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77-GHz radars are becoming more and more important for automotive applications. In this contribution a 77-GHz frequency modulated continuous wave (FMCW) radar prototype is presented. The prototype is based on highly modular building blocks for both, the hardware as well as the software. This modular design offers an incredible flexibility for testing different components. The resolvability of multi target scenarios by a Kalman tracking filter is supported by using ramp sequences where each chirp has a different ramp slope. Measurements with the FMCW radar sensor are carried out in an automotive environment.