Radar measures the relative radial velocity between the target and radar sensor. In several scenarios, an understanding of whether the relative velocity is due to the movement of the target or the movement of the ego-vehicle itself is required. In this reference design, we fit the velocity profile (radial velocity as a function of the azimuth angle) of the detected points to a motion model using a statistical algorithm called RANSAC (Random sampling and Consensus) to distinguish between the reflections from moving and stationary targets in the ego-vehicles environment. More details about the algorithm are found in Instantaneous ego-motion estimation using Doppler radar⁽⁵⁾. The radar detected points that have been classified as coming from moving objects are used as an input to the tracking algorithm.