Automated vehicle radar system with self-calibration

A system comprising:

• a controller configured to perform operations comprising:
• receiving radar detections from a plurality of receive elements at a plurality of times while a host vehicle is traveling at a constant speed and proximate an object;
• determining, based on the radar detections, angles and range-rates between the host vehicle and the object at the plurality of times;
• determining that the object is stationary;
• selecting an ideal range rate versus angle response based on the constant speed of the host vehicle;
• determining differences between the determined angles and range rates at the plurality of times and the selected ideal range rate versus angle response;
• generating a calibration matrix based on the determined differences between the determined angles and range rates at the plurality of times and the selected ideal range rate versus angle response;
• receiving other radar detections from the plurality of receive elements at a later time;
• adjusting the other radar detections based on the calibration matrix;
• and
• determining, using the adjusted other radar detections, an adjusted angle, an adjusted range rate, or an adjusted distance between the host vehicle and another object proximate the host vehicle.