Vehicle radar system

A method for a vehicle radar system that includes a first radar sensor arrangement and a second radar sensor arrangement, the method comprising:

• receiving signals by the first radar sensor arrangement and the second radar sensor arrangement, wherein each of the radar sensor arrangements includes at least two transmitter antenna devices and at least two receiver antenna devices, wherein each of the at least two receiver antenna devices of the corresponding radar sensor arrangement defines a corresponding boresight extension that is perpendicular to a corresponding antenna plane, wherein each of the at least two receiver antenna devices of the corresponding radar sensor arrangement defines a corresponding antenna radiation pattern that has a lower gain in the corresponding boresight extension than at a certain corresponding first maximum gain azimuth angle with respect to the boresight extension, where there is a first maximum gain at the first maximum gain azimuth angle, wherein each of the radar sensor arrangements is mounted such that the corresponding first maximum gain is directed along a corresponding first maximum gain extension, such that an overlap part of the antenna radiation patterns is formed;
• feeding the at least two transmitter antenna devices of the first radar sensor arrangement to switch between transmitting a first relative antenna radiation pattern and a second relative antenna radiation pattern;
• and
• determining an angle position relative the vehicle radar system for a target object from a difference of radial velocity of the first radar sensor arrangement and the second radar sensor arrangement,
• wherein
• the at least two transmitter antenna devices of the first radar sensor arrangement define a corresponding boresight extension,
• the first relative antenna radiation pattern has a maximum gain at the corresponding boresight extension, and
• the second relative antenna radiation pattern has a notch at the corresponding boresight extension.