The invention provides a communication method and device, a receiving end, a sending end and a
relay node, and relates to the technical field of communication. The method is applied to a receiving end, and comprises the following steps: receiving a first
request to send frame RTS sent by a sending end, the first RTS carrying position information of the sending end; according to the position information of the sending end, the position information of the receiving end, the first
elevation angle estimation value and the first
azimuth angle
estimation value, determining whether a communicable direct view path in the terahertz
frequency band exists between the sending end and the receiving end; the first
elevation angle estimation value and the first
azimuth angle estimation value are determined according to the first RTS; and when it is determined that a communicable direct-view path in the terahertz
frequency band exists between the transmitting end and the receiving end, the
antenna array is aligned with the transmitting end, and a first clear transmission frame CTS is broadcasted, and the first CTS carries the position information of the transmitting end and the position information of the receiving end. According to the scheme, the accuracy of visual judgment can be improved, and the problem that judgment errors are likely to be caused is avoided.