Frequency modulated continuous wave (FMCW) radar has been widely applied in many fields. Modulated waveform is usually designed to solve the coupling problem of range and velocity in multi-target situation. A FMCW-FSK combined waveform is proposed in this work, which takes the advantages of FMCW waveform and FSK waveform. Compared to the FMCW waveform and FSK waveform, this method can reduce the ghost targets and the missed targets furthest with minor error and less calculation cost.