This disclosure provides apparatuses and methods for detecting foreign objects. An apparatus for detecting a presence of an object comprises at least one radar antenna attached to a wirelessly chargeable vehicle. The at least one radar antenna is configured to transmit a radar signal into a space between a wireless power receiver of the vehicle and a wireless charger as the vehicle moves in a primary direction of movement of the vehicle and receive the radar signal. The apparatus further comprises a radar processing circuit configured to determine a presence of the object in the space based on at least one characteristic of the received radar signal. The radar processing circuit is further configured to provide an indication to receive power from the wireless charger based at least in part on the determining the presence of the object.