Method for a radar sensor for motor vehicles, comprising an antenna arrangement having multiple antennas (10, 12) arranged in different positions in the horizontal direction, the method comprising the following steps: - determining, for respective evaluation channels (i) which correspond to different middle antenna positions ((0,y i)) of relevant bi-statically transmitting and receiving antennas (22, 10, 12), and for respective individual radar targets, a respective individual radial velocity (v r,i) - assigned to the respective evaluation channel (i) - of the respective radar target on the basis of signals obtained in respective evaluation channels (i) in a single measurement using a single transmission signal modulation cycle, the middle antenna positions ((0,y i)) of the respective evaluation channels (i) being different in one direction; - estimating, for the respective radar targets, a respective velocity ((v x, v y)) of the respective radar target, on the basis of the individual radial velocities (v r,i) of the radar target that have been determined in a single measurement of the radial velocity in the respective evaluation channels (i), wherein the velocity ((v x, v y)) includes information about a velocity (v x) in the forward direction relative to the radar sensor and a tangential velocity (v y) relative to the radar sensor; - determining, for the respective evaluation channels (i) and the respective individual radar targets, a respective individual aspect angle (Θ i) of the respective radar target, which aspect angle is assigned to the respective evaluation channel; wherein the step of estimating a respective velocity ((v x,v y)) of the respective radar target involves the velocity ((v x,v y)) of the respective radar target being estimated on the basis of the determined individual radial velocities (v r,i) of the radar target and on the basis of the determined individual aspect angles (Θ i) of the radar target; and - assigning radar targets as belonging to an extended radar object, depending at least on the estimated velocities ((v x,v y)) of the radar targets. - determining, for respective evaluation channels (i) which correspond to different middle antenna positions ((0,y i)) of relevant bi-statically transmitting and receiving antennas (22, 10, 12), and for respective individual radar targets, a respective individual radial velocity (v r,i) - assigned to the respective evaluation channel (i) - of the respective radar target on the basis of signals obtained in respective evaluation channels (i) in a single measurement using a single transmission signal modulation cycle, the middle antenna positions ((0,y i)) of the respective evaluation channels (i) being different in one direction; - estimating, for the respective radar targets, a respective velocity ((v x, v y)) of the respective radar target, on the basis of the individual radial velocities (v r,i) of the radar target that have been determined in a single measurement of the radial velocity in the respective evaluation channels (i), wherein the velocity ((v x, v y)) includes information about a velocity (v x) in the forward direction relative to the radar sensor and a tangential velocity (v y) relative to the radar sensor; - determining, for the respective evaluation channels (i) and the respective individual radar targets, a respective individual aspect angle (Θ i) of the respective radar target, which aspect angle is assigned to the respective evaluation channel; wherein the step of estimating a respective velocity ((v x,v y)) of the respective radar target involves the velocity ((v x,v y)) of the respective radar target being estimated on the basis of the determined individual radial velocities (v r,i) of the radar target and on the basis of the determined individual aspect angles (Θ i) of the radar target; and - assigning radar targets as belonging to an extended radar object, depending at least on the estimated velocities ((v x,v y)) of the radar targets.