Abstract: A method and system of determining a relative radial velocity of a radar target by operating a radar sensor having a plurality of multiplexed transmission channels, wherein modulated transmission signals are sent in repeated multiplex sequences in which the transmission signals sent in different transmission channels have a predetermined spread in at least one of a time, frequency, and phase domain, and the velocity of the target is inferred from a Doppler-induced phase progression of the received signals, the method including the steps of: switching between at least two multiplex sequences which differ in the spread between the transmission channels and thereby induce different phase progressions; and inferring the velocity of the target from the differences between said phase progressions.