A detection method implementing an FMCW waveform is provided, the emitted waveform is formed of a recurring pattern of given period Tr covering an emission frequency band of given width B, each pattern being divided into a given number P of sub-patterns of duration Tr/P covering an excursion frequency band ΔF=B/P, the sub-patterns being mutually spaced by a frequency interval equal to ΔF. The radar performs: a first distance-compression processing operation carrying out a low-resolution distance compression at the scale of each recurring pattern on a fraction B/P of the emission band of width B corresponding to the frequency band covered by each of the sub-patterns; a Doppler processing operation on a given number N of successive recurrences so as to form P ambiguous distance-Doppler maps of low distance resolution, the maps being segmented into various speed domains; a second distance-compression processing operation of resolution that differs depending on the speed domain to which the relative speed of the target with respect to the radar belongs.