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

Claim 9:
10. A non-transitory machine-readable memory medium on which is stored a computer program for determining an ego-velocity estimated value and an angle estimated value of targets using a synthetic aperture radar sensor, the computer program, when executed by a computer, causing the computer to perform the following steps:
measuring, using the synthetic aperture radar sensor, a respective distance between the synthetic aperture radar sensor and each respective target;
measuring, using the synthetic aperture radar sensor, a respective relative velocity of each respective target using the Doppler effect;
performing 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;
ascertaining 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;
classifying and distributing 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;
ascertaining a combined ego-velocity estimated value from the individual ego-velocity estimated values of the stationary targets; and
ascertaining a corrected angle estimated value for the stationary targets using the combined ego-velocity estimated value and the respective measured relative velocity.