Abstract: In order to solve the problem that the introduction of cyclic prefix (CP) affects radar target detection, an integrated radar communication signal processing method based on cyclic prefix-orthogonal frequency-division multiplexing (CP-OFDM) was designed under the pulse system. First, the radar signal echo with multi-scattering points was modeled, and then a high-resolution range profile (HRRP) reconstruction method based on maximum likelihood estimation was proposed to estimate the distance of multi-scatter-point target. Finally, fast Fourier transform (FFT) was performed along the pulse dimension to form a Doppler filter bank for extracting speed information and estimating target speed. In terms of communication function, a high-speed data transmission was achieved by adopting a pulse transmission method and modulating the communication information within the pulses. Results of simulation experiments show that the integrated radar communication signal processing method based on CP-OFDM proposed in this paper can obtain target distance and speed estimation under different signal-to-noise ratios, effectively realizing radar detection and demonstrating excellent communication performance within multipath channels when CP length is greater than or equal to multipath delay.