determining, by a first remote terminal, a first relay terminal for point-to-point communication; and

performing, by the first remote terminal, end-to-end communication with a second remote terminal through the first relay terminal,

wherein the determining, by a first remote terminal, a first relay terminal for point-to-point communication comprises:

receiving, by the first remote terminal, a discovery message; and

determining, by the first remote terminal, a terminal sending the discovery message as the first relay terminal,

wherein the method further comprises:

sending, by the first remote terminal, a discovery request message, the discovery message being a response message to the discovery request message;

measuring, by the first remote terminal, physical sidelink shared channel reference signal received power (PSSCH_RSRP) of the discovery message; and

determining, by the first remote terminal, the terminal sending the discovery message as the first relay terminal in response to a measured value of the PSSCH_RSRP being greater than a first threshold.