Systems and methods for improving vehicle RADAR or other sensor performance by application of error statistics. In some implementations, statistical correction of vehicle tracking errors are achieved by generating a first data set representative of a historical map of a host vehicle trajectory, a second data set representative of one or more adjacent lanes to a current lane of the host vehicle, and a third data set comprising estimated error correction values of an estimated bearing angle while the moving target vehicle is beyond a threshold distance by comparing the estimated bearing angle of the moving target vehicle relative to the host vehicle with an observed bearing angle of the moving target vehicle relative to the host vehicle. A set of estimated lane assignments may be generated after the moving target vehicle has passed the threshold distance from the host vehicle, after which a lane assignment may be confirmed.