In industrial internet of things (IIoT), ultra-reliable and low-latency communication (URLLC) is proposed to guarantee the requirement of real-time wireless control systems in worst case, so as to maintain the system working in all cases. However, it is extremely challenging to maintain URLLC throughout the whole control process due to the scarcity of wireless resource. This paper develops an autonomous device-to-device (D2D) communication scheme by jointly considering reliability in URLLC and control requirement. In the proposed scheme, we consider the actual control requirement, i.e., control convergence rate, into communication design, where we find that it can be converted into a constraint on communication reliability. Then, the communication reliability constraint comes from control aspect, instead of URLLC, which leads to that the system does not need to guarantee worst case in URLLC. Second, the sensors autonomously decide whether to be activated with optimal probabilities to participate in the control process, which can maintain the communication reliability requirement with significantly less resource consumption. Simulation results show remarkable performance gain of our method. For instance, compared with fixed activation probability 40% only considering URLLC, the average power consumption of the proposed method can be reduced by at most about 100%.