Abstract: An estimated initial direction of movement of a newly-detected object is to be determined. The actual previous directions of movement and positions of previously-detected objects are determined and stored. When a newly-detected object is newly detected at a certain position, then the actual previous direction of movement of one of the previously-detected objects at that position is used as a basis to determine the estimated initial direction of movement of the newly-detected object at that position.

Abstract: An object tracking method, in which a radar sensor emits radar signals in successive measurement cycles, said radar signals being reflected by the object and captured by the radar sensor as radar targets, wherein movement information about the object for object tracking is determined on the basis of the radar targets and a search window for the radar targets of the object is defined on the basis of the movement information, wherein the search window is widened if a change in the movement information which exceeds a definable limit value is determined in successive measurement cycles and/or if no radar targets of the tracked object are captured anymore.

Abstract: An apparatus and a method for ascertaining object kinematics of a movable object include: a trajectory calculation filter for calculating an estimated movement direction of the object based on a predicted position of the object and based on a position of the object specified in radar measurement data of the object; and a calculation unit for calculating Cartesian speeds of the object depending on a measured radial object speed and a measured object angle, which are specified in the radar measurement data, and depending on the estimated movement direction of the object that is calculated in the trajectory calculation filter.

Abstract: An apparatus (1) and method for ascertaining object kinematics of a movable object (20), comprising a trajectory calculation filter (2) for calculating an estimated movement direction ({circumflex over (?)}K+) of the object (20) on the basis of a predicted position ({circumflex over (x)}K?,?K?) of the object (20) and on the basis of the position (xK,yK) of the object (20) specified in radar measurement data of the object; and comprising a calculation unit (3) for calculating Cartesian speeds (VxK,YyK) of the object (20) depending on the measured radial object speed (VradK) and a measured object angle (?K), which are specified in the radar measurement data of the object (20), and depending on the estimated movement direction ({circumflex over (?)}K) of the object (20) that is calculated in the trajectory calculation filter (2).

Abstract: The present invention relates to the determination of an improved initial direction of movement of sensor-detected objects. The directions of movement of sensor-detected objects are determined and stored. On the basis of these stored directions of movement of detected objects, an initial direction of movement corresponding to a direction of movement of an object detected previously in the same location can be assigned to a newly detected object in a simple manner.