Hough transform based ego‐velocity estimation in automotive radar system

Abstract In general, the velocity estimated through the automotive radar is the relative velocity between the ego‐vehicle and the target. To estimate the absolute velocity of the ego‐vehicle (i.e. ego‐velocity), it is necessary to get help from other automotive sensors, such as cameras and lidars. I...

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Autores principales:	Sohee Lim, Seongwook Lee
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/7156fa108c4d406db9e5945b9833673f
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spelling	oai:doaj.org-article:7156fa108c4d406db9e5945b9833673f2021-11-16T10:15:44ZHough transform based ego‐velocity estimation in automotive radar system1350-911X0013-519410.1049/ell2.12048https://doaj.org/article/7156fa108c4d406db9e5945b9833673f2021-01-01T00:00:00Zhttps://doi.org/10.1049/ell2.12048https://doaj.org/toc/0013-5194https://doaj.org/toc/1350-911XAbstract In general, the velocity estimated through the automotive radar is the relative velocity between the ego‐vehicle and the target. To estimate the absolute velocity of the ego‐vehicle (i.e. ego‐velocity), it is necessary to get help from other automotive sensors, such as cameras and lidars. In this letter, therefore, a method for estimating the ego‐velocity is proposed using only radar sensor data. To estimate the ego‐velocity, stationary targets in the detection result have to be identified because the velocity relative to the stationary target can be directly converted to the ego‐velocity. In the proposed method, the radar data is first processed to extract the relative distance from the ego‐vehicle to the target, relative velocity between the ego‐vehicle and the target, and angle between the ego‐vehicle and the target. Then, the detected targets are represented in the angle‐velocity domain because moving and stationary targets in this domain exhibit different characteristics. In other words, the moving targets are randomly placed, but the stationary targets exist around a specific line. Finally, the Hough transformation is applied to automatically determine the line, and the ego‐velocity is calculated from the transform result. The proposed method shows a maximum error of 2.4% in the velocity range of 30–90 km/h.Sohee LimSeongwook LeeWileyarticleElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENElectronics Letters, Vol 57, Iss 2, Pp 80-82 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Electrical engineering. Electronics. Nuclear engineering TK1-9971 Sohee Lim Seongwook Lee Hough transform based ego‐velocity estimation in automotive radar system
description	Abstract In general, the velocity estimated through the automotive radar is the relative velocity between the ego‐vehicle and the target. To estimate the absolute velocity of the ego‐vehicle (i.e. ego‐velocity), it is necessary to get help from other automotive sensors, such as cameras and lidars. In this letter, therefore, a method for estimating the ego‐velocity is proposed using only radar sensor data. To estimate the ego‐velocity, stationary targets in the detection result have to be identified because the velocity relative to the stationary target can be directly converted to the ego‐velocity. In the proposed method, the radar data is first processed to extract the relative distance from the ego‐vehicle to the target, relative velocity between the ego‐vehicle and the target, and angle between the ego‐vehicle and the target. Then, the detected targets are represented in the angle‐velocity domain because moving and stationary targets in this domain exhibit different characteristics. In other words, the moving targets are randomly placed, but the stationary targets exist around a specific line. Finally, the Hough transformation is applied to automatically determine the line, and the ego‐velocity is calculated from the transform result. The proposed method shows a maximum error of 2.4% in the velocity range of 30–90 km/h.
format	article
author	Sohee Lim Seongwook Lee
author_facet	Sohee Lim Seongwook Lee
author_sort	Sohee Lim
title	Hough transform based ego‐velocity estimation in automotive radar system
title_short	Hough transform based ego‐velocity estimation in automotive radar system
title_full	Hough transform based ego‐velocity estimation in automotive radar system
title_fullStr	Hough transform based ego‐velocity estimation in automotive radar system
title_full_unstemmed	Hough transform based ego‐velocity estimation in automotive radar system
title_sort	hough transform based ego‐velocity estimation in automotive radar system
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/7156fa108c4d406db9e5945b9833673f
work_keys_str_mv	AT soheelim houghtransformbasedegovelocityestimationinautomotiveradarsystem AT seongwooklee houghtransformbasedegovelocityestimationinautomotiveradarsystem
_version_	1718426554023804928

Hough transform based ego‐velocity estimation in automotive radar system

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