Method for predicting a false positive for a radar sensor

A computer implemented method for predicting a false positive for a radar sensor emitting a radar signal in a desired field of view, wherein the false positive is to be predicted for a predefined region located outside the desired field of view, the method comprising:

• receiving geometrical data for at least one item within the predefined region,
• defining a position of the radar sensor,
• calculating a plurality of primary rays representing the radar signal,
• wherein each primary ray has a primary energy level and originates from the position of the radar sensor,
• calculating a plurality of reflected rays based on the plurality of primary rays and based on the geometrical data, wherein each reflected ray originates from a respective reflection point at the at least one item and is a reflection of one of the primary rays or a reflection of another reflected ray,
• selecting detectable rays from the reflected rays, wherein the detectable rays arrive at the position of the radar sensor,
• estimating a conductivity of the at least one item in order to determine a reflectivity of the item based on the conductivity,
• determining an energy level for each detectable ray based on the reflectivity of the at least one item and based on the respective primary energy level,
• determining a clustering level for the detectable rays based on distances of the respective reflection points of the detectable rays, and
• estimating a probability for an occurrence of a false positive based on the energy level and the clustering level of the detectable rays.