A vehicle system and method that can determine object sensor misalignment while a host vehicle is being driven, and can do so within a single sensor cycle through the use of stationary and moving target objects and does not require multiple sensors with overlapping fields of view. In an exemplary embodiment where the host vehicle is traveling in a generally straight line, one or more object misalignment angle(s) αo between an object axis and a sensor axis are calculated and used to determine the actual sensor misalignment angle α.