Abstract: ‍ ‍With the development of 5G and even 6G wireless communication technology in the future， the electromagnetic spectrum environment is increasingly congested， and the problem of “spectrum scarcity” in communication is becoming more and more serious. In order to explore additional spectrum resources， the wireless communication frequency band is expanding actively and overlapping with the radar working frequency band gradually， resulting in more and more serious mutual interference between radar and communication. Some scholars have proposed the concept of radar communication integrated signal to share the spectrum. However， theoretically speaking， the traditional time-frequency coded signal can not take into account the radar and communication performance， and is not competent for high dynamic application scenarios. Therefore， in the case of bypassing the time-frequency dimension， this paper proposed the idea and method of integrated design in the Delay-Doppler domain， and greatly reduced the time-frequency resources required by the radar through the radar system of multi station cooperation. Finally， this paper deduced the Cramer-Rao lower bounds （CRLB） for positioning and velocity measurement. Through theoretical analysis and simulation experiments， it can be seen that this method can effectively take into account the excellent radar detection performance and high-speed wireless communication performance in high dynamic scenes.