A method and a radar sensor for transmitting frequency-modulated transmitted signals and receiving partial waves reflected by objects in the sensor detection range. A frequency shift of the received signal relative to the transmitted signal is determined for each object reflecting in each frequency ramp, it being possible to determine the relative speeds and the distances of the detected objects from the combination of frequency shifts of a plurality of ramps. The objects detected in preceding measurement cycles are stored in a memory, their relative speed and their distance being computed in advance for a future measurement cycle. The expected frequency shifts are determined and the frequency shifts of a plurality of ramps are combined in order to determine the relative speeds and the distances for objects that have not yet been stored in the memory.