This study considers Golay pair waveform for estimating target parameters in the context of automotive radar operating at 77 GHz. We first provide our proposed scheme reception adapted to the new shaping of the Golay pair waveform that will be used in multipulse configuration as well as the input and the output of each block. Then, we analyze the performance of such waveform in terms of variance for target distance and relative velocity estimators in comparison with the standard Golay pair waveform. We check that the proposed waveform achieves good performance for a maximum SNR threshold of less than 15 dB.