The disclosed systems, structures, and methods are directed to an object detection system, employing a receiver configured to receive a signal reflected from an object, an analog-to-digital converter (ADC) configured to convert the received signal into a digital signal, a pre-processor configured to improve a signal-to-noise (SNR) of the digital signal and to generate a pre-processed signal corresponding to the digital signal, a parameter extractor configured to calculate a number of reference cells M and a multiplication factor K0, and a Constant False Alarm Rate (CFAR) processor configured to analyze a cell-under-test (CUT) and M reference cells in accordance with the number of reference cells M and the multiplication factor K0 to detect the presence of the object.