A pulse signal transmitting/receiving device is provided. The device includes a signal generating module for generating a transmitting signal including an amplitude-modulated chirp signal, and a reference signal including a chirp signal having a frequency that changes similarly to that of the transmitting signal, a transmitting module for transmitting a pulse having approximately the same waveform as that of the transmitting signal, a receiving module for receiving an echo signal that is the transmitting pulse reflected from a detection target object, a compensating module for extending a dynamic range of the echo signal received by the receiving module, and a pulse compressing module for outputting a pulse-compressed echo signal, wherein the pulse compression is performed by a correlation calculation between the echo signal having the dynamic range extended by the compensating module, and the reference signal.