A wireless communication method includes: determining a radio resource for wireless communication, where the radio resource at least includes a first resource set and a second resource set having different attributes; determine, according to content and/or a type of a message carried in a signal to be sent, a resource set used for sending the signal to be sent; and selecting a resource from the determined resource set to send the signal to be sent. This method ensures the delay requirement and the high reliability of specific signal transmission; and reduces the probability of signal collision and improves the reliability of signal transmission.