An information transmission method performed by a terminal device, comprising: obtaining a first uplink channel, wherein the first uplink channel is used to carry joint information of second uplink control information carried on a second channel and third uplink control information carried on a third uplink channel, wherein a third service corresponding to the third uplink control information is an ultra-reliable and low-latency communications, URLLC, service, and a second service corresponding to the second uplink control information is an enhanced mobile broadband, eMBB, service; and when the third uplink channel and the first uplink channel meet a first condition, sending the joint information on the first uplink channel; characterized in that when the third uplink channel and the first uplink channel do not meet the first condition, sending the third uplink control information on the third uplink channel, wherein the first condition comprises at least one of the following conditions: a distance between an ending symbol on the first uplink channel and an ending symbol on the third uplink channel is less than or equal to a first threshold wherein the value of the first threshold is any one of 0, two symbols, seven symbols, half of a time domain length of the third uplink channel, or the time domain length of the third uplink channel; or a distance between a starting symbol on the first uplink channel and a starting symbol on the third uplink channel is less than or equal to a second threshold wherein the value of the second threshold is any one of 0, two symbols, seven symbols, or a period of the third uplink channel; or a difference between a coding rate of the first uplink channel and a coding rate of the third uplink channel is less than or equal to a third threshold wherein the value of the third threshold is 0 or 0.1. obtaining a first uplink channel, wherein the first uplink channel is used to carry joint information of second uplink control information carried on a second channel and third uplink control information carried on a third uplink channel, wherein a third service corresponding to the third uplink control information is an ultra-reliable and low-latency communications, URLLC, service, and a second service corresponding to the second uplink control information is an enhanced mobile broadband, eMBB, service; and when the third uplink channel and the first uplink channel meet a first condition, sending the joint information on the first uplink channel; characterized in that when the third uplink channel and the first uplink channel do not meet the first condition, sending the third uplink control information on the third uplink channel, wherein the first condition comprises at least one of the following conditions: a distance between an ending symbol on the first uplink channel and an ending symbol on the third uplink channel is less than or equal to a first threshold wherein the value of the first threshold is any one of 0, two symbols, seven symbols, half of a time domain length of the third uplink channel, or the time domain length of the third uplink channel; or a distance between a starting symbol on the first uplink channel and a starting symbol on the third uplink channel is less than or equal to a second threshold wherein the value of the second threshold is any one of 0, two symbols, seven symbols, or a period of the third uplink channel; or a difference between a coding rate of the first uplink channel and a coding rate of the third uplink channel is less than or equal to a third threshold wherein the value of the third threshold is 0 or 0.1. a distance between an ending symbol on the first uplink channel and an ending symbol on the third uplink channel is less than or equal to a first threshold wherein the value of the first threshold is any one of 0, two symbols, seven symbols, half of a time domain length of the third uplink channel, or the time domain length of the third uplink channel; or a distance between a starting symbol on the first uplink channel and a starting symbol on the third uplink channel is less than or equal to a second threshold wherein the value of the second threshold is any one of 0, two symbols, seven symbols, or a period of the third uplink channel; or a difference between a coding rate of the first uplink channel and a coding rate of the third uplink channel is less than or equal to a third threshold wherein the value of the third threshold is 0 or 0.1.