A vehicle radar for environmental detection

A vehicle FMCW, Doppler radar system comprising, a transmitter arrangement, a receiver arrangement and at least one control unit, the radar system being adapted to be mounted in a vehicle, where the transmitter arrangement includes a transmitter antenna arrangement for transmitting a transmitted signal, and the receiver arrangement includes a receiver antenna arrangement arranged for receiving a reflected signal, the radar system being arranged to obtain a plurality of measure results from a plurality of reflected signals along a main field of view during at least two radar cycles where each of the radar cycles forms a plurality of FMCW ramps, for each of the radar cycles, the control unit is arranged to form a spectrum density map from a plurality of measuring points along the main field of view, where the control unit is configured to combine at least two of the spectrum density maps to form a combined spectrum density map.