Abstract: Linear frequency modulated continuous wave (LFMCW) vehicle radars usually adopts multiple input multiple output (MIMO) virtual aperture angle measurement method. Traditional methods split velocity ambiguity resolution and angle estimation in two frames for further processing, causing the reduction of radar data rate. In this paper, a new method is proposed to solve this problem. This method uses the Time division multiplexing (TDM) approach to transmit and process sawtooth signals with different slope. Only one frame signal is needed for the velocity ambiguity resolution and angle estimation by using phase compensation. Simulation and theoretical analysis show that the proposed method can reduce signal processing time and improve radar data rate, with high angle measurement accuracy obtained simultaneously.