This paper surveys the field of automotive radar and represents an expansion of a previous paper, "Automotive Radar-Problems and Promises" [1]. Both the roadside environment in which the car and driver operate and on-board physical environments in which the electronics must function are treated. Applications involving speed sensing, predictive crash sensing, obstacle detection, braking, and station keeping are addressed. Current radar system state of the art is reviewed. Considerations relating to target discrimination, weather penetration, and basic radar system parameters are covered. Modulation techniques for range determination are examined, and radar system configurations are discussed in an effort to identify the advantages and disadvantages of each. It is concluded that although considerable development work remains before radar becomes a practical automotive system, significant progress has been made.