An FMCW radar waveform design based on stretch procesing is described. Transmit (TX) and Receive (RX) functions are separated in time. A single antenna with no isolation problems can be used. A rigorous analysis of coherent processing is presented. Advantages and disadvantages are discussed. Compared to Pulsed Doppler Radar (PDR) this waveform has significant LPI properties. A generic design example is also given. © 2012 EUROPEAN MICROWAVE ASSOC.