Radar with virtual planar array (vpa) antenna

A radar sensor system, comprising:

• an antenna module configured to generate an array of real signal measurements, wherein the real signal measurements correspond to signals transmitted from first antennas arranged on the antenna module, reflected from an object in the environment, and received by second antennas arranged on the antenna module;
• and
• a virtual array (VA) estimation module configured to
• generate a VA including the real signal measurements and a plurality of virtual signal measurements, wherein the virtual signal measurements correspond to locations in the VA between the real signal measurements, and
• generate, based on the VA, detection data indicative of the object in the environment.