A communication method, wherein the method comprises: delivering (S705), by a first protocol layer entity of a first terminal device , communication type information and a target side identifier to a control layer entity of the first terminal device, wherein the communication type information comprises or is used to indicate a communication type to be performed by the first terminal device, the communication type is unicast communication, and the target side identifier is an identifier of a second terminal device; and establishing (S706), by the control layer entity of the first terminal device based on the communication type information, a radio bearer group that is of a sidelink and that corresponds to the communication type, wherein the radio bearer group of the sidelink corresponds to the target side identifier, and the sidelink is a wireless communications link between the first terminal device and the second terminal device; wherein the method further comprises these preceding steps: broadcasting (S702), by the first protocol layer entity of the first terminal device, an establishment request, wherein the establishment request is used to request to establish the unicast communication; and receiving (S704), by the first protocol layer entity of the first terminal device, an establishment response, wherein the establishment response includes the target side identifier and is used to instruct to establish the unicast communication. delivering (S705), by a first protocol layer entity of a first terminal device , communication type information and a target side identifier to a control layer entity of the first terminal device, wherein the communication type information comprises or is used to indicate a communication type to be performed by the first terminal device, the communication type is unicast communication, and the target side identifier is an identifier of a second terminal device; and establishing (S706), by the control layer entity of the first terminal device based on the communication type information, a radio bearer group that is of a sidelink and that corresponds to the communication type, wherein the radio bearer group of the sidelink corresponds to the target side identifier, and the sidelink is a wireless communications link between the first terminal device and the second terminal device; wherein the method further comprises these preceding steps: broadcasting (S702), by the first protocol layer entity of the first terminal device, an establishment request, wherein the establishment request is used to request to establish the unicast communication; and receiving (S704), by the first protocol layer entity of the first terminal device, an establishment response, wherein the establishment response includes the target side identifier and is used to instruct to establish the unicast communication. broadcasting (S702), by the first protocol layer entity of the first terminal device, an establishment request, wherein the establishment request is used to request to establish the unicast communication; and receiving (S704), by the first protocol layer entity of the first terminal device, an establishment response, wherein the establishment response includes the target side identifier and is used to instruct to establish the unicast communication. <EOS>