Recently, radar sensors with four-dimensional (4D) high resolution are demanded for point cloud processing in automotive radar field. To achieve this goal, a large amount of transmit (TX) and receive (RX) channels are required for radar systems. Commonly, a monolithic microwave integrated circuits (MMIC) chip of an automotive radar has only 3 TX and 4 RX channels. The resolution is restricted by the limited number of transceiver (TRX) channels. Hence, in this paper, a compact and affordable two-chip cascaded frequency modulated continuous wave (FMCW) radar system is presented. Based on the multiple-input multiple-output (MIMO) technology and sparse array method, the proposed module can provide an angular resolution of 3.8 degrees in azimuth and 16 degrees in elevation. In order to demonstrate the designed system performance, further measurement is implemented in microwave anechoic chamber. The measured results show good accordance to the simulations.