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An FPGA implemented signal processing algorithm to determine the range and velocity of targets using a MEMS based FMCW 77 GHz long range automotive radar has been presented. The MEMS radar uses two MEMS SP3T RF switches, two microfabricated Rotman lenses and two microstrip antenna arrays in addition to other microelectronic components to realize a directional beam that can scan the target area with a 6.8 ms cycle time. By sequencing the FMCW signal through the 3 beamport of the Rotman lens, the beam can be steered by ±4 degrees. The developed signal processing and control algorithm has been implanted in a Xilinx Virtex 5 FPGA. A worst case range accuracy of ±0.25m and velocity accuracy of ±0.83 m/s has been achieved which is better than the state-of-the art Bosch LRR3 radar sensor.