Radar sensor data processing method and radar sensor data processing system

Abstract

The invention relates to a method for radar sensor data processing (10) of radar sensor data (12) of a radar sensor system (20) for detecting at least one target object (14) in the surroundings (16) of a carrier system (18). The invention further relates to a radar sensor data processing system.

Description

Technical Field

[0001] The present invention relates to a method for radar sensor data processing. In addition, the present invention relates to a radar sensor data processing system. Background Art

[0002] Driving assistance systems in vehicles use radar sensors to detect the vehicle's surroundings and to perform target detection on objects in the vehicle's surroundings. When performing surrounding detection with the aid of radar sensors, a high angular resolution is required, which in turn is related to the size of the antenna aperture. In the case of a radar sensor composed of multiple transmitting units / receiving units, the entire sensor array forms a virtual antenna aperture that exceeds the physical aperture. Such a radar system can be constructed, for example, as a MIMO radar sensor with multiple transmitting units / receiving units. In order to increase the overall antenna aperture, the transmitting units / receiving units are arranged at a large and irregular distance relative to each other.

[0003] In such a sparse arrangement, the transmitting units / receiving units are distributed unevenly, which may result in secondary peaks (sidelobes) that interfere with the precise determination of the direction of arrival (DoA) of the received radar reflections of the target object.

[0004] In order to detect and remove secondary peaks, for example, the method proposed by F. Marvasti, A. Amini, F. Haddadi, M. Soltanolkotabi, BHKhalaj, A. Aldroubi, S. Sanei and J. Chambers in "A Unified Approach to Sparse Signal Processing" (EURASIP Journal of Progress in Signal Processing, Issue 1, 2012, Page 44, February 2012) is used, whereby the phase signal of the sensor array is converted into an angle spectrum by Fourier transformation, and then secondary peaks present in the angle spectrum that are close to the actual signal value but have a lower amplitude are excluded by a signal value threshold that is determined directly in relation to the amplitude of the maximum peak, so that a processed phase signal is obtained from this processed angle spectrum by inverse Fourier transformation of the angle components that exceed the determined signal value threshold. This modification process is repeated iteratively in such a way that in each process, the undesired secondary peaks in the angle spectrum are reduced, which enables a finer tuning of the determined signal value threshold. These iterations continue until a radar signal or angular spectrum has been calculated that excludes as many secondary peaks as possible.

[0005] In addition to the IMAT algorithm, other methods are known for removing the influence of secondary peaks. For example, the CLEAN algorithm finds the highest peak in the angle spectrum, inversely transforms this value into a spatial phase signal, removes the corresponding component in the spatial phase signal at the existing position, and thus generates a phase signal for the second detection, which now no longer contains the originally detected target.

[0006] Another iterative algorithm for solving nonlinear optimization problems is RELAX, in which a signal is sought that is consistent not only with the measured data but also with a defined model concept, using a penalty function in order to favor solutions with a small number of non-zero elements (sparseness). Summary of the invention

[0007] According to the present invention, a method for radar sensor data processing is proposed, thereby reducing computational overhead and computational time, and performing signal data processing more efficiently, faster and more simply.

[0008] The carrier system may be movable, in particular movable. The carrier system may be a vehicle, in particular a motor vehicle, a two-wheeled vehicle or a truck. The vehicle may be a mobile robot.

[0009] Target objects may be living beings, facilities, objects, vehicles, buildings, plants and / or road characteristics.

[0010] The receiving unit may be a single radar sensor and / or a receiving channel of a radar sensor. The receiving unit may be a physical or virtual receiving channel.

[0011] The radar sensor system can be constructed as a spatial network of multiple radar sensors, in which the radar sensors form receiving units. The radar sensor system can have multiple receiving units distributed in time by moving the radar sensors, which are formed by a single radar sensor at different times. The radar sensor system can include a radar sensor having multiple receiving channels and at least one, in particular multiple, transmitting channels. The receiving channels can form receiving units. The radar sensor can be a MIMO radar sensor.

[0012] The sparse distribution of receiving units means that there is at least one missing part in an otherwise uniform, regular, identical, harmonious and / or ordered distribution of receiving units. The sparse distribution can also extend to multiple transmission channels. In addition to at least one missing part, the distribution of receiving units can also be disordered, irregular, non-uniform and / or diverse.

[0013] The phase signal may indicate a phase shift which is dependent on the spatial and / or temporal position of a receiving unit in a distribution of receiving units of the radar sensor system.

[0014] The main peak may have a larger or smaller amplitude than the secondary peaks. All secondary peaks are directly or indirectly caused by one or more missing parts. All main peaks are directly or indirectly assigned to one or more object targets.

[0015] In addition to the selection criteria, further selection criteria can be provided for selecting the angular spectral components.

[0016] The selection criterion or a further selection criterion may be a determined signal value threshold. The signal value threshold may be determined to decrease as the number of iteration steps increases. Peaks in the angular spectrum whose amplitudes reach or exceed the signal value threshold may be included in the angular spectrum components. Signal components in the angular spectrum whose amplitudes are below the signal value threshold may be excluded from the angular spectrum components. The selected angular spectrum components may be limited only to peaks in the angular spectrum having amplitudes above the signal value threshold.

[0017] In addition to the selection criterion, further selection criteria may be applied in at least one iteration step. Further selection criteria may be applied in at least one iteration step without applying the selection criterion. However, the selection criterion is applied in at least one iteration step.

[0018] A further selection criterion may be a signal value threshold which is directly related to the amplitude of the largest peak in the angular spectrum.

[0019] In angle estimation based on fast Fourier transformation (FFT), for example in the known IMAT method, the inverse transformation is usually implemented as an inverse fast Fourier transformation (iFFT) on the complete angle spectrum. In the case of the first iteration by means of a first iteration step, the changed angle spectrum to be inversely transformed and restricted to selected angle spectral components can consist of only one frequency bin (Bins), and in all further iteration steps can consist of several frequency bins, which contain the actual spectral information, while all other frequency bins that are not above a predetermined signal value threshold are set to zero. The inverse transformation can be implemented here as a restricted inverse transformation that does not include the entire angle spectrum, for example as an inverse discrete Fourier transformation (iDFT), in particular as follows

[0020]

[0021] With the help of the time signal x(t n ), Fourier transform X(ω max,n ) and the angle ω of the peak to be transformed max,n Implementation.

[0022] In a preferred embodiment of the invention, the selection criterion advantageously comprises the amplitude variation behavior of at least one of the peaks in the angle spectrum during at least one iteration step. The selection criterion may be the amplitude variation behavior. The selection criterion may comprise the amplitude variation behavior of a plurality of amplitude variations.

[0023] In a special embodiment of the invention, it is advantageous to use an amplitude change which reduces the amplitude of one of the high peaks for marking as a secondary high peak. Thus, high peaks can be excluded based on the amplitude change.

[0024] In a preferred embodiment of the invention, it is advantageous to use an amplitude change that increases the amplitude of the peak or no amplitude change - that is, a constant amplitude - for marking as a main peak. Thus, the peak can be included according to the amplitude change. Excluding peaks as secondary peaks and including peaks as main peaks can be applied separately or in combination.

[0025] In an advantageous embodiment of the invention, it is provided that the selection criterion is related to the predicted maximum possible amplitude of each possible secondary peak of the radar sensor system. The selection criterion can be a predetermined signal value threshold value related to the predicted maximum possible amplitude. The predicted amplitude can be calculated by means of the radar sensor system by previous measurements and / or simulations.

[0026] By introducing a priori knowledge about the sensor array, for example by knowing the maximum possible amplitude of the highest, constructively superimposed secondary peak, in particular in the case of two targets with the same amplitude in the angular spectrum, the selection criterion can be selected in such a way that significantly more spectral angle frequency points are included. For example, the signal value threshold value associated with the predicted amplitude can correspond to the predicted amplitude, preferably including the safety distance. Thus, in the first iteration step, more information can already be used for the inverse transformation. This introduced a priori knowledge makes it possible to achieve that in this method, only the information of the real target is used, and no angular information of the possible constructively superimposed secondary peaks is used.

[0027] In a special embodiment of the invention, it is advantageous if the selection criterion is a selection angle range which is associated with an individual angle range which is predetermined by at least one individual receiving unit and which is defined relative to an overall angle range which is covered by the radar sensor system as a whole. The selection angle range may include the individual angle ranges or correspond to the individual angle ranges. The individual angle ranges may be the maximum angle range which can be covered by the individual receiving units. The receiving units of the radar sensor system may all have the same maximum coverable angle range and / or may have different maximum coverable angle ranges from one another.

[0028] The individual angular ranges can be predefined by the number of receiving units, wherein the number of receiving units is less than the total number of receiving units of the radar sensor system. The individual angular ranges can be formed as the sum of the respective individual angular ranges of the receiving units considered in the number of receiving units.

[0029] In an advantageous embodiment of the invention, it is provided that the selection angle range is predetermined as being related to the single angle range when at least one target object is detected in the single angle range. The selection criterion can be the selection angle range, in particular only when at least one target object is detected in the single angle range.

[0030] In order to distinguish the number of target objects in the angular range, the single signals of multiple receiving units can be processed. Here, in the case of coincidence of the peaks of multiple receiving units, the angular environment range including the corresponding common peak can be determined and isolated, especially at the maximum span of a single angular range of a receiving unit. This isolation can be performed by presetting a signal value threshold value below the amplitude of the peak. This isolated angular spectrum can be converted into a changed phase signal by inverse transformation, especially by iFFT, and then the changed phase signal is superimposed on the measured phase signal of another, especially overall virtual receiving unit of the radar sensor system. Here, based on the changed phase signal of at least one receiving unit, the corresponding measured phase signal of the total set or subset of all receiving units can be preinitialized. Preferably, the changed phase signal is normalized and / or attenuated before superposition with the measured phase signal, especially so as not to change or change as little as possible the measured phase information of the other receiving units. The measured phase signal can take priority in the receiving unit that actually performs the measurement, especially free from superposition. The changed phase signal can be superimposed on the measured phase signal only at the virtual position of the receiving unit distribution.

[0031] A preferred embodiment of the invention is advantageous in which a single angle range together with at least one unilateral tolerance angle constitutes the selected angle range. The unilateral tolerance angle can extend the single angle range in one direction. The tolerance angle can be added on both sides, i.e., extend the single angle range in two directions.

[0032] For example, the single angle range may be 7° and the tolerance angle on both sides may be 3.5°.

[0033] A preferred configuration of the present invention is advantageous, in which a plurality of first receiving units are divided into a first receiving unit group, a plurality of second receiving units are divided into a second receiving unit group, a first angle spectrum is created for the first receiving unit group, a second angle spectrum is created for the second receiving unit group, and the selection criterion is related to the spectral comparison of the first and second angle spectra. The first receiving unit group can have at least one first receiving unit that is not a second receiving unit. The first receiving unit group can have a first receiving unit that is a second receiving unit.

[0034] The second receiving unit group may have at least one second receiving unit that is not the first receiving unit. The second receiving unit group may have a second receiving unit that is the first receiving unit.

[0035] At least one further group of receiving units can also be formed from the receiving units, for which a further angle spectrum is created. The selection criterion can be related to a spectral comparison of the first, second and further angle spectrum.

[0036] In a special embodiment of the invention, it is advantageous if the selection criterion is a consistency detection, by means of which peaks are identified in the spectral comparison: these peaks are present consistently with respect to the angle of incidence in the first and second angular spectra. The consistency detection can be related to the amplitude, the angle, the shape of the peak and / or the area enclosed by the peak.

[0037] The method for radar sensor data processing may be a computer-implemented method for execution on a processing unit. The processing unit may have a processor for at least partially executing the method.

[0038] According to the present invention, a radar sensor data processing system for processing radar sensor data is further proposed, the radar sensor data processing system comprising a radar sensor system that provides radar sensor data for detecting at least one target object in the surroundings of a carrier system; and a processing unit that is configured to process the radar sensor data by means of a method for radar sensor data processing having at least one of the previously described features.

[0039] Further advantages and advantageous embodiments of the invention are apparent from the description of the figures and the illustrations. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 In a special embodiment of the present invention, a method for radar sensor data processing is shown.

[0041] Figure 2 The angular spectrum is shown when using the method for radar sensor data processing in a special embodiment of the present invention.

[0042] Figure 3 The phase signal is shown when using the method for radar sensor data processing in a special embodiment of the present invention.

[0043] Figure 4 Show Figure 3 The angular spectrum of the phase signal in .

[0044] Figure 5 The angular spectrum is shown when using the method for radar sensor data processing in another special embodiment of the present invention.

[0045] Figure 6 The angular spectrum is shown when using the method for radar sensor data processing in another special embodiment of the present invention.

[0046] Figure 7 The target object resolution is shown when using a method for radar sensor data processing in another special embodiment of the present invention.

[0047] Figure 8 A spectral comparison is shown when using a method for radar sensor data processing in another special embodiment of the present invention. DETAILED DESCRIPTION

[0048] Figure 1 A method for radar sensor data processing is shown in a special embodiment of the present invention. The method 10 for radar sensor data processing processes radar sensor data 12 of a radar sensor system 20 that detects at least one target object 14 in the surroundings 16 of a carrier system 18 (here a vehicle). The radar sensor system 20 includes a plurality of temporally and / or spatially distributed receiving units 22 that are each used to receive radar signals reflected by the target object 14 as single signals 24. The distribution of the receiving units 22 in the radar sensor system 20 is sparse, with at least one missing part 26 in the receiving unit distribution 28.

[0049] First, radar sensor system 20 is provided 30 . Subsequently, phase signal 34 is provided 32 , which is a function of the angle of incidence of single signal 24 and the radar signal reflected by target object 14 relative to radar sensor system 20 . The associated phase shift is formed.

[0050] By means of a subsequent transformation 38 , the phase signal 34 is transformed into an angle spectrum 40 having the angles of incidence of the single signals 24 which arrive most strongly from the target object 14 . At least one main peak at and at least one secondary peak triggered by the missing site 26.

[0051] In the first iterative step 42.1, signal data processing is performed at least by isolating at least one main peak, in the following manner: by selecting the angle spectrum component 44, the angle spectrum 40 is converted into a changed angle spectrum 46, the changed angle spectrum 46 is converted into a changed phase signal 48, and the changed phase signal 48 is converted back into the angle spectrum 40.

[0052] In the subsequent iteration step 42, the process of the first iteration step 42.1 is repeated. In at least one of the iteration steps 42, the angle spectrum component 44 is selected according to at least one selection criterion 50 which is independent of or at most indirectly related to the amplitude of the largest peak in the angle spectrum. Therefore, the signal data processing can be performed more efficiently, faster and more simply.

[0053] Figure 2 The angle spectrum when applying the method for radar sensor data processing is shown. The angle spectrum 40 shows the angle of incidence of the radar signal The secondary peaks 54 in the angle spectrum 40 are caused by missing parts in the sparse distribution of receiving units in the radar sensor system. In the angle spectrum 40, these missing parts appear as constructive superposition in the secondary peaks 54, so that the two main peaks 56 respectively assigned to the target object have lower amplitudes than the secondary peaks 54. This leads to a reduction in the dynamic range in the angle spectrum 40.

[0054] Figure 3 The phase signal is shown when applying the method for radar sensor data processing in a special embodiment of the present invention. The phase signal P is related to the position D relative to the antenna array of the radar sensor system. Here, the phase signal 60 measured at the position D(n) of the virtual antenna array, which is shown as a point, the first changed phase signal 48.1 after the first iteration step, and the further changed phase signal 48.n after at least one further iteration step are shown.

[0055] In the first modified phase signal 48 . 1 and in the further modified phase signal 48 . n , the measured phase signal 60 is filled with approximate values ​​which replace the missing point influences as faithfully as possible.

[0056] Figure 4 Show Figure 3 The angular spectrum of the phase signal in In each iteration step, a signal value threshold 66 is determined as a selection criterion in the angle spectrum of the signal value S which is given in relation thereto. In a first iteration step, a first signal value threshold 66.1 is applied to the first modified angle spectrum 46.1 which occurs here, and in a further iteration step, a further reduced signal value threshold 66.n is applied to the further angle spectrum 46.n which occurs here, whereby after an inverse transformation by means of the modified phase signal, a final modified angle signal 46.x is obtained.

[0057] In each iteration step, the spectral signal values ​​S which are above the corresponding signal value threshold 66 are inversely transformed into a modified phase signal, where they replace the previously non-occurring values ​​and thus occupy the missing positions in the phase signal with the composite estimated values ​​generated based on the considered spectral information, as in Figure 3 The modified phase signal thus perfected can be used in a further iteration step as the basis for a modified angle spectrum 46 to which the reduced signal value threshold 66 is then applied iteratively as a selection criterion.

[0058] Figure 5 The angle spectrum when applying the method for radar sensor data processing in another special embodiment of the present invention is shown. By observing the amplitude change behavior 68 of the peaks 70 in the angle spectrum 40 and thus the gradient of the amplitude 72 of the peaks 70 during the iteration steps, the selection criterion can include the amplitude change behavior 68 of the amplitude 72 of the peaks 70 that change during the iteration steps, which peaks include the main peak 56 and the secondary peaks 54 in this example. Through the iteration steps, the amplitude 72 of the secondary peak 54 decreases from the corresponding first amplitude 72.1 to the corresponding further amplitude 72.n, while the amplitude 73 of the main peak 56 increases or is constant from the corresponding first amplitude 73.1 to the corresponding further amplitude 73.n. The amplitude change 74 that reduces the respective amplitude 72, 73 of the peak 70 can be used to mark as the secondary peak 54, while the amplitude change 74 that increases the respective amplitude 72, 73 of the peak 70 can be used to mark as the main peak 56.

[0059] If a signal value threshold 66 which decreases with increasing iteration steps is applied as a further selection criterion 75, even if the amplitude 73 of the main peak 56 is smaller than the signal value threshold 66 applied in the corresponding iteration step, the main peak 56 can be included in the angular spectrum component by the selection criterion of the amplitude change behavior 68. Conversely, even if the amplitude 72 of the secondary peak 54 is larger than the signal value threshold 66 applied in the corresponding iteration step, the secondary peak 54 can be excluded from the angular spectrum component by the selection criterion of the amplitude change behavior 68. The information about the amplitude change behavior 68 can also be used to detect or verify the plausibility and evaluate the number of target objects in the angular spectrum 40. Alternatively, the application of the further selection criterion 75 with the signal value threshold 66 can be omitted. Alternatively, after the main peak and secondary peaks have been reliably identified after n iterations, further iterations can either be completely omitted as an interruption criterion and / or the signal value threshold can be limited only to selected areas, for example to the left and right of the identified main peak, in order to further reduce the noise level before detection and to further observe peaks during this period.

[0060] Figure 6 The angle spectrum is shown when applying the method for radar sensor data processing in another special embodiment of the present invention. Angle spectrum 40 is depicted with the aid of selection angle range 78, which shows selection criterion 50. Selection angle range 78 is associated with individual angle ranges 82 which are predefined by at least one individual receiving unit and are defined relative to an overall angle range 80 covered by the radar sensor system as a whole. If at least one target object is detected in individual angle range 82, selection angle range 78 is predefined to be associated with individual angle range 82, in particular to correspond to individual angle range 82.

[0061] Figure 7The target object resolution when applying the method for radar sensor data processing in another special embodiment of the present invention is shown. In order to distinguish the number of target objects in a single angular range, the single signals of multiple receiving units 22 can be processed. In this case, in the case of coincidence of the peaks 70 in the angular spectra 40 of multiple receiving units 22, an angular environment range 86 including the corresponding common peak 70 can be determined and isolated, especially over the span of a single angular range of a receiving unit 22 at most. This isolation can be performed by predefining a signal value threshold 66 below the amplitude 72 of the peak 70. This isolated angular spectrum can be converted into a changed phase signal 34 by an inverse transformation, especially by an iFFT 87, and then the changed phase signal 34 is superimposed on the measured phase signal of another, especially the overall receiving unit 22 of the radar sensor system. Here, the changed phase signal 34 can pre-initialize the corresponding measured phase signal of the receiving unit 22. Preferably, the changed phase signal 34 is normalized and / or attenuated before being superimposed on the measured phase signal, especially so as not to change or to change as little as possible the measured phase information of the other receiving unit 22. In this case, the superposition can be limited to unoccupied spatial locations of the virtual sensor array of the radar sensor system. The measured phase information at previously occupied virtual spatial locations of the sensor array does not change.

[0062] Superposition or averaging means, in particular, that different individual sensors of the sensor array may provide slightly different phase signals. These phase signals can be superimposed or averaged. Since the individual sensors have far fewer virtual antenna positions than the overall aperture, the signal profile must be extrapolated from the individual sensors to the overall arrangement.

[0063] Figure 8 A spectral comparison is shown when applying a method for radar sensor data processing in another special embodiment of the present invention. First, a plurality of first receiving units 88 are divided into a first receiving unit group 90, and a plurality of second receiving units 92 are divided into a second receiving unit group 94, wherein a first angle spectrum 96 is created for the first receiving unit group 90, and a second angle spectrum 98 is created for the second receiving unit group 94, and a selection criterion is associated with a spectral comparison 100 of the first and second angle spectra 96, 98. Here, the selection criterion is respectively a consistency identification 102, by means of which the following peaks 70 are identified in the spectral comparison 100: These peaks are in the first and second angle spectra 96, 98 relative to the angle of incidence. exists consistently.

Claims

1. A method for radar sensor data processing (10) of radar sensor data (12) of a radar sensor system (20) for detecting at least one target object (14) in the surroundings (16) of a carrier system (18), the method comprising: A radar sensor system (20) is provided (30) having a plurality of receiving units (22) distributed in time and / or in space, each for receiving a radar signal reflected by a target object (14) as a single signal (24), wherein the distribution of the receiving units (22) is sparse and there is at least one missing point (26) in the receiving unit distribution (28). Providing (32) a phase signal (34) which is a function of the angle of incidence of the single signal (24) and the radar signal reflected by the target object (14) relative to the radar sensor system (20) The associated phase shift constitutes, The phase shifts collected in the phase signal (34) are converted (38) into an angle spectrum (40) having peaks (70), the angle spectrum having at least one main peak (56) assigned to the target object (14) and at least one secondary peak (54) triggered by the missing part (26), The iterative signal data processing performed during a plurality of iterative steps (42) is carried out by isolating at least one main peak (56) by converting the angle spectrum (40) into a modified angle spectrum (46) by selecting angle spectrum components (44), converting the modified angle spectrum (46) into a modified phase signal (48), and converting the modified phase signal (48) back into the angle spectrum (40), It is characterized in that In at least one iteration step (42), the angular spectrum components (44) are selected according to at least one selection criterion (50) which is independent of or at most indirectly related to the amplitude (72, 73) of the largest peak (70) in the angular spectrum (40).

2. The method (10) for radar sensor data processing according to claim 1, characterized in that: The selection criterion (50) comprises the amplitude variation behavior (68) of at least one of the peaks (70) in the angular spectrum (40) during at least one iteration step (42).

3. The method (10) for radar sensor data processing according to claim 2, characterized in that: A change in amplitude that reduces the amplitude (72) of one of the peaks (70) is used to label a secondary peak (54).

4. The method (10) for radar sensor data processing according to claim 2 or 3, characterized in that: An amplitude change that increases the amplitude (72) of one of the peaks (70) or no amplitude change - meaning a constant amplitude - is used to mark a main peak (56).

5. The method (10) for radar sensor data processing according to any one of the preceding claims, characterized in that The selection criterion (50) is related to a foreseeable maximum possible amplitude (72, 73) of each possible secondary peak (54) of the radar sensor system (20).

6. The method (10) for radar sensor data processing according to any one of the preceding claims, characterized in that The selection criterion (50) is a selection angle range (78) which is related to an individual angle range (82) which is predetermined by at least one individual receiving unit (22) and is defined relative to an overall angle range (80) which is covered overall by the radar sensor system (20).

7. The method (10) for radar sensor data processing according to claim 6, characterized in that: When the at least one target object (14) is detected in the single angular range (82), the selected angular range (78) is predefined as being related to the single angular range (82).

8. The method (10) for radar sensor data processing according to claim 6 or 7, characterized in that: The individual angular range (82) together with at least one one-sided tolerance angle forms the selected angular range (78).

9. The method (10) for radar sensor data processing according to any one of the preceding claims, characterized in that A plurality of first receiving units (88) are divided into a first receiving unit group (90), a plurality of second receiving units (92) are divided into a second receiving unit group (94), a first angle spectrum (96) is created for the first receiving unit group (90), a second angle spectrum (98) is created for the second receiving unit group (94), and the selection criterion (50) is related to a spectral comparison (100) of the first and second angle spectra (96, 98).

10. The method (10) for radar sensor data processing according to claim 9, characterized in that: The selection criterion (50) is a consistency detection (102), by means of which in the spectrum comparison (100) a peak (70) is identified which is located in the first and second angular spectra (96, 98) relative to the angle of incidence. exists consistently.

11. A radar sensor data processing system (12) for processing radar sensor data, the radar sensor data processing system having A radar sensor system (20) providing radar sensor data (12) for detecting at least one target object (14) in the surroundings (16) of a carrier system (18), and A processing unit is configured to process the radar sensor data (12) by means of a method (10) for radar sensor data processing according to any one of the preceding claims.

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