A communication method and apparatus are provided. The communication apparatus communicates with a device to obtain first information that includes location information and/or motion information of the device, and senses an environment to obtain environment sensing information that includes location information and/or motion information of an object in the environment. The communication apparatus determines a first antenna panel and/or a second antenna panel different from the first antenna panel based on the first information and the environment sensing information, where the first antenna panel is configured to communicate with a first device, and/or is configured to send, to the first device, a signal for sensing information, the second antenna panel is configured to receive sensing signal from the first device. In the communication apparatus, sensing and communication functions can be implemented in a single hardware system, thereby decreasing a size of the communication apparatus and reducing the cost.