A transmission resource determination method, comprising: determining, by a terminal device, a time domain position of a time unit; and determining, by the terminal device, a time domain position of a sidelink configured grant transmission resource according to the determined time domain position of the time unit and a first resource pool, wherein the first resource pool is a resource pool associated with the sidelink configured grant; characterized in that: wherein determining, by the terminal device, the time domain position of the sidelink configured grant transmission resource according to the determined time domain position of the time unit and the first resource pool comprises: if the time unit is not a time unit in the first resource pool, determining, by the terminal device, a time domain position of another time unit according to the determined time domain position of the time unit, and determining the time domain position of the another time unit as the time domain position of the sidelink configured grant transmission resource, wherein the time domain position of the another time unit belongs to the first resource pool; and wherein the time domain position of the another time unit is a time domain position of the first time unit belonging to the first resource pool after the determined time domain position of the time unit. determining, by a terminal device, a time domain position of a time unit; and determining, by the terminal device, a time domain position of a sidelink configured grant transmission resource according to the determined time domain position of the time unit and a first resource pool, wherein the first resource pool is a resource pool associated with the sidelink configured grant; characterized in that: wherein determining, by the terminal device, the time domain position of the sidelink configured grant transmission resource according to the determined time domain position of the time unit and the first resource pool comprises: if the time unit is not a time unit in the first resource pool, determining, by the terminal device, a time domain position of another time unit according to the determined time domain position of the time unit, and determining the time domain position of the another time unit as the time domain position of the sidelink configured grant transmission resource, wherein the time domain position of the another time unit belongs to the first resource pool; and wherein the time domain position of the another time unit is a time domain position of the first time unit belonging to the first resource pool after the determined time domain position of the time unit. if the time unit is not a time unit in the first resource pool, determining, by the terminal device, a time domain position of another time unit according to the determined time domain position of the time unit, and determining the time domain position of the another time unit as the time domain position of the sidelink configured grant transmission resource, wherein the time domain position of the another time unit belongs to the first resource pool; and wherein the time domain position of the another time unit is a time domain position of the first time unit belonging to the first resource pool after the determined time domain position of the time unit.