A method for determining speed of a target, the method being performed by a frequency-modulated continuous-wave, FMCW, vehicular radar device, comprising the steps of: acquiring a block of a ramped radar detection signal of a target; performing a range frequency transformation on each ramp of the ramped radar detection signal, thereby producing a set of range gates; performing a first Doppler frequency transformation on each range gate and across each ramp, thereby producing a first set of Doppler range bins; introducing a time delay for each range gate, thereby producing a set of time delayed range gates; performing a second Doppler frequency transformation on each time delayed range gate and across each ramp, thereby producing a second set of Doppler range bins; and determining the speed of the target by, for said block, measuring a difference between the first set of Doppler range bins and the second set of Doppler range bins, characterized in that, during the step of determining: comparing (S112a) similarity across a sequence of increasing values of said time delay of said set of range gates and said set of time delayed range gates between the first set of Doppler range bins and the second set of Doppler range bins; associating (S112b) said comparing at each time delay value with a value of a cost function; and determining (S112c) the speed of the target based on the time delay associated with a minimum value of the cost function. acquiring a block of a ramped radar detection signal of a target; performing a range frequency transformation on each ramp of the ramped radar detection signal, thereby producing a set of range gates; performing a first Doppler frequency transformation on each range gate and across each ramp, thereby producing a first set of Doppler range bins; introducing a time delay for each range gate, thereby producing a set of time delayed range gates; performing a second Doppler frequency transformation on each time delayed range gate and across each ramp, thereby producing a second set of Doppler range bins; and determining the speed of the target by, for said block, measuring a difference between the first set of Doppler range bins and the second set of Doppler range bins, characterized in that, during the step of determining: comparing (S112a) similarity across a sequence of increasing values of said time delay of said set of range gates and said set of time delayed range gates between the first set of Doppler range bins and the second set of Doppler range bins; associating (S112b) said comparing at each time delay value with a value of a cost function; and determining (S112c) the speed of the target based on the time delay associated with a minimum value of the cost function. comparing (S112a) similarity across a sequence of increasing values of said time delay of said set of range gates and said set of time delayed range gates between the first set of Doppler range bins and the second set of Doppler range bins; associating (S112b) said comparing at each time delay value with a value of a cost function; and determining (S112c) the speed of the target based on the time delay associated with a minimum value of the cost function.