Abstract: A detection method for detecting heading based on sensor data of a radar sensor is provided. The radar sensor provides sensor data in form of a range to range rate spectrum. Two clusters of spectrum cells or recognition points are determined. The spectrum cells or recognition points of a first cluster and a second cluster have an intensity value. The spectrum cells or recognition points of the first cluster are arranged on a first linear stretch. The spectrum cells or recognition points of the second cluster are arranged on a second linear stretch. A first slope gradient is determined for the spectrum cells or recognition points in the first cluster. A second slope gradient is determined for the spectrum cells or recognition points in the second cluster.

Abstract: A detection method for detecting heading based on sensor data of a radar sensor is provided. The radar sensor provides sensor data in form of a range to range rate spectrum. Two clusters of spectrum cells or recognition points are determined. The spectrum cells or recognition points of a first cluster and a second cluster have an intensity value. The spectrum cells or recognition points of the first cluster are arranged on a first linear stretch. The spectrum cells or recognition points of the second cluster are arranged on a second linear stretch. A first slope gradient is determined for the spectrum cells or recognition points in the first cluster. A second slope gradient is determined for the spectrum cells or recognition points in the second cluster.

Abstract: A radar apparatus includes: a transmitting portion including transmitter elements that emits a transmitting signal as a radar wave toward an object; a receiving portion including receiver elements receiving a reflection signal; and an estimation portion. The estimation portion generates a virtual receiving array including virtual receiver elements. The estimation portion divides the virtual receiving array into identical sub-arrays. The estimation portion generates covariance matrix data for each of the sub-arrays. The estimation portion averages the covariance matrix data for each of the sub-arrays to decorrelate a direct reflection signal from the object and multipath reflection signal among the reflection signal and spatially smooths the reflection signal. The estimation portion resolves the direct reflection signal from the object and the multipath reflection signal. The estimation portion determines the direction of the object.

Abstract: A radar apparatus includes: a transmitting portion including transmitter elements that emits a transmitting signal as a radar wave toward an object; a receiving portion including receiver elements receiving a reflection signal; and an estimation portion. The estimation portion generates a virtual receiving array including virtual receiver elements. The estimation portion divides the virtual receiving array into identical sub-arrays. The estimation portion generates covariance matrix data for each of the sub-arrays. The estimation portion averages the covariance matrix data for each of the sub-arrays to decorrelate a direct reflection signal from the object and multipath reflection signal among the reflection signal and spatially smooths the reflection signal. The estimation portion resolves the direct reflection signal from the object and the multipath reflection signal. The estimation portion determines the direction of the object.