A resource selection method, a device and a computer storage medium are provided. The method includes that: auxiliary information of first access resources is acquired, wherein the first access resources include at least one of dedicated access resources or common access resources, and the auxiliary information is configured to assist the terminal device to perform resource selection; a second access resource is determined from the first access resources according to the auxiliary information of the first access resources and resource evaluation information of the first access resources, wherein the second access resource is configure for performing handover.