one or more antennas configured to transmit and receive FMCW radar wave signals for scanning for objects within a full circular detection coverage range; and

processing circuitry configured to provide scan data based on transmitted and received FMCW radar signals and azimuth position of the antenna(s), and to generate radar plots based on obtained scan data; wherein

the processing circuitry is configured to:

provide scan data representing range cells within image lines of circular radar images, where each radar image holds a number of image lines defining a full circular radar image, with each image line corresponding to an azimuth orientation, and where each image line holds a number of range cells, with each range cell corresponding to a distance to the radar antenna(s), and wherein an object, which is detected within an azimuth orientation and range to the radar antenna(s), is represented by a number of hit range cells in one or more image lines, and wherein each hit range cell holds data for energy of returned signal(s) and data for radial velocity or velocities based on Doppler frequency signals, said scan data thereby for each hit range cell holding information of range, azimuth orientation, energy of returned radar wave signals, and radial velocity or velocities of a detected object; wherein:

the processing circuitry is further configured to:

generate first type radar plots for detected objects based on obtained scan data, where each first type radar plot is based on data from a number of neighboring hit range cells within one or more image lines of a first full circular radar image, each said first type radar plot holding range, radial velocity and return energy data for one or more detected objects;

generate second type radar plots for detected objects based on obtained scan data, where each second type radar plot is based on data from a number of neighboring hit range cells within one or more image lines of said first full circular radar image, each said second type radar plot holding azimuth, range and return energy data for one or more detected objects; and

generate full data type radar plots by combining first and second type radar plots having corresponding range data, each said full data type radar plot thereby holding azimuth, range, radial velocity and return energy data for one or more detected objects.