The present invention relates to a V2V communication method, apparatus, and terminal. The method includes: receiving, by a first terminal, a first scheduling assignment SA message that is sent by a second terminal, where the first SA message includes a first pilot resource and a first diversity multiplexing mode that are used by the second terminal; determining, by the first terminal based on the first pilot resource and the first diversity multiplexing mode, a second pilot resource and a second diversity multiplexing mode that are to be used by the first terminal; and sending, by the first terminal, a data stream to a third terminal based on the second pilot resource and the second diversity multiplexing mode.