A method for partial sensing, performed by a terminal device, comprising: determining a sensing condition based on a first time unit and first information; and determining a second time unit to be sensed based on the sensing condition; wherein, the first time unit is a time unit where a candidate time-frequency resource for resource selection for a first sidelink transmission is located, and the first information indicates at least one of: an aperiodic resource reservation for the first sidelink transmission; or, a periodic resource reservation for the first sidelink transmission; wherein determining a sensing condition based on a first time unit and first information comprises: determining that it is not essential to ensure a first sensing condition is met, in response to the first information indicating the aperiodic resource reservation for the first sidelink transmission; wherein the first sensing condition is: sensing at least on a time unit where a second sidelink transmission may occur, the second sidelink transmission is a sidelink transmission that may be performed based on the periodic resource reservation on time-frequency resources of the first time unit, and wherein it is not essential to ensure that the first sensing condition is met means that the terminal device ignores a transmission collision caused by a periodic resource reservation of other terminal devices. determining a sensing condition based on a first time unit and first information; and determining a second time unit to be sensed based on the sensing condition; wherein, the first time unit is a time unit where a candidate time-frequency resource for resource selection for a first sidelink transmission is located, and the first information indicates at least one of: an aperiodic resource reservation for the first sidelink transmission; or, a periodic resource reservation for the first sidelink transmission; wherein determining a sensing condition based on a first time unit and first information comprises: determining that it is not essential to ensure a first sensing condition is met, in response to the first information indicating the aperiodic resource reservation for the first sidelink transmission; wherein the first sensing condition is: sensing at least on a time unit where a second sidelink transmission may occur, the second sidelink transmission is a sidelink transmission that may be performed based on the periodic resource reservation on time-frequency resources of the first time unit, and wherein it is not essential to ensure that the first sensing condition is met means that the terminal device ignores a transmission collision caused by a periodic resource reservation of other terminal devices. an aperiodic resource reservation for the first sidelink transmission; or, a periodic resource reservation for the first sidelink transmission; wherein determining a sensing condition based on a first time unit and first information comprises: determining that it is not essential to ensure a first sensing condition is met, in response to the first information indicating the aperiodic resource reservation for the first sidelink transmission; wherein the first sensing condition is: sensing at least on a time unit where a second sidelink transmission may occur, the second sidelink transmission is a sidelink transmission that may be performed based on the periodic resource reservation on time-frequency resources of the first time unit, and wherein it is not essential to ensure that the first sensing condition is met means that the terminal device ignores a transmission collision caused by a periodic resource reservation of other terminal devices. determining that it is not essential to ensure a first sensing condition is met, in response to the first information indicating the aperiodic resource reservation for the first sidelink transmission; wherein the first sensing condition is: sensing at least on a time unit where a second sidelink transmission may occur, the second sidelink transmission is a sidelink transmission that may be performed based on the periodic resource reservation on time-frequency resources of the first time unit, and wherein it is not essential to ensure that the first sensing condition is met means that the terminal device ignores a transmission collision caused by a periodic resource reservation of other terminal devices.