A method for uplink data transmission, comprising: transmitting , by a first terminal, uplink data of a first service type on a first uplink resource; receiving , by the first terminal, a scheduling indication from an access network device, wherein the scheduling indication comprises a starting position and a scheduling period of semi-persistent scheduling, and the scheduling period comprises n scheduling periods of different durations, n being an integer greater than 1; suspending , by the first terminal, transmission of the uplink data of the first service type before the starting position; and continuing , by the first terminal, the transmission of the uplink data of the first service type according to the scheduling period after the starting position, wherein the scheduling indication is sent by the access network device after detecting that a second terminal transmits uplink data of a second service type on the first uplink resource, and a priority of the second service type is higher than a priority of the first service type, and wherein continuing , by the first terminal, the transmission of the uplink data of the first service type according to the scheduling period after the starting position comprises: determining , by the first terminal, a second uplink resource according to the starting position and a target scheduling period, wherein the target scheduling period is one of the n scheduling periods; and continuing , by the first terminal, the transmission of the uplink data of the first service type on the second uplink resource. transmitting , by a first terminal, uplink data of a first service type on a first uplink resource; receiving , by the first terminal, a scheduling indication from an access network device, wherein the scheduling indication comprises a starting position and a scheduling period of semi-persistent scheduling, and the scheduling period comprises n scheduling periods of different durations, n being an integer greater than 1; suspending , by the first terminal, transmission of the uplink data of the first service type before the starting position; and continuing , by the first terminal, the transmission of the uplink data of the first service type according to the scheduling period after the starting position, wherein the scheduling indication is sent by the access network device after detecting that a second terminal transmits uplink data of a second service type on the first uplink resource, and a priority of the second service type is higher than a priority of the first service type, and wherein continuing , by the first terminal, the transmission of the uplink data of the first service type according to the scheduling period after the starting position comprises: determining , by the first terminal, a second uplink resource according to the starting position and a target scheduling period, wherein the target scheduling period is one of the n scheduling periods; and continuing , by the first terminal, the transmission of the uplink data of the first service type on the second uplink resource. determining , by the first terminal, a second uplink resource according to the starting position and a target scheduling period, wherein the target scheduling period is one of the n scheduling periods; and continuing , by the first terminal, the transmission of the uplink data of the first service type on the second uplink resource. <EOS>