A method for integrating wireless communication and wireless sensing, performed by a communication device, and comprising: transmitting a wireless sensing signal in a target slot position related to a switching point between signal transmission and signal reception of a wireless communication signal; and receiving an echo signal corresponding to the wireless sensing signal in the case that a signal transmission slot of the wireless communication signal is ended, there is a target object, and the target object reflects the echo signal; characterized in that the target slot position comprises one of: a slot position with a duration of τ before an end time point of a first slot, the first slot being a last signal transmission slot of the wireless communication signal; a slot position with a duration of τ after a start time point of a second slot, the second slot being a slot after and adjacent to the last signal transmission slot of the wireless communication signal; a slot position with a duration of τ started before the end time point of the first slot and ended after the start time point of the second slot, wherein τ represents a duration of each transmission of the wireless sensing signal; wherein in the case that the communication device is a base station, the first slot is a downlink slot, and the second slot is an uplink slot after the last signal transmission slot of the wireless communication signal; and in the case that the communication device is a terminal, the first slot is an uplink slot, and the second slot is a downlink slot after the last signal transmission slot of the wireless communication signal. transmitting a wireless sensing signal in a target slot position related to a switching point between signal transmission and signal reception of a wireless communication signal; and receiving an echo signal corresponding to the wireless sensing signal in the case that a signal transmission slot of the wireless communication signal is ended, there is a target object, and the target object reflects the echo signal; characterized in that the target slot position comprises one of: a slot position with a duration of τ before an end time point of a first slot, the first slot being a last signal transmission slot of the wireless communication signal; a slot position with a duration of τ after a start time point of a second slot, the second slot being a slot after and adjacent to the last signal transmission slot of the wireless communication signal; a slot position with a duration of τ started before the end time point of the first slot and ended after the start time point of the second slot, wherein τ represents a duration of each transmission of the wireless sensing signal; wherein in the case that the communication device is a base station, the first slot is a downlink slot, and the second slot is an uplink slot after the last signal transmission slot of the wireless communication signal; and in the case that the communication device is a terminal, the first slot is an uplink slot, and the second slot is a downlink slot after the last signal transmission slot of the wireless communication signal. a slot position with a duration of τ before an end time point of a first slot, the first slot being a last signal transmission slot of the wireless communication signal; a slot position with a duration of τ after a start time point of a second slot, the second slot being a slot after and adjacent to the last signal transmission slot of the wireless communication signal; a slot position with a duration of τ started before the end time point of the first slot and ended after the start time point of the second slot, wherein τ represents a duration of each transmission of the wireless sensing signal; wherein in the case that the communication device is a base station, the first slot is a downlink slot, and the second slot is an uplink slot after the last signal transmission slot of the wireless communication signal; and in the case that the communication device is a terminal, the first slot is an uplink slot, and the second slot is a downlink slot after the last signal transmission slot of the wireless communication signal.