Method for the recognition of a moving pedestrian

A method for the recognition of a moving pedestrian by means of a radar sensor system, wherein

• transmitting a primary radar signal into an observation space;
• and
• receiving a secondary radar signal reflected by the moving pedestrian;
• and
• processing the secondary radar signal, wherein processing the secondary radar signal includes the steps:
• (i) generating a Micro-Doppler spectrogram of the secondary radar signal;
• (ii) determining, based on the Micro-Doppler spectrogram, an observed bulk speed of the moving pedestrian, wherein the observed bulk speed corresponds to a speed component that is related to the pedestrian's torso and is oriented along a line of sight extending from the moving pedestrian to the radar sensor system;
• (iii) determining, based on the Micro-Doppler spectrogram, at least one gait cycle parameter of the moving pedestrian;
• and
• (iv) determining, based on the determined observed bulk speed and the determined gait cycle parameter, an illumination angle between a moving direction of the moving pedestrian and the line of sight.