Method of determining an uncertainty estimate U ^ V i, t 2 of an estimated velocity ( V̂ i,t) of an object, the uncertainty estimate representing an uncertainty of the estimated velocity ( V̂ i,t) with respect to a true velocity of the object, wherein the method comprises: determining a first portion U ^ VP 2 of the uncertainty estimate U ^ V i, t 2, the first portion U ^ VP 2 representing the uncertainty with respect to a first estimated coefficient ( c̃ t) and a second estimated coefficient ( s̃ t) of the velocity profile equation of the object, the first estimated coefficient ( c̃ t) being assigned to a first spatial dimension (x) of the estimated velocity ( V̂ i,t) and the second estimated coefficient ( s̃ t) being assigned to a second spatial dimension (y) of the estimated velocity ( V̂ i,t), wherein the velocity profile equation represents the estimated velocity ( V̂ i,t) in dependence of the first estimated coefficient ( c̃ t) and the second estimated coefficient ( s̃ t); wherein the velocity profile equation is represented by: r ̇ i, cmp = cos θ i sin θ i c ̃ t s ̃ t wherein ṙ i,cmp represents the velocity of the object at the position of an i-th radar detection point, and θ i denotes an azimuth angle of the i-th radar detection point; determining a second portion U ^ V i, ω 2 of the uncertainty estimate, the second portion U ^ V i, ω 2 representing the uncertainty with respect to an angular velocity ( ω t) of the object, a first coordinate ( x t,i) of the object in the second spatial dimension (y) and a second coordinate ( y t,i) of the object in the first spatial dimension (x); and determining the uncertainty estimate U ^ V i, t 2 on the basis of the first portion U ^ VP 2 and the second portion U ^ V i, ω 2. wherein the method comprises: determining a first portion U ^ VP 2 of the uncertainty estimate U ^ V i, t 2, the first portion U ^ VP 2 representing the uncertainty with respect to a first estimated coefficient ( c̃ t) and a second estimated coefficient ( s̃ t) of the velocity profile equation of the object, the first estimated coefficient ( c̃ t) being assigned to a first spatial dimension (x) of the estimated velocity ( V̂ i,t) and the second estimated coefficient ( s̃ t) being assigned to a second spatial dimension (y) of the estimated velocity ( V̂ i,t), wherein the velocity profile equation represents the estimated velocity ( V̂ i,t) in dependence of the first estimated coefficient ( c̃ t) and the second estimated coefficient ( s̃ t); wherein the velocity profile equation is represented by: r ̇ i, cmp = cos θ i sin θ i c ̃ t s ̃ t wherein ṙ i,cmp represents the velocity of the object at the position of an i-th radar detection point, and θ i denotes an azimuth angle of the i-th radar detection point; determining a second portion U ^ V i, ω 2 of the uncertainty estimate, the second portion U ^ V i, ω 2 representing the uncertainty with respect to an angular velocity ( ω t) of the object, a first coordinate ( x t,i) of the object in the second spatial dimension (y) and a second coordinate ( y t,i) of the object in the first spatial dimension (x); and determining the uncertainty estimate U ^ V i, t 2 on the basis of the first portion U ^ VP 2 and the second portion U ^ V i, ω 2.