The ambiguity problem of targets in Doppler beam sharpening (DBS) with forward-looking radar is considered. While DBS is proposed earlier to improve the angular resolution of the radar while keeping the antenna aperture size limited, such a solution suffers from ambiguities in the case of targets positioned symmetrically with respect to the platform movement. To address this problem, an approach named unambiguous Doppler-based forwardlooking multiple-input multiple-output (MIMO) radar beam sharpening scan (UDFMBSC) is proposed, based on the combination of MIMO processing and DBS. The performance of the proposed method is compared to existing approaches using simulated data with point-like and extended targets. The method is successfully verified using experimental data. Index Terms-Beam scan, Doppler beam sharpening (DBS), forward-looking radar, multiple-input multiple-output (MIMO) radar processing. I. INTRODUCTION T HE success of autonomous vehicles strongly depends on their environment-sensing capabilities. Autonomous vehicles are equipped with multiple sensors, including radars, cameras, and lidars [1]. Among them, radar can provide accurate and direct measurements of the range, relative velocity, and angle of multiple targets; offer a long-range coverage of more than 200 m even in challenging weather or lighting conditions [2]; and be easily packaged behind the optically nontransparent fascia of the vehicle. Therefore, radar is typically used in current ADASs' tasks, such as adaptive cruise control (ACC) [3], forward collision avoidance (FCA) [4], lane-change assistance [5], or evasion assistance [6], and is considered one of the key technologies for next-generation autonomous vehicles [7].