IWR6843AOP: Howto use the sensor for ego speed estimation

Tool/software:

I am exploring the possibility of using the TI IWR6843AOP mmWave sensor for ego speed estimation.

From the documentation I’ve reviewed so far, most use cases of the IWR6843AOP focus on obstacle detection, occupancy sensing, and people counting. However, I haven’t found clear references on directly estimating the ego vehicle’s speed from this sensor.

• Has anyone implemented or come across a solution where the IWR6843AOP (or similar TI mmWave devices) is used for ego speed estimation?

• Is there any TI reference design, application note, or research paper that documents this use case?

• I understand that velocity estimation is possible via Doppler information, but I would like to know if there are recommended methods, algorithms, or configurations specifically for robust ego-motion estimation.

• Also, are there best practices such as mounting the sensor facing downward toward the ground, or leveraging stationary object tracking for relative velocity comparison?

Any guidance, reference material, or shared experiences would be greatly appreciated.

Thanks in advance!