The present disclosure relates to a vehicle environment detection system (2) that comprises at least one radar sensor arrangement (3) and at least one processing unit (4), where the radar sensor arrangement (3) is arranged to detect at least two radar detections ( 9, 10, 11) during at least two radar cycles. For each radar cycle, a detection list (I) comprising range (ri), azimuth angle () and Doppler velocity (vi) is generated for each one of said radar detections (9, 10, 11). Detection lists (I) from said radar cycles are aggregated and stored in a detection memory (12), and then the radar detections (9, 10, 11) in the detection lists (I) are grouped into consistently moving motion subsets (40, 41, 42) that each corresponds to a certain target object ( 6, 7, 8). A motion model of each target object (6, 7, 8) relative to the radar sensor arrangement (3) is determined, enabling an inverse SAR technique to be applied to the already received and stored radar signals such that a syntheticaperture view is obtained.