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 . <EOS>