A vehicle environment detection system (2) that includes at least one radar sensor arrangement (3) and at least one processing unit (4), where the radar sensor arrangement (3) is arranged to detect at least two radar detections (9, 10, 11) during at least two radar cycles. For each radar cycle, the processing unit (4) generates a detection list ({Dit}t=t0, . . . ,t0−N) including range (ri), azimuth angle (φi) and Doppler velocity (vi) for each of the radar detections (9, 10, 11). The processing unit (4) is further arranged to aggregate and store detection lists ({Dit}t=t0, . . . ,t0−N) from the radar cycles in a detection memory (12), and then to group the radar detections (9, 10, 11) in the detection lists ({Dit}t=t0, . . . ,t0−N) into consistently moving motion subsets (40, 41, 42) in a segmentation procedure. Each motion subset (40, 41, 42) corresponds to a certain target object (6, 7, 8).