This application may be applied to Internet of Vehicles, for example, V2X, LTE-V, and V2V, or may be used in fields such as intelligent driving and intelligent Internet of Vehicles. A terminal device determines at least one piece of to-be-sent feedback information or at least one piece of to-be-received feedback information in at least one piece of candidate feedback information, where the at least one piece of candidate feedback information includes at least one piece of candidate feedback information that needs to be sent and/or at least one piece of candidate feedback information that needs to be received; and the terminal device sends the at least one piece of to-be-sent feedback information, or receives the at least one piece of to-be-received feedback information.