US Patent 12021582 Detection method and device based on sensing-communication integration

The embodiments of the present application provide a radar-sensing detection method and device based on radar-sensing communication integration. Said method comprises: when being applied to a sending end, determining a position of a receiving end, then sending a beam control signal to the receiving end through a preset beam control request channel, receiving a beam control response signal sent by the receiving end, and sending a first detection result signal to the receiving end in a preset reservation channel. The embodiments of the present application can expand the detection range of an autonomous vehicle.