the semi-persistent transmission resource based on the activation message. obtaining, by user equipment, UE, a semi-persistent transmission resource allocated to the UE, by means of receiving, by the UE, information about the semi-persistent transmission resource and information about a logical channel having a correspondence with the semi-persistent transmission resource from a network device; determining, by the UE, the logical channel having the correspondence with the semi-persistent transmission resource; and transmitting, by the UE on the semi-persistent transmission resource, data in the logical channel having the correspondence with the semi-persistent transmission resource, wherein the method further comprises: sending (S101, S201, S401, S501), by the UE, a terminal capability report to the network device, wherein the terminal capability report carries indication information indicating whether the UE supports a plurality of parallel sidelink semi-persistent scheduling configurations, sending (S102, S203, S402, S503), by the UE, terminal assistance information to the network device, wherein the terminal assistance information comprises service characteristic information of the logical channel, to request the network device to perform sidelink semi-persistent scheduling configuration and/or activation for service data of the logical channel, receiving (S103, S202, S403, S502), by the UE, sidelink semi-persistent scheduling configuration information from the network device, receiving (S104, S204, S404, S504), by the UE, an activation message from the network device, where the activation message indicates the semi-persistent transmission resource; and determining, by the UE, the semi-persistent transmission resource based on the activation message. sending (S101, S201, S401, S501), by the UE, a terminal capability report to the network device, wherein the terminal capability report carries indication information indicating whether the UE supports a plurality of parallel sidelink semi-persistent scheduling configurations, sending (S102, S203, S402, S503), by the UE, terminal assistance information to the network device, wherein the terminal assistance information comprises service characteristic information of the logical channel, to request the network device to perform sidelink semi-persistent scheduling configuration and/or activation for service data of the logical channel, receiving (S103, S202, S403, S502), by the UE, sidelink semi-persistent scheduling configuration information from the network device, receiving (S104, S204, S404, S504), by the UE, an activation message from the network device, where the activation message indicates the semi-persistent transmission resource; and determining, by the UE, the semi-persistent transmission resource based on the activation message.