Aiming at solving the distance and velocity decouple problem for moving target in Linear FMCW (LFMCW) radar signal processing, a multiple repetition frequency waveform is adopted and a Doppler frequency cluster (DFS) algorithm is proposed, which is capable of recovering true velocity from the coupled velocity estimation directly. Aiming at solving resolution of multiple targets, a match algorithm based on mean square error is also proposed. The combination of the above two methods realizes distance and velocity decoupling for multiple moving targets. The result of simulation verified the effectiveness of the methods, the velocity estimate performance of DFS algorithm improve 2.5dB contrast to Chinese remainder theorem.