This synthetic dataset is generated using Matlab automotive driving toolbox to simulate a 77GHz FMCW millimeter-wave radar sensing in the road scenario. Especially for the Doppler ambiguity case, when the object vehicles move within or out of the unambiguous detecable velocity range. The dataset contains in total 20 recordings with the duration of 1 second each. Both time-division modulation (TDM) and binary phase modulation (BPM) data are provided. Each recording consists of complex ADC raw data and complex range-Doppler map, together with the ground-truth range and velocity.