A method of determining the yaw rate ({circumflex over (ω)}t) of a target vehicle in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements captured from said target vehicle by said radar sensor unit in said single radar measurement instance, the values for each point detection of range, azimuth and range rate; [ri, θi, {dot over (r)}i]; determining the values of the longitudinal and lateral components of the range rate equation of the target (ct, st) from the results ({dot over (r)}i, θi,) and the sensor unit or host vehicle longitudinal velocity and vs is the sensor unit or host vehicle lateral velocity; determining the orientation angle of the target (γt,scs); determining the target center (xt and yt) from the results (ri, θi); determining a line lPH perpendicular to the orientation of the target and passing through the center of the target (xt,c,scs, yt,c,scs); determining a line lCA passing through the center of rotation of said target and the position of radar sensor unit of said vehicle; determining the intersection point of the lines lCA and lPH being the position of the center of rotation [{circumflex over (x)}t,COR, ŷt,COR] of the target; h) estimating and yaw rate {circumflex over (ω)}t from the position of the center of rotation found in step f) and components of range rate equation of the target (ct or st) of step b).