A radar method for determining a velocity of an object, the method comprising: generating and sending two interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) towards an object, each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) having a common time spacing between respective chirps of the respective chirp sequence, and each chirp of one of the chirp sequences being offset by an amount of time (T 0) that is different than the common time spacing; receiving responsive chirps corresponding to reflections of the chirps of the two interleaved chirp sequences from the object; processing responsive chirps of each of the two interleaved chirp sequences independently from one another to produce respective Doppler-spectrum data sets; and calculating the velocity of the object based on the respective Doppler-spectrum data sets, characterized in that calculating the velocity of the object includes generating a direct estimate (V DM) of the velocity of the object for each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) using the responsive chirps, and providing an indirect estimate of the velocity using a phase difference between the interleaved chirp sequences, the direct estimate being generated by separating the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) into even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2), calculating an FFT for each chirp sequence and detecting peaks in the FFTs for each chirp sequence, the indirect estimate being obtained from a phase difference between direct estimates for the even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2). generating and sending two interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) towards an object, each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) having a common time spacing between respective chirps of the respective chirp sequence, and each chirp of one of the chirp sequences being offset by an amount of time (T 0) that is different than the common time spacing; receiving responsive chirps corresponding to reflections of the chirps of the two interleaved chirp sequences from the object; processing responsive chirps of each of the two interleaved chirp sequences independently from one another to produce respective Doppler-spectrum data sets; and calculating the velocity of the object based on the respective Doppler-spectrum data sets, characterized in that calculating the velocity of the object includes generating a direct estimate (V DM) of the velocity of the object for each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) using the responsive chirps, and providing an indirect estimate of the velocity using a phase difference between the interleaved chirp sequences, the direct estimate being generated by separating the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) into even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2), calculating an FFT for each chirp sequence and detecting peaks in the FFTs for each chirp sequence, the indirect estimate being obtained from a phase difference between direct estimates for the even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2).