A radar method for determining a velocity of an object, the method comprising: generating and sending two interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) towards an object, each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) having a common time spacing between respective chirps of the respective chirp sequence, and each chirp of one of the chirp sequences being offset by an amount of time (T 0 ) that is different than the common time spacing; receiving responsive chirps corresponding to reflections of the chirps of the two interleaved chirp sequences from the object; processing responsive chirps of each of the two interleaved chirp sequences independently from one another to produce respective Doppler-spectrum data sets; and calculating the velocity of the object based on the respective Doppler-spectrum data sets, characterized in that calculating the velocity of the object includes generating a direct estimate (V DM ) of the velocity of the object for each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) using the responsive chirps, and providing an indirect estimate of the velocity using a phase difference between the interleaved chirp sequences, the direct estimate being generated by separating the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) into even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2), calculating an FFT for each chirp sequence and detecting peaks in the FFTs for each chirp sequence, the indirect estimate being obtained from a phase difference between direct estimates for the even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2). generating and sending two interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) towards an object, each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) having a common time spacing between respective chirps of the respective chirp sequence, and each chirp of one of the chirp sequences being offset by an amount of time (T 0 ) that is different than the common time spacing; receiving responsive chirps corresponding to reflections of the chirps of the two interleaved chirp sequences from the object; processing responsive chirps of each of the two interleaved chirp sequences independently from one another to produce respective Doppler-spectrum data sets; and calculating the velocity of the object based on the respective Doppler-spectrum data sets, characterized in that calculating the velocity of the object includes generating a direct estimate (V DM ) of the velocity of the object for each of the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) using the responsive chirps, and providing an indirect estimate of the velocity using a phase difference between the interleaved chirp sequences, the direct estimate being generated by separating the interleaved chirp sequences (221-1, 221-2, 223-1, 223-2) into even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2), calculating an FFT for each chirp sequence and detecting peaks in the FFTs for each chirp sequence, the indirect estimate being obtained from a phase difference between direct estimates for the even-indexed chirps (221-1, 221-2) and odd-indexed chirps (223-1, 223-2). <EOS>