Patent ID: 11971472
Assignee: ROBERT BOSCH GMBH
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A synthetic aperture radar sensor, comprising:
a sensor array;
wherein the synthetic aperture radar sensor is configured to determine an ego-velocity estimated value and an angle estimated value of targets using the sensor array, the synthetic aperture radar sensor being configured to:
measure a respective distance between the synthetic aperture radar sensor and each respective target;
measure a respective relative velocity of each respective target using the Doppler effect;
perform an angle estimation of one respective angle estimated value for each respective target, which characterizes an angle between a direction of an ego-velocity of the synthetic aperture radar sensor and each respective target;
ascertain an individual ego-velocity estimated value of the synthetic aperture radar sensor using the respective relative velocity and the respective angle estimated value for each respective target;
classify and distribute the individual ego-velocity estimated values relating to stationary targets, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the predefinable range;
ascertain a combined ego-velocity estimated value from the individual ego-velocity estimated values of the stationary targets; and
ascertain a corrected angle estimated value for the stationary targets using the combined ego-velocity estimated value and the respective measured relative velocity.