This application relates to the field of wireless communications, and in particular, to a resource scheduling technology for vehicle to vehicle communication in a wireless communications system. In a resource scheduling method, a first terminal device receives a second-vehicle message sent by at least one second terminal device, where the second-vehicle message carries vehicle status information of the second terminal device. The first terminal device determines a historical resource occupation status of the at least one second terminal device, and selects, based on the vehicle status information indicating a vehicle location and a traveling status of the second terminal device, a first resource used for sending a first-vehicle message.