Methods for determining a self-driving technology-based resource and communications are provided. One example method includes that a server determines a first time-frequency resource and a first location of the first vehicle; determines a first area range in which the first vehicle is located; when a second vehicle exists in the first area range, and a second time-frequency resource of the second vehicle is the same as the first time-frequency resource, determines, from time-frequency resources in the first area range, a third time-frequency resource including an idle time-frequency resource; and the server sends the third time-frequency resource to the first vehicle, and the first vehicle performs laser signal transmission by using the third time-frequency resource.