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I don't the specifics of Tesla's radar implementation but what I have seen of the accidents usually seem like a textbook examples of incorrectly implemented clutter filtering. It's not an easy problem to solve in practice (re: cheaply), but known solutions have existed for decades.

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The radar module in Teslas uses the same filtering strategy as most adaptive cruise control radar modules, which is "if relative velocity to object is nearly the opposite of the car's velocity, throw it out."

It works pretty much as designed.

Right, sounds like they drop a bandpass filter on the down-converted Doppler spectrum. It's the simplest way to "solve" the clutter problem by just getting rid of everything stationary.

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