Provided in the embodiments of the present application are a sidelink communication method, a device, and a storage medium, the method comprising: a first terminal device sends assistance information to a second terminal device within a first time interval, the assistance information being used for indicating a resource set, the resource set comprising time-frequency resources recommended for selection, not recommended for selection, or having a conflict detected by the first terminal device, and the first time interval being within an activation time of a discontinuous reception DRX operation of the second terminal device. The present invention aims to improve communication reliability.