A continuous-wave radar detection method, characterised in that the propagation delay for a useful target located within the maximum radar range is greater than the duration of an elementary ramp, said method comprising at least the following steps: - generating a frequency modulated continuous signal, an emission sequence being formed by successive and contiguous ramps, of excursion ΔF and of duration Tr, centred on a carrier frequency F1, the excursion band ΔF and the duration Tr being fixed so that at the limit of the range (D max) the received ramp appears shifted by at least one given frequency relative to the emitted ramp; - simultaneously and continuously receiving an echo, from at least one target, corresponding to the emitted signal, delayed by a return-trip propagation time to said target kTr + θ, with k being an integer and θ being a duration lower than Tr; - demodulating the received signal by the emitted signal, the resulting signal being made up of, for each emission ramp, a first sinusoid section at the frequency δFdim = (1 - (θ / Tr)).ΔF and a second sinusoid section at the frequency δFd = (θ /Tr).ΔF; - sampling on each ramp, continuously and synchronously with the emission signal, the resulting signal (51, 52), the start and the end of each sampling sequence being respectively selected at the start and at the end of each emission ramp; - carrying out a first digital Fourier transform, called FFT, on the distance axis on said resulting signal, on each sequence corresponding to the duration of an emission ramp; - carrying out the vector sum of the two lines (61, 62) that appear at the frequencies δFd and δFdim at the output of the FFT, after phase resetting one relative to the other; - carrying out a detection by comparing the modulus of the vector sum with a predetermined threshold. - generating a frequency modulated continuous signal, an emission sequence being formed by successive and contiguous ramps, of excursion ΔF and of duration Tr, centred on a carrier frequency F1, the excursion band ΔF and the duration Tr being fixed so that at the limit of the range (D max) the received ramp appears shifted by at least one given frequency relative to the emitted ramp; - simultaneously and continuously receiving an echo, from at least one target, corresponding to the emitted signal, delayed by a return-trip propagation time to said target kTr + θ, with k being an integer and θ being a duration lower than Tr; - demodulating the received signal by the emitted signal, the resulting signal being made up of, for each emission ramp, a first sinusoid section at the frequency δFdim = (1 - (θ / Tr)).ΔF and a second sinusoid section at the frequency δFd = (θ /Tr).ΔF; - sampling on each ramp, continuously and synchronously with the emission signal, the resulting signal (51, 52), the start and the end of each sampling sequence being respectively selected at the start and at the end of each emission ramp; - carrying out a first digital Fourier transform, called FFT, on the distance axis on said resulting signal, on each sequence corresponding to the duration of an emission ramp; - carrying out the vector sum of the two lines (61, 62) that appear at the frequencies δFd and δFdim at the output of the FFT, after phase resetting one relative to the other; - carrying out a detection by comparing the modulus of the vector sum with a predetermined threshold.