A radar sensing system for a vehicle includes a transmitter, a receiver, a memory, and a processor. The transmitter transmits a radio signal and the receiver receives a reflected radio signal. The processor samples reflected radio signals during a plurality of time slices. The processor produces samples by correlating reflected radio signals to time-delayed replicas of transmitted radio signals. The processor accumulates the time slices into a first radar data cube (RDC) and selectively processes a portion of the first RDC to produce a first partial Doppler output. The processor produces samples during a second scan and accumulates time slices into a second RDC, and then selectively processes a portion of the second RDC to produce a second partial Doppler output. The processor numerically accumulates the first and second partial Doppler outputs to create a full Doppler output and stores the full Doppler output in memory.