Embodiments of this application provide a communication method and apparatus, and a readable storage medium. The method includes: A first device sends information about a first priority and a second priority to a second device. The first priority is used to assist the second device in selecting a resource for sidelink transmission, the information about the first priority is carried in SCI and/or a MAC CE, and the second priority is a physical layer priority of the first device. In the method, the first device sends the information about the first priority and the second priority to the second device. The information about the first priority is used to assist the second device in selecting the resource for sidelink transmission. Therefore, the second device may further select, based on the information about the first priority, the resource for sidelink transmission, to implement resource selection of the second device.