A data transmission method for direct communication, comprising: when direct hybrid auto repeat request HARQ feedback information and uplink information are to be sent within a target time unit, and the direct HARQ feedback information and the uplink information satisfy a predetermined timing relationship, sending , by a first terminal, the direct HARQ feedback information and the uplink information to an access network device on the same physical layer uplink channel within the target time unit, wherein the target time unit is a time unit when the first terminal requires to send the uplink information and the direct HARQ feedback information; wherein, the direct HARQ feedback information is configured to indicate a receiving state corresponding to direct data, and the direct data is physical layer data sent by the first terminal to a second terminal through a direct link; wherein the predetermined timing relationship comprises: a first time point being prior to a second time point, and an absolute value of a difference between the first time point and the second time point being greater than a predetermined processing time length; wherein, the first time point is an end transmission time point of the direct HARQ feedback information on a direct feedback channel PSFCH, and the second time point is a start transmission time point of the uplink information on the physical layer uplink channel. when direct hybrid auto repeat request HARQ feedback information and uplink information are to be sent within a target time unit, and the direct HARQ feedback information and the uplink information satisfy a predetermined timing relationship, sending , by a first terminal, the direct HARQ feedback information and the uplink information to an access network device on the same physical layer uplink channel within the target time unit, wherein the target time unit is a time unit when the first terminal requires to send the uplink information and the direct HARQ feedback information; wherein, the direct HARQ feedback information is configured to indicate a receiving state corresponding to direct data, and the direct data is physical layer data sent by the first terminal to a second terminal through a direct link; wherein the predetermined timing relationship comprises: a first time point being prior to a second time point, and an absolute value of a difference between the first time point and the second time point being greater than a predetermined processing time length; wherein, the first time point is an end transmission time point of the direct HARQ feedback information on a direct feedback channel PSFCH, and the second time point is a start transmission time point of the uplink information on the physical layer uplink channel. a first time point being prior to a second time point, and an absolute value of a difference between the first time point and the second time point being greater than a predetermined processing time length; wherein, the first time point is an end transmission time point of the direct HARQ feedback information on a direct feedback channel PSFCH, and the second time point is a start transmission time point of the uplink information on the physical layer uplink channel. <EOS>