Disclosed are methods, apparatuses, and systems for resource selection in sidelink communications. The method includes: collecting at least one of sidelink sensing information or resource reservation information of a first sidelink communication; collecting at least one of sidelink sensing information or resource reservation information of a second sidelink communication; determining one or more candidate resources based on at least one of: the sidelink sensing information of the first sidelink communication, the resource reservation information of the first sidelink communication, the sidelink sensing information of the second sidelink communication, or the resource reservation information of the second sidelink communication; selecting one or more resources among the one or more candidate resources; determining whether a resource reselection is needed; and transmitting, using the one or more selected resources, one or more packets in response to a determination that the resource reselection is not needed.