Driving a vehicle in heavy traffic and maintaining a safe distance from the preceding vehicle is always a difficult task. A small fault can lead to accidents and traffic jam in the current city traffic scenarios. The effort and stress of the driver are safe driving is much more. This issue can be easily solved using the adaptive cruise control (ACC). With the help of automatic speed control of the vehicle, the ACC helps to maintain safer distance between two vehicles. This is possible through the Radar technology for the target detection. In this work, we have used 77 GHz FMCW waveform for the range and velocity detection of the target. The radar is generally installed on the front side of the car. This radar can detect any possible target within its maximum range in the proposed scenario. In this proposed work, we have created 5 different target objects with varying velocities and ranges for scenario simulation. Also, the range velocity estimated by the proposed method is discussed with the help of Range-Doppler Map. The pros and cons of FMCW radar are discussed with the help of simulation results.