Method for determining a longitudinal speed of a vehicle using a radar sensor and an installation orientation of the radar sensor when driving in a curve

A method to determine a longitudinal velocity of a vehicle using at least one radar sensor and an installation orientation of the at least one radar sensor during cornering of the vehicle, the at least one radar sensor being mounted on the vehicle, and the cornering of the vehicle being when the vehicle is driving in a curve, the method comprising:

• determining, via the at least one radar sensor that is mounted on the vehicle, at least one velocity vector of the at least one radar sensor during cornering of the vehicle with respect to an object detected by the at least one radar sensor, the at least one velocity vector having a longitudinal velocity component and a lateral velocity component of the at least one radar sensor;
• transmitting the at least one velocity vector to a module to estimate the longitudinal velocity of the vehicle and the installation orientation of the at least one radar sensor;
• and
• estimating, via the module, the longitudinal velocity of the vehicle and the installation orientation of the at least one radar sensor at least based on the at least one velocity vector transmitted to the module, the longitudinal velocity of the vehicle and the installation orientation of the at least one radar sensor that have been estimated being used to classify the object detected by the at least one radar sensor,
• wherein the module is a computer program stored on a non-transitory computer readable medium in the at least one radar sensor or a central processing unit of the vehicle to be executed by the at least one radar sensor or the central processing unit.