Example embodiments relate to self-reflection filtering techniques within radar data. A computing device may use radar data to determine a first radar representation that conveys information about surfaces in a vehicle's environment. The computing device may use a predefined model to generate a second radar representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the surfaces conveyed by the first radar representation. The predefined model can enable a predefined self-reflection value to be assigned to a first location based on information about a surface positioned at a second location and a relationship between the first location and the second location. The computing device may then modify the first radar representation based on the predicted self-reflection values in the second radar representation and provide instructions to a control system of the vehicle based on modifying the first radar representation.