In this paper, we proposed an automotive radar signal processing scheme for target detection, tracking, and classification. The target detection part consists of range-processing, moving target indication using the coherent phase difference method, Doppler-processing, digital beam forming, and hit decisions to determine the moving target and strong stationary targets. To delete ghost targets and compensate for missing targets, we design the target tracking stage to include clustering, data association, track management, and a track filter. Finally, the target classification stage selects the range-, velocity-, and angle-ROIs (Regions Of Interest) based on the output from the target track aspect, and analyzes the 3D profiles extracted during the target detection stage. In the experimental results, we verify the proposed radar signal processing scheme using a 24 GHz FMCW transceiver with a single antenna.