Remote target vehicle tracking in a region surrounding a motor vehicle

A collision detection device for a motor vehicle for the detection of an imminent collision with a remote target vehicle, the collision detection device comprising:

• a radar sensor configured to sense radar sensor data of the target vehicle;
• LIDAR sensor configured to sense LIDAR sensor data of the target vehicle;
• and
• a control unit configured to track the remote target vehicle in a region surrounding the motor vehicle by:
• determining radar reflection points from the radar sensor data;
• determining a position specified by a distance and an azimuth angle and a Doppler velocity of points on the target vehicle based on the radar reflection points;
• identifying a wheel of the target vehicle based on the position, with a uniformly sized two-dimensional window with an extent in a distance dimension and in an azimuth angle dimension being laid in each case around each radar reflection point and a total of the variances of the Doppler velocities of all radar reflection points contained in the two-dimensional window being established and assigned to the corresponding radar reflection point, and wherein a radar reflection point is determined as a point on a wheel, the total assigned to which is greater than a predefined threshold value;
• providing first wheel acquisition data based on the wheel identified from the radar reflection points;
• identifying a wheel of the target vehicle from the LIDAR sensor data of the LIDAR sensor;
• providing second wheel acquisition data based on the wheel identified from the LIDAR sensor data;
• merging the first wheel acquisition data and the second wheel acquisition data;
• and
• establishing a parameter of the target vehicle based on a result of merging the first wheel acquisition data and the second wheel acquisition data.