A method of resolving a phase ambiguity between subarrays in a virtual array of a time-division multiplexing, TDM, multiple-input multiple-output, MIMO, frequency-modulated continuous-wave, FMCW, radar, wherein the TDM MIMO FMCW radar comprises an array of physical receivers including at least one row of physical receivers with a first spacing ( L 1) in a first direction, and further comprises a plurality of physical transmitters arranged with a second spacing ( L 2) in said first direction, wherein each of the subarrays in the virtual array is generated by a combination of the array of physical receivers and one of the physical transmitters, the method comprising: obtaining a virtual array signal of a range-Doppler bin relating to a scene with a moving object, each element of the virtual array signal corresponding to one virtual antenna element of the virtual array; compensating a velocity-induced phase shift of the virtual array signal using a phase compensation method, which introduces a phase ambiguity between the subarrays if the moving object's velocity exceeds a threshold, thereby obtaining a compensated virtual array signal; for each of a plurality of the subarrays, computing a frequency spectrum of those elements of the compensated virtual array signal which correspond to consecutive virtual antenna elements generated by physical receivers belonging to the same row; identifying, jointly for the frequency spectra of said plurality of the subarrays, an amplitude-peak frequency; determining a residual phase shift between a pair of the subarrays within said plurality of subarrays by comparing, at the amplitude-peak frequency, respective phases of the frequency spectra; and applying an inverse of the residual phase shift to the compensated virtual array signal. wherein the TDM MIMO FMCW radar comprises an array of physical receivers including at least one row of physical receivers with a first spacing ( L 1) in a first direction, and further comprises a plurality of physical transmitters arranged with a second spacing ( L 2) in said first direction, wherein each of the subarrays in the virtual array is generated by a combination of the array of physical receivers and one of the physical transmitters, the method comprising: obtaining a virtual array signal of a range-Doppler bin relating to a scene with a moving object, each element of the virtual array signal corresponding to one virtual antenna element of the virtual array; compensating a velocity-induced phase shift of the virtual array signal using a phase compensation method, which introduces a phase ambiguity between the subarrays if the moving object's velocity exceeds a threshold, thereby obtaining a compensated virtual array signal; for each of a plurality of the subarrays, computing a frequency spectrum of those elements of the compensated virtual array signal which correspond to consecutive virtual antenna elements generated by physical receivers belonging to the same row; identifying, jointly for the frequency spectra of said plurality of the subarrays, an amplitude-peak frequency; determining a residual phase shift between a pair of the subarrays within said plurality of subarrays by comparing, at the amplitude-peak frequency, respective phases of the frequency spectra; and applying an inverse of the residual phase shift to the compensated virtual array signal. obtaining a virtual array signal of a range-Doppler bin relating to a scene with a moving object, each element of the virtual array signal corresponding to one virtual antenna element of the virtual array; compensating a velocity-induced phase shift of the virtual array signal using a phase compensation method, which introduces a phase ambiguity between the subarrays if the moving object's velocity exceeds a threshold, thereby obtaining a compensated virtual array signal; for each of a plurality of the subarrays, computing a frequency spectrum of those elements of the compensated virtual array signal which correspond to consecutive virtual antenna elements generated by physical receivers belonging to the same row; identifying, jointly for the frequency spectra of said plurality of the subarrays, an amplitude-peak frequency; determining a residual phase shift between a pair of the subarrays within said plurality of subarrays by comparing, at the amplitude-peak frequency, respective phases of the frequency spectra; and applying an inverse of the residual phase shift to the compensated virtual array signal.