3D Map Projection for Accurate 2D Autonomous Navigation
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Solution Overview
Problem
Autonomous driving systems face challenges in navigation due to distortions caused by using 2D maps, which are not accurate representations of the spherical Earth, leading to inaccuracies in calculating geometric properties like geodetic distances and angles.
Innovation Solution
A control system for autonomous vehicles that shifts and projects 3D maps to 2D maps using techniques like Mercator, Universal Transverse Mercator, Equirectangular, Cassini, cylindrical, and pseudocylindrical projections, selecting a base point to minimize distortions within an effective area for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If 2D maps are used for navigation, then computational complexity is reduced and navigation efficiency is improved, but location accuracy and geometric calculation precision deteriorate due to spherical-to-planar projection distortions
Solution Approach 1:
The patent divides the spherical Earth surface into multiple 2D map segments or zones, each with its own local coordinate system and projection parameters. By segmenting the global navigation problem into local regional problems, the system achieves both computational efficiency of 2D maps and location accuracy within each segment, resolving the contradiction between navigation efficiency and location precision
Solution Approach 2:
The patent dynamically changes projection parameters such as central meridian, standard parallel, and projection type based on the vehicle's current location and destination. By adapting the 2D map projection parameters to match the local geographic region, the system minimizes projection distortions while maintaining computational efficiency, thus resolving the accuracy-efficiency contradiction
2Measurement precision
If 3D spherical coordinate systems are used, then location accuracy and geometric precision are improved, but computational complexity and processing time increase
Solution Approach 1:
The patent introduces 2D map projections as an intermediary representation between the 3D spherical coordinate system and the navigation calculation system. The projection system acts as a mediator that transforms spherical coordinates into planar coordinates, enabling complex spherical geometric calculations to be performed using simpler 2D Cartesian mathematics while maintaining acceptable accuracy through proper projection selection
Solution Approach 2:
The patent creates simplified 2D copies or representations of the 3D spherical surface through map projections. These 2D map copies retain essential spatial relationships and geometric properties needed for navigation calculations, allowing the system to perform computations on simplified representations rather than complex spherical coordinates, thus reducing computational complexity while preserving necessary precision
Data Source
AI summary
Systems and methods for projecting a three-dimensional (3D) surface to a two-dimensional (2D) surface for use in autonomous driving are disclosed. In one aspect, a control system for an autonomous vehicle includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a 3D map including a plurality of objects, determine a base point in the 3D map, shift the objects in the 3D map based on the base point, project the objects in the shifted 3D map to a 2D map, and output the 2D map.