In a V2X communication method, a first communication device obtains an identification set including one or more identifications, where a risk of collision between a moving subject corresponding to each identification and a first moving subject corresponding to the first communication device meets a preset condition. When a channel busy ratio is greater than a first threshold, the first communication device sends configuration information including the identification set to a second communication device. When the channel busy ratio is greater than a second threshold, the first communication device transmits a V2X message to the second communication device through the standby communication connection channel, where the second threshold is greater than the first threshold.