An FMCW radar system includes received signal processing arranged to apply multiple window functions in parallel to a received beat signal including at least one window function having a narrower main-lobe in its frequency response than at least one other window function and said at least one other window function having relatively higher side-lobe attenuation in its frequency response, transform the output of the multiple window functions from the time domain to the frequency domain, and combine the outputs of the transforms for further processing. Both narrow frequency resolution and thus good range discrimination, and also good side-lobe attenuation to avoid close interference are achieved.