A radar system comprising: a frequency selector configured to: select a transmission frequency spectrum of a radar signal; and cause a transmitter to transmit the radar signal using the transmission frequency spectrum; an antenna array having at least three antenna elements, the antenna array configured to receive the radar signal using the at least three antenna elements; a digital beamformer configured to generate, based on the received radar signal, a spatial response across a field of view, the spatial response including an amplitude response and a phase response; and an angle estimator configured to: analyze a shape of the amplitude response and a shape of the phase response to identify a characteristic of the shape of the amplitude response and another characteristic of the shape of the phase response, said characteristic comprising: a peak roll-off, a null-shape, an angle associated with peaks or nulls, or an asymmetrical form, the shape of the amplitude response having at least two peaks within the field of view, the at least two peaks being associated with an angular ambiguity; and resolve, based on the characteristic of the shape of the spatial response, the angular ambiguity to determine an angle of arrival of the radar signal to estimate an angular position of a target that reflected the radar signal. a frequency selector configured to: select a transmission frequency spectrum of a radar signal; and cause a transmitter to transmit the radar signal using the transmission frequency spectrum; select a transmission frequency spectrum of a radar signal; and cause a transmitter to transmit the radar signal using the transmission frequency spectrum; an antenna array having at least three antenna elements, the antenna array configured to receive the radar signal using the at least three antenna elements; a digital beamformer configured to generate, based on the received radar signal, a spatial response across a field of view, the spatial response including an amplitude response and a phase response; and an angle estimator configured to: analyze a shape of the amplitude response and a shape of the phase response to identify a characteristic of the shape of the amplitude response and another characteristic of the shape of the phase response, said characteristic comprising: a peak roll-off, a null-shape, an angle associated with peaks or nulls, or an asymmetrical form, the shape of the amplitude response having at least two peaks within the field of view, the at least two peaks being associated with an angular ambiguity; and resolve, based on the characteristic of the shape of the spatial response, the angular ambiguity to determine an angle of arrival of the radar signal to estimate an angular position of a target that reflected the radar signal. analyze a shape of the amplitude response and a shape of the phase response to identify a characteristic of the shape of the amplitude response and another characteristic of the shape of the phase response, said characteristic comprising: a peak roll-off, a null-shape, an angle associated with peaks or nulls, or an asymmetrical form, the shape of the amplitude response having at least two peaks within the field of view, the at least two peaks being associated with an angular ambiguity; and resolve, based on the characteristic of the shape of the spatial response, the angular ambiguity to determine an angle of arrival of the radar signal to estimate an angular position of a target that reflected the radar signal. <EOS>