Provided in the present application are a communication method, apparatus and
system, which can be applicable to the fields of cellular communications, V2X, Internet of Vehicles, autonomous driving, assisted driving, etc. The method comprises: determining a first reference
signal and a first message, wherein the first reference
signal is configured for determining a first beam, the first message is configured for second device discovery or for requesting communication with a second communication apparatus, the first beam is a candidate beam for communication between a first communication apparatus and the second communication apparatus, there is a first interval between
time domain resources of the first reference
signal and the first message, the first interval is less than or equal to a first threshold, and the first threshold is configured or predefined; and sending the first reference signal and the first message. After a receiving end determines that same is a target of a sending end, the receiving end performs beam
processing, for example,
beam matching, etc. If the receiving end is not the target of the sending end, no
processing is performed, for example, no
beam matching is executed. Therefore, unnecessary transmission and corresponding
power consumption of a non-target communication apparatus are reduced.