Method and system for determining detected angle

Abstract

The present disclosure relates to a method and system for determining a detected angle, and more particularly to a computer-implemented method for determining a detected angle, comprising the following steps performed by a computer hardware component: obtaining a detected distance change rate; determining a pair of detected candidate angles based on the distance change rate; obtaining a detected beam vector; determining a correlation between the beam vector and a reference vector; and determining the detected angle based on the pair of candidate angles and based on the correlation.

Description

Technical Field

[0001] The present disclosure relates to methods and systems for determining detected angles. Background Art

[0002] The detection of radar measurements contains a range rate. This range rate can be used to determine an estimate of the angle of the detection. However, commonly used methods may not allow for determination of a unique angle, which may be subject to uncertainty.

[0003] Therefore, there is a need to provide improved angle estimation based on the rate of change of range. Summary of the invention

[0004] The present disclosure provides a computer-implemented method, a computer system, a vehicle and a non-transitory computer-readable medium. Implementations are given in the dependent claims, the description and the drawings.

[0005] In one aspect, the present disclosure relates to a computer-implemented method for determining a detected angle, the method comprising the following steps performed (in other words: implemented) by a computer hardware component: obtaining a detected distance change rate; determining a pair of candidate angles for the detection based on the distance change rate; obtaining a beam vector for the detection; determining a correlation between the beam vector and a reference vector; and determining the detected angle based on the pair of candidate angles and based on the correlation.

[0006] In other words, a method can be provided to eliminate the uncertainty of the angle calculated based on the rate of change of distance.

[0007] The method can process radar signals from multiple antennas by calculating the angle of detection (relative to the combining plane) based on the rate of change of range of stationary detections.

[0008] However, it will be appreciated that the method may be applied to non-stationary targets, for example if the actual object velocity vector is known from another information source, such as from an external sensor.

[0009] Given a velocity vector and the radar's motion vector A moving object (detection) can be observed by the radar from an angle θ and the relative radial velocity component can be measured That is, the relative motion vector projected (at the angle θ) onto the radial vector between the radar and the detection.

[0010] The relative motion vector is The radial vector is

[0011] The projection is thus It is equal to the rate of change of distance

[0012]

[0013] Classifying the detection as stationary / moving (i.e. non-stationary) may be done by using a classical radar angle lookup (where in most practical cases this angle (which may be the angle of the detection calculated by the classical angle lookup method) may be available and may be calculated by, for example, an FFT), and / or by obtaining this information from an external module or sensor (as described in more detail below), and / or by using an angle provided by another sensor (e.g. another radar, or a camera, or a lidar sensor, or any other type of suitable sensor).

[0014] It should be understood that this classification is necessary only when the motion vector of the detection / object is unknown. In the case of a known velocity vector, the projection formula and the distance change rate formula described herein can be used without any restrictions and without such classification.

[0015] On the other hand, a completely stationary environment can be assumed. However, each non-stationary detection may result in an erroneous angle measurement.

[0016] The commonly used angle lookup method assumes a good calibration matrix C. However, if the method is still in the process of creating a calibration matrix (e.g. while driving), it is not possible to obtain a good calibration matrix. If the angles from the classical angle lookup should be cross-checked with the angles from the range rate for accuracy, it cannot be assumed that the angles from the classical angle lookup are accurate enough to eliminate the ambiguity. In contrast, the method according to various embodiments enables the elimination of ambiguities. According to various embodiments, an offline calibration may be performed at least for the respective reference position.

[0017] Compared to the commonly used angle finding method (which requires at least a Fourier transformation), the method according to various embodiments consumes less time by determining the correlation coefficient.

[0018] According to another aspect, the detecting comprises radar detection. According to another aspect, the detecting comprises radar detection of a stationary object.

[0019] According to another aspect, the pair of candidate angles comprises two angles located symmetrically about a predetermined axis. The predetermined axis may be the x-direction (eg defined by a forward moving direction of a vehicle on which the (radar) sensor is mounted).

[0020] According to another aspect, the reference vector includes data based on a reflection point originating from a predetermined axis.

[0021] According to another aspect, the beam vector comprises sensor data of a plurality of antennas provided in an antenna array. According to another aspect, the antenna array is provided in a plane. The antenna array may be provided in more than one plane. Each antenna may belong to one or more antenna arrays.

[0022] According to another aspect, the correlation is based on a product of the beam vector and the reference vector. The product may be a dot product. The correlation may be or may include a correlation coefficient.

[0023] According to another aspect, the correlation is further determined based on a calibration matrix. The calibration matrix may be determined by solving the following equation for C: C·bv=λ·a, where bv is the measured beam vector, λ is a complex scaling factor, and a is the (ideal) beam vector.

[0024] According to another aspect, the computer implemented method further comprises the following step performed by a computer hardware component: multiplying the calibration matrix with the reference vector. It has been found that by multiplying the calibration matrix with the reference vector, the calibration matrix does not need to be multiplied with every single test vector.

[0025] In another aspect, the present disclosure is directed to a computer system comprising a plurality of computer hardware components configured to perform some or all of the steps of the computer-implemented methods described herein.

[0026] The computer system may include a plurality of computer hardware components (e.g., a processor, such as a processing unit or a processing network; at least one memory, such as a memory unit or a memory network; and at least one non-transitory data storage device). It should be understood that additional computer hardware components may be provided and used to perform the steps of the computer-implemented method in the computer system. The non-transitory data storage device and / or the memory unit may include a computer program for instructing a computer, such as using a processing unit and at least one memory unit, to perform several or all steps or aspects of the computer-implemented method described herein.

[0027] According to another aspect, the computer system further comprises: a radar sensor configured to obtain radar measurements; wherein the computer system is configured to determine the range rate based on the radar measurements; and wherein the computer system is configured to determine the beam vector based on the radar measurements.

[0028] According to another aspect, a radar sensor includes a plurality of antennas (eg, an antenna array).

[0029] In another aspect, the invention relates to a vehicle comprising: a computer system as described herein; and the radar sensor.

[0030] In another aspect, the present disclosure relates to a non-transitory computer-readable medium comprising instructions for performing some or all steps or aspects of the computer-implemented methods described herein. The computer-readable medium may be configured as: an optical medium, such as a compact disc (CD) or a digital versatile disc (DVD); a magnetic medium, such as a hard disk drive (HDD); a solid-state drive (SSD); a read-only memory (ROM), such as flash memory; and the like. In addition, the computer-readable medium may be configured as a data storage device accessible via a data connection such as an Internet connection. The computer-readable medium may be, for example, an online data repository or cloud storage.

[0031] The present disclosure also relates to a computer program for instructing a computer to perform several or all steps or aspects of the computer-implemented method described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Exemplary embodiments and functions of the present disclosure are described herein in conjunction with the following schematically illustrated drawings:

[0033] Figure 1 is an illustration of a radar scenario according to various embodiments;

[0034] Figure 2 The complex plane is shown;

[0035] Figure 3 An antenna array is shown;

[0036] Figure 4 shows a graph of the angle of ideal test detection versus the phase of the correlation coefficient;

[0037] Figure 5 Azimuth and elevation measurements are shown;

[0038] Figure 6 is a flow chart illustrating a method of determining a detected angle according to various embodiments;

[0039] Figure 7 is to determine the system from the perspective of various implementations; and

[0040] Figure 8 A computer system having a plurality of computer hardware components configured to perform the steps of a computer-implemented method of determining a detected angle.

[0041] Reference numerals list

[0042] 100 Illustration of a radar scene according to various embodiments

[0043] 102 Car

[0044] 104 x-axis

[0045] 106 y-axis

[0046] 108 Radar Sensor

[0047] 110 Potential Detection

[0048] 112 Potential Detection

[0049] 114 Axis of symmetry

[0050] 116 Sensor Field of View

[0051] 200 Graphical representation of the complex plane

[0052] 202 real axis

[0053] 204 virtual axis

[0054] 206 vectorb ref,i

[0055] 208 Vector

[0056] 210 Vectorb test,i

[0057] 212 Angle

[0058] 300 Image of the antenna array

[0059] 302 First Antenna

[0060] 304 Second Antenna

[0061] 306 i-th antenna

[0062] 308 nth antenna

[0063] 310 Reference direction

[0064] 312 Detection at reference angle

[0065] 314 Reference Angle

[0066] 316 Detection at test angles

[0067] 318 Test Angle

[0068] 320° Detection at reference angle

[0069] 322 Detection at test angles

[0070] 324 Detection at reference angle

[0071] 326 Detection at test angles

[0072] 328 Detection at reference angle

[0073] 330° Testing angle

[0074] 332 Dashed lines representing the same phase

[0075] 334 Detection at test angles

[0076] 400 Graph

[0077] 402 Ideal Test Detection Angle

[0078] 404 Phase of Correlation Coefficient

[0079] 406 vertical line

[0080] 408 Curve

[0081] 500 Illustration of azimuth and elevation measurements

[0082] 502 Horizontal axis

[0083] 504 Vertical Axis

[0084] 506 Curve for the first subarray

[0085] 508 Curve for the first subarray

[0086] 510 Curve for the second subarray

[0087] 600 is a flowchart showing a method of determining a detected angle according to various embodiments.

[0088] 602 Steps for obtaining the detected distance change rate

[0089] 604 A step of determining a pair of candidate angles for detection based on the distance change rate

[0090] 606 Steps for obtaining the detected beam vector

[0091] 608 Step of determining the correlation between the beam vector and the reference vector

[0092] 610 A step of determining the detected angle based on the pair of candidate angles and based on the correlation

[0093] 700 Angle determination system

[0094] 702 Distance change rate acquisition circuit

[0095] 704 Candidate determination circuit

[0096] 706 Beam vector acquisition circuit

[0097] 708 Correlation determination circuit

[0098] 710 Angle determination circuit

[0099] 712 connections

[0100] 800 Computer system according to various embodiments

[0101] 802 processor

[0102] 804 Memory

[0103] 806 Non-transitory data storage device

[0104] 808 Radar Sensor

[0105] 810 Connections DETAILED DESCRIPTION

[0106] A detection measured by a radar may contain a range rate, which may be a radial component of the velocity of the object causing the detection. The velocity may be relative to the radar, and the radial component may be directed from the object toward the radar.

[0107] If the ego vehicle’s yaw rate ω and velocity v veh is known (at the center of gravity), and the installation position L of the sensor relative to the center of gravity is known, then the detected distance change rate Can be used to estimate the detection angle θ:

[0108]

[0109] in, and

[0110] Among them, v x and v y is the velocity component of the radar sensor's motion relative to the ground, and where, and is the velocity component of the detection. For stationary detection, and It will be appreciated that the speed may be provided by another source of information (eg from an external sensor).

[0111] It should be understood that there are multiple ways to determine whether a detection is associated with a stationary object. It should be understood that this determination is only necessary when the velocity of the detection / object is unknown; in the case of a known velocity vector, the projection formula and the distance change rate formula described herein can be used without any limitation, and then it is not necessary to determine whether the detection is associated with a stationary object.

[0112] For example, a check for ego velocity may be performed in conjunction with a threshold to determine whether the detection is associated with a stationary object. In this case, conventional signal processing may be performed to calculate the angle of the detection.

[0113] Another option for determining whether a detection relates to a stationary object may be to use external information, for example from a tracker or from another sensor.

[0114] The x-axis may be oriented longitudinally parallel to the longitudinal axis of the ego vehicle. The y-axis may be oriented parallel to the lateral axis of the ego vehicle.

[0115] θ M The angle at which the radar is mounted in the car, i.e. the angle between the longitudinal axis of the ego vehicle and the line perpendicular to the radar antenna surface, may also be expected to be known.

[0116] Given these values ​​and the measured rate of change of distance detected The detected angle θ can be calculated by solving (1) for θ.

[0117] θ is the angle in sensor coordinates, and θ veh =θ+θ M is the angle in vehicle coordinates.

[0118] It should be understood that the radar may also output an estimated detection angle determined by other methods that do not involve and are independent of the rate of change of range ("classical angle finding methods").

[0119] However, the advantages of calculating the angle based on the rate of change of distance according to various embodiments are in particular:

[0120] • It can be more accurate than traditional angle finding methods (which depend on the accuracy of the self-velocity measurement).

[0121] Traditional angle finding methods require intrinsic calibration for each individual sensor type. Calculating the angle based on the rate of change of distance does not require such calibration.

[0122] - If antenna disambiguation (removal of ambiguity) as described below is applied, the antenna calibration matrix only has to be applied to the reference angles and not to every detected beam vector.

[0123] There may not be a unique solution for determining the detected angle based on the distance change rate as described above.

[0124] The reason may be that the two stationary detections are positioned symmetrically about the x-axis, i.e. their angle is θ veh and -θ veh , with the same rate of change of distance Therefore, two possible angles ±θ must be eliminated vehThe uncertainty of the detection angle is calculated based on the rate of change of distance.

[0125] Figure 1 A diagram 100 of a radar scenario is shown in accordance with various embodiments. Vehicle 102 may define a front axis x (104) and a lateral axis y (106). A radar sensor 108 (also referred to as a "radar") is disposed on vehicle 102. Potential detections 110 and 112 may result in the same rate of change of range detected by radar sensor 108. Potential detections 110 and 112 may be symmetrical about axis 114, which may coincide with x-direction 104. A sensor field of view (FoV) 116 is shown by a dashed line.

[0126] According to various embodiments, the detected beam vector whose angle is to be estimated (to eliminate ambiguity) and the reflection point from the axis of symmetry The beam vector The correlation coefficient (b test With b ref b ref This can be an ideal (calibrated) beam vector used as a reference, i.e. it is pre-calculated rather than measured. ref can be the ideal beam vector for the forward (or backward) direction in the vehicle coordinate system. It can be calculated by knowing the reference angle to be tested, and the ideal antenna response from a signal incident from that angle is known. For example, for a 0° reference angle, each antenna element can have a complex value with a constant length (e.g. 1) and an angle of 0°.

[0127] Given a reference angle θ in sensor coordinates, b can be calculated as ref ,

[0128]

[0129] Value E 0 can represent the amplitude of an electromagnetic wave. Since only the phase information may be important, it can be set to any value, such as 1. By convention, b ref The first component of z is normalized to 1. i is the geometric position of antenna i along the z-axis. It can be assumed that the z-axis is in the antenna array plane and the first antenna is at the origin of the z-axis. The plane in which the angle θ is measured can be perpendicular to the antenna array plane and parallel to the z-axis. λ can be the wavelength of the radar's electromagnetic wave. The term It can be the spatial frequency of the electromagnetic wave. When the electromagnetic wave is incident on the antenna array at an angle θ, the term sin(θ) can represent the projection of the spatial frequency on the plane of the antenna array.

[0130] If two angles (eg azimuth and elevation) should be measured instead of just one, fb can be extended ref In this case, this can be calculated according to, for example, Adolfo Di Serio et al., 2D-MIMO Radar: A Method for Array Performance Assessment and Design of a Planar Antenna Array, IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION (page 3).

[0131] The ideal beam vector can be perturbed using a calibration matrix to match the actual sensor characteristics.

[0132] If the detection originates from an angle (in sensor coordinates) that is larger than the angle of the reference beam vector, the phase of the correlation coefficient is positive, otherwise it can be negative:

[0133]

[0134] The complex contribution of an element i (i.e., for an antenna i) to the correlation coefficient is And its phase (angle) is b ref,i and b test,i The difference between the phases.

[0135] Figure 2 A diagram 200 of a complex plane is shown having a real axis 202 and an imaginary axis 204. A vector b is shown ref,i 206. 208 and b test,i 210. Also shown is b ref,i 206 and b test,i The angle 212 between the phases 208.

[0136] The prerequisite is that the phase of the elements of the beam vector is normalized so that the phase of the first antenna is zero.

[0137] As a result, the first augend in (1) can be omitted. and b test,1 Since they have zero phase due to normalization, their product does not change the phase of the correlation coefficient and can be omitted:

[0138]

[0139] Figure 3A diagram 300 of an antenna array having an integer number n of antennas is shown. A first antenna 302, a second antenna 304, an i-th antenna 306, and an n-th antenna 308 are shown.

[0140] Detection at a reference angle 314 is shown (indicated by reference numeral 312 for the first antenna 302, reference numeral 320 for the second antenna 304, reference numeral 324 for the i-th antenna, and reference numeral 328 for the n-th antenna 308). Detection at a test angle 318 is shown (indicated by reference numeral 316 for the first antenna 302, reference numeral 322 for the second antenna 304, reference numeral 326 for the i-th antenna, and reference numeral 330 for the n-th antenna 308).

[0141] Dashed lines 332 and 334 represent the same phase of the incident electromagnetic waves received by the n antenna elements 302 , 304 , 306 , 308 .

[0142] These angles are provided relative to a reference direction 310, such as the heading of a vehicle on which the antenna array is mounted.

[0143] like Figure 3 As shown, if Then the phase difference between the reference signal and the test signal incident on antenna i (306) is positive.

[0144] Therefore, for Items in (1) can have a positive phase contribution, otherwise a negative phase contribution. Therefore, the sign of the phase of the correlation coefficient c indicates from which side the detection will come, i.e., it allows to eliminate ambiguity (taking into account ).

[0145] Figure 4 A graph 400 is shown in which an angle 402 of an ideal test detection is plotted relative to a phase 404 of a correlation coefficient obtained by comparing the phase 404 of the correlation coefficient to the phase 404 of the correlation coefficient according to (1) The detected angle (x-axis) is plotted in sensor coordinates, and the longitudinal axis of the vehicle This corresponds to -59° in sensor coordinates (as indicated by vertical line 406) since the sensor is mounted in the vehicle with a rotation of -59° (angular sensor).

[0146] As can be seen from the resulting curve 408 , the sign of the phase of the correlation coefficient accurately shows whether the detection is from one side or the other of the longitudinal axis of the vehicle, thereby enabling the ambiguity to be eliminated.

[0147] In the following, solutions for antennas located in multiple planes (eg for measuring both azimuth and elevation) will be described.

[0148] Typically, to measure the angle θ parallel to the plane spanned by the x and y axes xy , the antenna elements must also lie on a plane P that is parallel to the plane spanned by the x and y axes. Such a plane that is parallel to the plane spanned by the x and y axes is hereinafter referred to as the xy plane. This definition is also valid for combinations of dimensions other than xy (e.g., for an xz plane spanned by the x and z axes).

[0149] This means that if we want to measure not only the azimuth angle θ xy And also measure the elevation angle θ xz , then there must be an antenna unit located on the xz plane.

[0150] This gives the measured angle θ xy (azimuth) poses a problem because the phase of the electromagnetic beam at the antenna element depends on θ xy and θ xz (elevation angle) both. In order to separate the combined effect, in order to measure the angle θ of the ab plane ab (a, b are dimensions, such as x, z), only antenna elements located on the same ab plane can be used (where it should be noted that antenna elements physically located on different ab planes can be virtually placed so that they are located on the same ab plane, although measurement errors may be introduced). Combining elements across different ab planes (i.e., discarding a single ab plane) will introduce an undesirable correlation between the angles in the two dimensions.

[0151] Therefore, the correlation coefficient (1) can be calculated using only antenna elements located on the same ab plane (if θ ab is the angle estimated based on the rate of change of distance).

[0152] Antenna elements located in other planes must be combined into groups, where each group contains only elements from the same ab plane. Then, for each group, the beam vector must be normalized to the first element of the group.

[0153] Figure 5 A graphical representation 500 of azimuth and elevation measurements with artificial noise at 25 dB SNR is shown. Figure 5 , assuming an antenna configuration that measures azimuth and elevation. Two subarrays are simulated and the phase of the correlation coefficient is calculated according to (1). In addition, white noise is added to the antenna signal, resulting in a 25dB SNR. The phase of the correlation coefficient is shown on the vertical axis 504 and the angle is shown on the horizontal axis 502. The result curve 508 for the first subarray and the result curve 510 for the second subarray are shown.

[0154] from Figure 5 As can be seen in FIG. 5 , angular ambiguity elimination is still possible except for a very small angular range (less than + / - 0.1°) around the longitudinal axis of the vehicle, i.e., the longitudinal axis of the vehicle corresponding to ˜59° in sensor coordinates (as indicated by vertical line 506). defined axis, this is due to the fact that the sensor is mounted in the vehicle with a rotation (angular sensor) of -59°.

[0155] According to various embodiments, the multiplication with the calibration matrix may be efficiently provided, as will be described below.

[0156] Apply the sensor specific calibration matrix C to the raw measured beam vector b test,raw , thus obtaining the test beam vector:

[0157] b test =C·b test,raw

[0158] This is done for each individual beam vector to be tested.

[0159] Therefore, the correlation coefficient is

[0160]

[0161] According to various embodiments, speed can be improved by applying a calibration matrix to the reference beam vector

[0162]

[0163] And precompute once Therefore, the original test beam vector does not need to be multiplied by C, saving execution time for each vector (detection) to be tested.

[0164] Figure 6 A flow chart 600 of a method of determining a detected angle according to various embodiments is shown. At 602, a detected range change rate can be obtained. At 604, a pair of detected candidate angles can be determined based on the range change rate. At 606, a detected beam vector can be obtained. At 608, a correlation between the beam vector and a reference vector can be determined. At 610, the detected angle can be determined based on the pair of candidate angles and based on the correlation.

[0165] According to various embodiments, the detection may include or may be radar detection.

[0166] According to various embodiments, the detection may include or may be radar detection of a stationary object.

[0167] According to various embodiments, the detection may include or may be radar detection of a non-stationary object.

[0168] According to various embodiments, the pair of candidate angles may include or may be two angles located symmetrically around a predetermined axis.

[0169] According to various embodiments, the reference vector may include or may be based on data of a reflection point originating from a predetermined axis.

[0170] According to various embodiments, the beam vector may include or may be sensor data of a plurality of antennas provided in an antenna array.

[0171] According to various embodiments, an antenna array may be provided in a plane.

[0172] According to various embodiments, the correlation may be based on the product of the beam vector and the reference vector.

[0173] According to various embodiments, the correlation may be further determined based on a calibration matrix.

[0174] According to various embodiments, the calibration matrix may be multiplied by the reference vector.

[0175] Each of steps 602, 604, 606, 608, 610, and the additional steps described above, may be performed by computer hardware components.

[0176] Figure 7 An angle determination system 700 is shown according to various embodiments. The angle determination system 700 may determine a detected angle and may include a range rate acquisition circuit 702, a candidate determination circuit 704, a beam vector acquisition circuit 706, a correlation determination circuit 708, and an angle determination circuit 710.

[0177] The distance change rate acquisition circuit 702 may be configured to acquire the detected distance change rate. The candidate determination circuit 704 may be configured to determine a pair of detected candidate angles based on the distance change rate. The beam vector acquisition circuit 706 may be configured to acquire the detected beam vector. The correlation determination circuit 708 may be configured to determine the correlation between the beam vector and the reference vector. The angle determination circuit 710 may be configured to determine the detected angle based on the pair of candidate angles and based on the correlation.

[0178] The range change rate acquisition circuit 702, candidate determination circuit 704, beam vector acquisition circuit 706, correlation determination circuit 708 and angle determination circuit 710 may be coupled to each other to exchange electrical signals, for example, via an electrical connection 712 such as a cable or a computer bus or via any other suitable electrical connection.

[0179] A "circuit" may be understood as any type of logic-implemented entity, which may be a dedicated circuit or a processor executing a program stored in a memory, firmware, or any combination thereof.

[0180] Figure 8 800 is shown having a plurality of computer hardware components configured to perform the steps of a computer-implemented method of determining a detected angle according to various embodiments. The computer system 800 may include a processor 802, a memory 804, and a non-transitory data storage device 806. A radar sensor 808 may be provided as part of the computer system 800 (e.g., Figure 8 ), or may be provided external to the computer system 800.

[0181] Processor 802 may execute instructions provided in memory 804. Non-transitory data storage 806 may store computer programs including instructions that may be transferred to memory 804 and then executed by processor 802. Radar sensor 808 may be used to acquire radar sensor data based on which range rate may be acquired.

[0182] The processor 802, the memory 804 and the non-transitory data storage device 806 may be connected to each other to exchange electrical signals, for example, via an electrical connection 810 (e.g., a cable or a computer bus) or via any other suitable electrical connection. The radar sensor 808 may be connected to the computer system 800, for example, via an external interface, or may be provided as part of the computer system (in other words: inside the computer system, for example, connected via the electrical connection 810).

[0183] The terms “coupled” or “connected” are intended to include a direct “coupled” (eg, via a physical link) or direct “connected” as well as an indirect “coupled” or indirect “connected” (eg, via a logical link), respectively.

[0184] It should be understood that what is described for one of the above methods may be similarly applicable to the angle determination system 700 and / or the computer system 800 .

Claims

1. A computer-implemented method for determining the angle of detection, The computer-implemented method comprises the following steps performed by computer hardware components: - obtaining (602) the detected distance change rate; - determining (604) a pair of candidate angles of the detection symmetrically positioned around a predetermined axis based on the rate of change of the distance; - obtaining (606) said detected beam vector; - determining (608) a correlation between the beam vector and a reference vector based on a reflection point originating from the predetermined axis; and - determining (610) the detected angle based on the pair of candidate angles located symmetrically around the predetermined axis and based on the correlation between the beam vector and the reference vector.

2. The computer-implemented method according to claim 1, in, The detection includes radar detection.

3. The computer-implemented method according to claim 2, in, The detection includes radar detection of stationary objects.

4. The computer-implemented method of claim 2, in, The detection includes radar detection of non-stationary objects.

5. A computer-implemented method according to any one of claims 1 to 4, in, The beam vector includes sensor data of a plurality of antennas arranged in an antenna array.

6. The computer-implemented method of claim 5, in, The antenna array is arranged in a plane.

7. The computer-implemented method of claim 1, in, The correlation is based on a product of the beam vector and the reference vector; and / or Therein, the correlation is further determined based on a calibration matrix.

8. The computer-implemented method of claim 7, further comprising the following steps performed by the computer hardware components: The calibration matrix is ​​multiplied by the reference vector.

9. A computer system comprising a plurality of computer hardware components configured to perform the steps of the computer-implemented method according to any one of claims 1 to 8.

10. The computer system according to claim 9, further comprising: a radar sensor configured to acquire radar measurements; wherein the computer system is configured to determine the range rate based on the radar measurement results; and Wherein the computer system is configured to determine the beam vector based on the radar measurement results.

11. The computer system according to claim 10, in, The radar sensor includes a plurality of antennas.

12. A vehicle, comprising: A computer system according to any one of claims 9 to 11; as well as Radar sensor.

13. A non-transitory computer-readable medium comprising instructions for executing the computer-implemented method according to any one of claims 1 to 8.

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