A vehicular collision avoidance radar system using digital signal processing techniques including a transmit section (202) that generates a two channel transmit frequency. An antenna (210) both transmits the transmit signal and receives a reflected receive signal. A Schottky diode mixer (208) generates a difference signal having a frequency equal to the transmit frequency minus the receive frequency. A signal switch (304) in a front end electronics section (300) time demultiplexes and samples the channel 1 and channel 2 signals. The samples are coupled to a two-channel analog to digital (A/D) converter (310). A digital electronics section (500) receives the digital information and performs a Fast Fourier Transform (FFT) on each channel of digital data to determine relative speed and range of a target based upon the frequency and the difference in phase of the two channels. The digital electronics section also receives information regarding the status of vehicle operation and/or controls to determine the degree of danger presented by an identified target.