A vehicle radar system comprising at least one transceiver arrangement arranged to generate and transmit two FMCW, Frequency Modulated Continuous Wave, chirp signals comprising corresponding frequency ramps, where the vehicle radar system comprises at least two transmitter antenna arrangements and at least one receiver antenna arrangement (13a 13b, 13c, 13d) arranged to receive signals reflected from an object , where at least one transmitter antenna arrangement is arranged to be activated to transmit a first chirp signal at first times (t 1(n) ) and at least one other spatially separated transmitter antenna arrangement is arranged to be activated to transmit a second chirp signal at second times (t 2(n) ), the transmitter antenna arrangements being activated in an interleaved and repeated manner such that a synthetic aperture is obtained for the received signals , where said transceiver arrangement is arranged to: - mix the received signals with the respective transmitted chirp signal to obtain at least one IF, Intermediate Frequency, signal ; - convert said IF signals to digital signals ; - convert the digital signals to a range domain by means of a first FFT, Fast Fourier Transform; and to - combine the results from successive chirp signal frequency ramps into the Doppler domain by means of a second FFT, such that a plurality of Range-Doppler matrices is obtained characterized in that the vehicle radar system further is arranged to calculate: - a first velocity compensation factor V C1 for object movement from measured speed according to: V c 1 = 4 ⋅ π ⋅ v target ⋅ t r + t D λ , where v target is the object's speed, t r is the duration time for a frequency ramp and t D is a delay time between two consecutive frequency ramps; and - a second velocity compensation factor V C2 for object movement from measured speed according to: V c 2 = 4 ⋅ π ⋅ v target ⋅ t r + t D λ + π , where the two different velocity compensation factors V C1 , V C2 result in two different combinations of the chirp signals , which in turn results in two possible azimuth angles, where the vehicle radar system further is arranged to choose the azimuth angle that has the highest signal integration gain. - mix the received signals with the respective transmitted chirp signal to obtain at least one IF, Intermediate Frequency, signal ; - convert said IF signals to digital signals ; - convert the digital signals to a range domain by means of a first FFT, Fast Fourier Transform; and to - combine the results from successive chirp signal frequency ramps into the Doppler domain by means of a second FFT, such that a plurality of Range-Doppler matrices is obtained - a first velocity compensation factor V C1 for object movement from measured speed according to: V c 1 = 4 ⋅ π ⋅ v target ⋅ t r + t D λ , where v target is the object's speed, t r is the duration time for a frequency ramp and t D is a delay time between two consecutive frequency ramps; and - a second velocity compensation factor V C2 for object movement from measured speed according to: V c 2 = 4 ⋅ π ⋅ v target ⋅ t r + t D λ + π , where the two different velocity compensation factors V C1 , V C2 result in two different combinations of the chirp signals , which in turn results in two possible azimuth angles, where the vehicle radar system further is arranged to choose the azimuth angle that has the highest signal integration gain. <EOS>