Method and processor for determining spatial information regarding a vehicle

A method of determining spatial information regarding a vehicle, the method comprising:

• receiving at least one initial frame of frequency modulated continuous wave (FMCW) radar data, wherein the at least one initial frame includes spatial information regarding said vehicle associated with a radar signal reflected back from said vehicle via a surface of at least one stationary object other than said vehicle;
• receiving at least one further frame of frequency modulated continuous wave (FMCW) radar data, wherein the at least one further frame includes:
• spatial information regarding said vehicle associated with a radar signal reflected back from said vehicle via the surface of at least one stationary object other than said vehicle, and
• spatial information regarding said vehicle associated with a radar signal reflected directly back from the vehicle;
• and
• using the at least one initial frame of radar data to correct for static clutter associated with the at least one stationary object in the at least one further frame of radar data.