Abstract: Disclosed herein are a method and apparatus for detecting a surrounding environment based on a Continuous Wave (CW) radar sensing signal and a Frequency-Modulated Continuous Wave (FMCW) radar sensing signal. A method of detecting a target based on a Frequency-Modulated Continuous Wave (FMCW) radar sensing signal and a Continuous Wave (CW) radar sensing signal may include sending, by a radar, the CW radar sensing signal for detecting the target and receiving a first response signal that is a response to the CW radar sensing signal; sending, by the radar, the FMCW radar sensing signal for detecting the target and receiving a second response signal that is a response to the FMCW radar sensing signal; generating, by the radar, the frequency spectrum of a beat signal by performing signal processing on the first response signal and the second response signal.