公开(公告)号：US20200249345A1

公开(公告)日：2020-08-06

申请号：US16857722

申请日：2020-04-24

Applicant: DENSO CORPORATION

Inventor： Klas ALENLJUNG ,  Ola THOMSON

IPC: G01S13/931 ,  B60T15/02

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.