Abstract: A vehicle radar system (3) which, for each one of a plurality of radar cycles, is arranged to, provide a measured azimuth angle (?m) and radial velocity (vdm) for a first plurality of detections (9, 20). For each one of the plurality of radar cycles, the radar system (3) is arranged to select one of these detections for each one of two velocity components (vx, vy) in a set of components (vx, vy, ax, ay; a) to be determined; select one detection from a second plurality of detections (9, 20) for each one of at least one corresponding acceleration component (ax, ay; a); calculate the components (vx, vy, ax, ay; a) for the selected detections; determine a calculated radial velocity (vdc) for each one of at least a part of the other detections in the first plurality of detections (9, 20) using the calculated components (vx, vy, ax, ay; a); determine an error between each calculated and measured radial velocity (vdc, vdm); and determine the number of inliers.

Abstract: A vehicle radar system (3) which, for each one of a plurality of radar cycles, is arranged to, provide a measured azimuth angle (?m) and radial velocity (vdm) for a first plurality of detections (9, 20). For each one of the plurality of radar cycles, the radar system (3) is arranged to select one of these detections for each one of two velocity components (vx, vy) in a set of components (vx, vy, ax, ay; a) to be determined; select one detection from a second plurality of detections (9, 20) for each one of at least one corresponding acceleration component (ax, ay; a); calculate the components (vx, vy, ax, ay; a) for the selected detections; determine a calculated radial velocity (vdc) for each one of at least a part of the other detections in the first plurality of detections (9, 20) using the calculated components (vx, vy, ax, ay; a); determine an error between each calculated and measured radial velocity (vdc, vdm); and determine the number of inliers.