A radar system is disclosed that provides joint object detection and communication capabilities. The radar system includes a communication signal generator that provides a communication signal, a pre-distortion module that applies a pre-distortion to the communication signal to provide a pre-distorted communication signal, a linear frequency modulation (LFM) signal generator that provides a LFM signal, and a mixer that mixes the pre-distorted communication signal onto the LFM signal to provide a radar signal to be transmitted by the radar system. The radar system further includes an all-pass filter that filters a plurality of de-ramped reflected images of the radar signal to provide a filtered signal. Each de-ramped reflected image includes an associated image of the pre-distorted communication signal. The all-pass filter provides a linear group delay, and a non-linear phase response. The pre-distortion is an inverse of the non-linear phase response of the all-pass filter.