A sensing method for sensing a passive target, performed by a second node, characterized by : receiving (S502), by the second node, first information from a first node, wherein the first information comprises transmit beam information of the first node; receiving (S504), by the second node, a reference signal and an echo signal based on the transmit beam information; and sensing (S505), by the second node, a motion feature of the passive target based on the reference signal and the echo signal; wherein the transmit beam information comprises information of an initial scanning angle of a first transmit beam used to transmit a first illumination signal, and a scanning direction of the first transmit beam used to transmit the first illumination signal, wherein the first illumination signal is reflected by the passive target to form the echo signal; wherein the transmit beam information further comprises: a quantity of transmit beams and a beam angle of a second transmit beam used to transmit a second illumination signal, wherein the second illumination signal is sent from the first node to the second node along a line of sight to form the reference signal; and the receiving, by the second node, an echo signal based on the transmit beam information comprises: receiving, by the second node, the echo signal by using a beam corresponding to the first transmit beam; and the receiving, by the second node, a reference signal based on the transmit beam information comprises: receiving, by the second node, the reference signal by using a beam corresponding to the second transmit beam, or receiving the reference signal omnidirectionally in space. receiving (S502), by the second node, first information from a first node, wherein the first information comprises transmit beam information of the first node; receiving (S504), by the second node, a reference signal and an echo signal based on the transmit beam information; and sensing (S505), by the second node, a motion feature of the passive target based on the reference signal and the echo signal; wherein the transmit beam information comprises information of an initial scanning angle of a first transmit beam used to transmit a first illumination signal, and a scanning direction of the first transmit beam used to transmit the first illumination signal, wherein the first illumination signal is reflected by the passive target to form the echo signal; wherein the transmit beam information further comprises: a quantity of transmit beams and a beam angle of a second transmit beam used to transmit a second illumination signal, wherein the second illumination signal is sent from the first node to the second node along a line of sight to form the reference signal; and the receiving, by the second node, an echo signal based on the transmit beam information comprises: receiving, by the second node, the echo signal by using a beam corresponding to the first transmit beam; and the receiving, by the second node, a reference signal based on the transmit beam information comprises: receiving, by the second node, the reference signal by using a beam corresponding to the second transmit beam, or receiving the reference signal omnidirectionally in space. <EOS>