This document describes techniques, apparatuses, and systems for a parameter defined stepped frequency waveform for a radar system. A radar system transmits radar transmit signals including a parameter defined stepped frequency waveform with a specific change in frequency between chirps. The specified change in frequency may increase the signal to noise ratio of radar receive signals reflected off an object in the field of view. The radar receive signals may then be transformed into the frequency domain to determine a range and range rate of the object in the field of view. The range and range rate determined from the representation of the radar receive signals in the frequency domain may be output to a radar tracker to enable tracking of the object in the field of view. In doing so, accurate radar tracks may be generated that robustly track objects in the field of view of the radar system.

In accordance with an embodiment, a method includes: determining, based on radar data, whether a moving object is present in a field of view (FoV) of a radar sensor; determining, based on the radar data, a range of the moving object in response to determining that the moving object is present in the FoV; and activating a radar target function based on the range of the moving object

A radar apparatus includes a first radar circuit to which a first array antenna is connected, and a second radar circuit to which a second array antenna is connected. The first array antenna and the second array antenna are arranged on a two-dimensional plane formed by a first axis and a second axis. The second array antenna includes a plurality of second antenna lines, with each including a plurality of second antennas. Adjacent second antennas of the plurality of second antennas are spaced at a first interval in the first axis direction and a second interval in the second axis direction, with all of the plurality of second antennas having different positions in the first direction. Moreover, the first array antenna includes two first antenna lines arranged at different positions in the second direction, with each including a plurality of first antennas.