Demands for data traffic in high-speed railway (HSR) has increased drastically. The increasing entertainment needs of passengers, safety control information exchanges of trains, etc., make train-to-train (T2T) communications face the challenge of achieving high-capacity and high-quality data transmissions. In order to greatly increase the communication capacity, it is urgent to introduce millimeter wave (mmWave) technology. Faced with the problem that mmWave link is easy to be blocked, this paper leverages the existing equipment to assist relay, and proposes an effective transmission scheduling scheme to improve the robustness of T2T communication systems. First of all, we formulate a mixed integer nonlinear programming (MINLP) optimization problem the transmission scheduling in T2T communication systems where mobile relays (MRs) are all working in the full-duplex (FD) mode. Then we propose a low complexity heuristic algorithm to solve the optimization problem, which consists of three components: relay selection, transmission mode selection, and transmission scheduling. The simulation results show that the proposed algorithm can greatly improve the number of completed flows and system throughput. Finally, we analyze the influence of different design parameters on the system performance. The results show that the proposed algorithm can achieve more data flows and system throughput within a reasonable communication distance threshold in T2T communication with obstacles in different orbits. It can balance the computational complexity and system performance to achieve an efficient and robust data transmission.