Abstract: A system and method to receive radar returns from objects in response to radar scans from a moving radar system, wherein the radar returns include Doppler shift, to adjust velocity indicated in each of the radar returns based on an azimuth of each radar return to generate a set of adjusted radar returns, to group the adjusted radar returns into groups based on the velocity indicated in each of the adjusted radar returns, each group having a predetermined minimum velocity value Vmin, a predetermined maximum velocity value Vmax, and a predetermined threshold velocity difference value between Vmin and Vmax, and to determine which of the objects are static objects based on determining which group has the highest number of adjusted radar returns. Vehicle speed and speed of other moving objects can be determined based on determining which objects are static.

Abstract: A system and method to receive radar returns from objects in response to a first radar scan, wherein the radar returns include Doppler shift, run a segmentation algorithm multiple times on the received radar returns, using a different preset estimated radar yaw angle for each iteration, wherein the estimated radar yaw angles are for estimated directions of transmission of the radar signals along a radar boresight from the transmitter of the radar system relative to a predetermined direction for each run of the segmentation algorithm, to determine which of the objects are static objects using the segmentation algorithm, and determine a first calibrated radar yaw angle as one of the preset estimated radar yaw angles which, among the different preset estimated radar yaw angles, has a highest number of adjusted radar returns for objects determined to be static objects by the segmentation algorithm.