A first receiver receives a first signaling, the first signaling is used to determine a target radio resource pool; and a first transmitter transmits first information; whether the first transmitter transmits a PUSCH in the target radio resource pool is related to at least one of the first information or whether the target radio resource pool has an overlapping with a characteristic resource, and the characteristic resource is a resource for at least one type of UCI; when any of a first condition or a second condition is satisfied, the first transmitter transmits a PUSCH in the target radio resource pool; the first condition comprises that the target radio resource pool has an overlapping with a characteristic resource, and the second condition comprises that the first information indicates transmitting a PUSCH in the target radio resource pool.