Examples of the disclosure relate to communication methods and apparatuses, an access point, stations and a computer readable medium. An embodiment of the method comprises: determining, at an access point and based on determining that a direct link between stations based sensing procedure is triggered, a first station and a second station associated with the sensing procedure; and transmitting, to at least one of the first station and the second station, a sensing performing request for performing the sensing procedure. In this way, target sensing between non-access-point stations is achieved, such that sensing coverage is extended and a sensing effect is improved.