Joint communication detection method for continuous frequency modulation wave multi-domain parameter modulation in TSN

The invention discloses a combined communication detection method for continuous frequency modulated wave multi-domain parameter modulation in a TSN, which is used for solving the problem that spectrum resources are limited in an automatic driving scene and realizing reasonable multiplexing of time-frequency resources and a combined communication detection function. Comprising the following steps: active and passive combined communication detection equipment obtains resource block use information through a resource block identification scheme and determines a used resource block; the active party adopts a two-frame combination detection method to send a continuous frequency modulation wave comprising a beacon frame and a DDM frame, and an environment target is detected through a detection-based parameter information recovery algorithm. And the passive party adopts a two-frame joint detection method to detect an environment target, carries out synchronous time delay adjustment and sends synchronous confirmatio