In this work, we consider the waveform design for radar systems based on orthogonal time-frequency space (OTFS). The conditional mutual information (CMI), chosen as a promising metric for assessing the radar cognitive capability, serves as the criterion for OTFS waveform design. After formulating the OTFS waveform design problem based on maximizing CMI, we propose an equivalent waveform processing approach by minimizing the autocorrelation sidelobes and cross-correlations (ASaCC) of the OTFS transmitting matrix. Simulation results demonstrate that superior performance in target information extraction is achieved by the optimized OTFS waveforms compared to random waveforms.