Vehicle radar system

A method for a vehicle radar system, where the method comprises the steps of:

• generating and transmitting radar signals by at least one transceiver arrangement in a host vehicle;
• receiving, by the at least one transceiver arrangement, reflected radar signals, where the transmitted radar signals have been reflected by one or more objects;
• providing to a processor, by the vehicle radar system, azimuth angle and radial velocity for a plurality of measurement points at the objects;
• calculating, by the processor, a difference between a minimum radial velocity and a maximum radial velocity for the measurement points for a plurality of azimuth angle intervals;
• and
• calculating, by the processor, an estimation of a relative velocity between the host vehicle and the one or more objects using the azimuth angle and the radial velocity for each of the measurement points, except for those of the measurement points corresponding to azimuth angle intervals where the difference between the minimum radial velocity and the maximum radial velocity exceeds a certain threshold.