A signal processing method, comprising: obtaining Nr1×M1 signals, wherein the Nr1×M1 signals are echo signals of M1 signals that are sent by a radar to a target in a single input multiple output SIMO mode, the SIMO mode corresponds to one transmit channel and Nr1 receive channels, and Nr1 and M1 are integers greater than 1; obtaining Nt×Nr2×M2 signals, wherein the Nt×Nr2×M2 signals are echo signals of M2 signals that are sent by the radar to the target in a multiple input multiple output MIMO mode, the MIMO mode corresponds to Nt transmit channels and Nr2 receive channels, and Nt, Nr2, and M2 are integers greater than 1; characterized by a time interval between a start moment for sending the M1 signals in the SIMO mode and a start moment for sending the M2 signals in the MIMO mode being less than a preset value; performing first signal processing on the Nr1×M1 signals to obtain first processing data, wherein the first signal processing comprises sequentially performing the following processing: range fast Fourier transform, FFT analysis, linear prediction, and Doppler FFT analysis, and the linear prediction is used to predict FFT data before or after a time domain of FFT data obtained by performing the range FFT analysis; wherein the linear prediction includes at least one of the following: forward prediction expansion and backward prediction expansion; wherein the forward prediction expansion refers to predicting a future signal by using existing sampling point information or the signal, and the backward prediction expansion refers to predicting a past signal by using existing sampling point information or the signal; performing second signal processing on the Nt×Nr2×M2 signals to obtain second processing data, wherein the second signal processing comprises range FFT analysis and Doppler FFT analysis; and performing velocity matching ambiguity resolution processing based on the first processing data and the second processing data. obtaining Nr1×M1 signals, wherein the Nr1×M1 signals are echo signals of M1 signals that are sent by a radar to a target in a single input multiple output SIMO mode, the SIMO mode corresponds to one transmit channel and Nr1 receive channels, and Nr1 and M1 are integers greater than 1; obtaining Nt×Nr2×M2 signals, wherein the Nt×Nr2×M2 signals are echo signals of M2 signals that are sent by the radar to the target in a multiple input multiple output MIMO mode, the MIMO mode corresponds to Nt transmit channels and Nr2 receive channels, and Nt, Nr2, and M2 are integers greater than 1; characterized by a time interval between a start moment for sending the M1 signals in the SIMO mode and a start moment for sending the M2 signals in the MIMO mode being less than a preset value; performing first signal processing on the Nr1×M1 signals to obtain first processing data, wherein the first signal processing comprises sequentially performing the following processing: range fast Fourier transform, FFT analysis, linear prediction, and Doppler FFT analysis, and the linear prediction is used to predict FFT data before or after a time domain of FFT data obtained by performing the range FFT analysis; wherein the linear prediction includes at least one of the following: forward prediction expansion and backward prediction expansion; wherein the forward prediction expansion refers to predicting a future signal by using existing sampling point information or the signal, and the backward prediction expansion refers to predicting a past signal by using existing sampling point information or the signal; performing second signal processing on the Nt×Nr2×M2 signals to obtain second processing data, wherein the second signal processing comprises range FFT analysis and Doppler FFT analysis; and performing velocity matching ambiguity resolution processing based on the first processing data and the second processing data.