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According to the research status and existing problems of automotive radar, an automotive radar system implementation scheme based on MFSK(multi frequency shift keying) waveform is studied in this paper. The target measurement principle of the system is analyzed in detail, the hardware structure of the system and the implementation process of the FPGA algorithm are introduced too. The algorithm combines all phase FFT and improved CA-CFAR(cell-averaging constant false alarm) algorithm to ensure the measurement accuracy of the system. The experimental results show that the system has high measurement precision, it can achieve the non fuzzy target measurement, and the system runs stably.