A sidelink communication method, comprising: receiving a first parameter from a network device, by a terminal device, determining, by the terminal device, a time frequency resource of a physical sidelink control channel, PSCCH, in a first time frequency unit, said PSCCH occupying a time domain resource, carrying sidelink control information, SCI, and scheduling a physical sidelink shared channel, PSSCH, that carries data scheduled by the SCI and occupies a time domain resource; determining the time frequency resource comprising determining a time domain symbol starting position of the PSCCH, in the first time frequency unit, by using the first parameter received from the network device, and receiving or transmitting, by the terminal device, the PSCCH on the time frequency resource; characterized in that: - the time domain resource occupied by the PSCCH is different from the time domain resource occupied by the PSSCH which is scheduled by the PSCCH, - the time domain resource occupied by the PSCCH and the time domain resource occupied by the PSSCH partially overlap, and - the SCI and the data scheduled by the SCI can be transmitted in a same time slot; wherein the first parameter is related to the number of time domain symbols that the terminal device is required to sense or measure in the first time frequency unit to detect the PSCCH, and wherein determining, by the terminal device, the time frequency resource of the PSCCH in the first time frequency unit by using the first parameter comprises determining at least one of the following information according to the first parameter: a number of time domain symbols occupied by the PSCCH in the first time frequency unit, an ending time domain symbol position of the PSCCH in the first time frequency unit, a frequency domain starting position of the PSCCH in the first time frequency unit, a frequency domain ending position of the PSCCH in the first time frequency unit, or a frequency domain resource length of the PSCCH in the first time frequency unit. receiving a first parameter from a network device, by a terminal device, determining, by the terminal device, a time frequency resource of a physical sidelink control channel, PSCCH, in a first time frequency unit, said PSCCH occupying a time domain resource, carrying sidelink control information, SCI, and scheduling a physical sidelink shared channel, PSSCH, that carries data scheduled by the SCI and occupies a time domain resource; determining the time frequency resource comprising determining a time domain symbol starting position of the PSCCH, in the first time frequency unit, by using the first parameter received from the network device, and receiving or transmitting, by the terminal device, the PSCCH on the time frequency resource; characterized in that: - the time domain resource occupied by the PSCCH is different from the time domain resource occupied by the PSSCH which is scheduled by the PSCCH, - the time domain resource occupied by the PSCCH and the time domain resource occupied by the PSSCH partially overlap, and - the SCI and the data scheduled by the SCI can be transmitted in a same time slot; - the time domain resource occupied by the PSCCH is different from the time domain resource occupied by the PSSCH which is scheduled by the PSCCH, - the time domain resource occupied by the PSCCH and the time domain resource occupied by the PSSCH partially overlap, and - the SCI and the data scheduled by the SCI can be transmitted in a same time slot; wherein the first parameter is related to the number of time domain symbols that the terminal device is required to sense or measure in the first time frequency unit to detect the PSCCH, and wherein determining, by the terminal device, the time frequency resource of the PSCCH in the first time frequency unit by using the first parameter comprises determining at least one of the following information according to the first parameter: a number of time domain symbols occupied by the PSCCH in the first time frequency unit, an ending time domain symbol position of the PSCCH in the first time frequency unit, a frequency domain starting position of the PSCCH in the first time frequency unit, a frequency domain ending position of the PSCCH in the first time frequency unit, or a frequency domain resource length of the PSCCH in the first time frequency unit.