Disclosed are techniques for non-line-of-sight (NLOS) target detection. In an aspect, a source vehicle receives, from a roadside unit (RSU), a notification that the RSU is capable of repeating radar signals transmitted by the source vehicle in NLOS directions from the source vehicle, receives, from an active radar repeater associated with the RSU, radar signals for a radar beam sweep in at least one NLOS direction from the source vehicle, receives an angle of each beam of the radar beam sweep, and performs target object detection based on the radar signals for the at least one NLOS direction and the angle of each beam of the radar beam sweep. Example architectures for the active radar repeater are also disclosed.