Example sidelink communication methods and apparatus are described. One example method includes determining resources for potential transmission from a resource pool on a sidelink by a terminal device. The terminal device transmits a resource indication message on the sidelink, where the resource indication message includes a configuration of the resources that are determined for potential transmission. The configuration of the resources indicates a subset of the resources that are usable by first type of user equipments (UEs) and a subset of the resources that are usable by second type of UEs. The resource indication message is sent in a sidelink control information (SCI) message. The terminal device receives an indication of selected resources from at least one second type of UE, and transmits the indication of selected resources to at least another UE.