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A frequency-modulated continuous-wave (FMCW) radar system with a planar phased array based on antenna switching is considered. The radar system consists of N1 linear antenna arrays where each linear antenna array consists of N2 receiving antennas. In each cycle, the receiving antennas on each linear antenna array are switched to the single receiving channel in turn from the first antenna to the N2th antenna. An accurate and detailed system model for the radar system is addressed. The Cramer-Rao lower bound (CRLB) analysis on the accuracy of estimating the azimuth angle, elevation angle, velocity, and range using the radar system is presented.