Producing sensor data from detection and prediction data

A method of producing sensor data of a sensor, which has a sensor null point and which is configured to detect a relative bearing of an object relative to the sensor null point, the method comprising:

• using the sensor to:
• detect a respective first preliminary sensor bearing of a plurality of preliminary sensor bearings of the object as the relative bearing at at least a first preliminary time of a plurality of preliminary times;
• and
• detect a target sensor bearing of the object as the relative bearing at a target time that comes after the preliminary times;
• and
• using a computing module to:
• for each of the preliminary sensor bearings, at a respective preliminary time:
• take an object motion model of the object as a basis for predicting a respective prediction sensor bearing of a plurality of prediction sensor bearings at the target time as a predicted relative bearing,
• wherein the sensor data are formed as a set comprising the target sensor bearing and the prediction sensor bearings at the target time.