Example embodiments relate to techniques for implementing
radar waveform diversity. A technique may involve a
radar unit transmitting
radar signals into an environment of a vehicle based on a code sequence that indicates a ramp direction and a phase shift for each pulse in a pulse used by the radar unit and receiving radar reflections from the environment. In some instances, the radar unit may leverage antennas in a
multiple input multiple output (
MIMO) arrangement to further add diversity to transmissions according to
spatial code in the code sequence. The technique can further involve using a demodulator to map the environment based on the radar reflections and controlling the vehicle based on the mapping. In some instances, the code sequence is received from a
system that is wirelessly providing orthogonal code sequences to multiple emitters.