A sidelink communication method for a vehicle to everything, V2X, system, comprising: transmitting (S210), by a second terminal device, sidelink control information, SCI, to a first terminal device, wherein the SCI is used by the first terminal device to obtain information of a sidelink reference signal comprising a sidelink channel state information reference signal, CSI-RS; wherein, when the SCI is in a first SCI format, the SCI comprises a first indication field, and the first indication field in the SCI is used for indicating the first terminal device to determine resource indication information of the sidelink reference signal, the resource indication information of the sidelink reference signal is used for indicating a time domain resource and a frequency domain resource for the sidelink reference signal, and wherein the resource indication information of the sidelink reference signal comprises at least one of the following information: time domain symbol indication information of the sidelink reference signal and slot indication information of the sidelink reference signal, and at least one of the following information: frequency domain start position indication information of the sidelink reference signal, and frequency domain length information of the sidelink reference signal; and wherein if the resource indication information of the sidelink reference signal comprises a time domain symbol indication information of the sidelink reference signal and does not comprise the slot indication information of the sidelink reference signal, the slot indication information of the sidelink reference signal is determined by information pre-configured by protocols or information configured by a network device, and the sidelink reference signal and a physical sidelink control channel, PSCCH, carrying the SCI are in a same slot. transmitting (S210), by a second terminal device, sidelink control information, SCI, to a first terminal device, wherein the SCI is used by the first terminal device to obtain information of a sidelink reference signal comprising a sidelink channel state information reference signal, CSI-RS; wherein, when the SCI is in a first SCI format, the SCI comprises a first indication field, and the first indication field in the SCI is used for indicating the first terminal device to determine resource indication information of the sidelink reference signal, the resource indication information of the sidelink reference signal is used for indicating a time domain resource and a frequency domain resource for the sidelink reference signal, and wherein the resource indication information of the sidelink reference signal comprises at least one of the following information: time domain symbol indication information of the sidelink reference signal and slot indication information of the sidelink reference signal, and at least one of the following information: frequency domain start position indication information of the sidelink reference signal, and frequency domain length information of the sidelink reference signal; and wherein if the resource indication information of the sidelink reference signal comprises a time domain symbol indication information of the sidelink reference signal and does not comprise the slot indication information of the sidelink reference signal, the slot indication information of the sidelink reference signal is determined by information pre-configured by protocols or information configured by a network device, and the sidelink reference signal and a physical sidelink control channel, PSCCH, carrying the SCI are in a same slot. <EOS>