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In this paper, a novel scheme of generating terahertz radiation is proposed, which considers a relativistic electron beam being modulated by its self-excited plasma wakefield in a plasma-filled slow-wave structure (SWS). Both the dispersion relation and the particle-in-cell simulation show that the self-modulation of the beam can act as a mode-selection method to excite the high-harmonics of the SWS and generate terahertz electromagnetic radiation. The present work gives a new thought for researching high-power and tunable terahertz sources.