The present invention relates to a vehicle radar system (2) arranged to detect objects outside a vehicle (1). The radar system (2) a radar detector (3) and a processing unit (4). The processing unit (4) is arranged to obtain values for detected target angle (θerr) and detected target Doppler velocity (vd) relative the radar detector (3) for each detected object (10a′, 10b′, 10c′, 10d′, 10e′) during a certain time interval. If there is a zero crossing (14) for a derivative (13) of a function (12) describing the progression of detected target Doppler velocity (vd) as a function of detected target angle (θerr), the processing unit (4) is arranged to detect the zero crossing (14). This zero crossing (14) is indicative of a radar system misalignment (θm). The present invention also relates to a corresponding method.
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