A method of determining the yaw rate ω̂ t, the hat indicating estimated values, of a target vehicle in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit, the method comprising: a) emitting a radar signal at a single time-point instance and determining, from a plurality m of point radar detections measurements captured from said target vehicle by said radar sensor unit in a single radar measurement instance, the values for each point detection of range, azimuth and range rate [ r i, θ i, ṙ i], i=1,..., m; b) calculating in a sensor coordinate system, scs, using a Least Square method, the values c̃ t,scs and s̃ t,scs, Least Square solutions being denoted with a tilde, of the longitudinal and lateral components (ct, st) of the range rate equation of the target from the results (ṙ i,, θ i) of step a); where the range rate equation is r ̇ i, cmp = cos θ i sin θ i c t s t where ṙ i,cmp = ṙ i + u s cos θ i + v s sin θ i, u s is the sensor unit or host vehicle longitudinal velocity and v s is the sensor unit or host vehicle lateral velocity; c) determining the orientation angle of the target γ t,scs; d) determining the center of the target ( x t,c,scs, y t,c,scs) from the results ( r i, θ i) of step a); e) determining, from the results of steps c) and d), a line l PH passing through the center of the target ( x t,c,scs, y t,c,scs) and defined by the equation: y = − 1 tan γ t, scs x + 1 tan γ t, scs x t, c, scs + y t, c, scs = a 1 x + a 0; f) determining a line l CA passing through the center of rotation of said target and the position of radar sensor unit of said vehicle; from the steps of b), wherein said line l CA is determined and defined from the following equation y = − s ̃ t, scs c ̃ t, scs x = b 1 x + b 0; g) determining the intersection point of the lines l CA and l PH from steps e) and f) wherein the intersection point is the position of the center of rotation [x̂ t,COR,scs, ŷ t,COR,scs] of the target, h) estimating the yaw rate ω̂ t based on the position of the centre of rotation found in step g) and based on the components c t or s t of range rate equation of the target of step b), where the yaw rate is determined from the following equations: ω ^ t = s ̃ t, scs − x ^ t, COR, scs or ω ^ t = c ̃ t, scs y ^ t, COR, scs. a) emitting a radar signal at a single time-point instance and determining, from a plurality m of point radar detections measurements captured from said target vehicle by said radar sensor unit in a single radar measurement instance, the values for each point detection of range, azimuth and range rate [ r i, θ i, ṙ i], i=1,..., m; b) calculating in a sensor coordinate system, scs, using a Least Square method, the values c̃ t,scs and s̃ t,scs, Least Square solutions being denoted with a tilde, of the longitudinal and lateral components (ct, st) of the range rate equation of the target from the results (ṙ i,, θ i) of step a); where the range rate equation is r ̇ i, cmp = cos θ i sin θ i c t s t where ṙ i,cmp = ṙ i + u s cos θ i + v s sin θ i, u s is the sensor unit or host vehicle longitudinal velocity and v s is the sensor unit or host vehicle lateral velocity; c) determining the orientation angle of the target γ t,scs; d) determining the center of the target ( x t,c,scs, y t,c,scs) from the results ( r i, θ i) of step a); e) determining, from the results of steps c) and d), a line l PH passing through the center of the target ( x t,c,scs, y t,c,scs) and defined by the equation: y = − 1 tan γ t, scs x + 1 tan γ t, scs x t, c, scs + y t, c, scs = a 1 x + a 0; f) determining a line l CA passing through the center of rotation of said target and the position of radar sensor unit of said vehicle; from the steps of b), wherein said line l CA is determined and defined from the following equation y = − s ̃ t, scs c ̃ t, scs x = b 1 x + b 0; g) determining the intersection point of the lines l CA and l PH from steps e) and f) wherein the intersection point is the position of the center of rotation [x̂ t,COR,scs, ŷ t,COR,scs] of the target, h) estimating the yaw rate ω̂ t based on the position of the centre of rotation found in step g) and based on the components c t or s t of range rate equation of the target of step b), where the yaw rate is determined from the following equations: ω ^ t = s ̃ t, scs − x ^ t, COR, scs or ω ^ t = c ̃ t, scs y ^ t, COR, scs.