Delimiting Line Estimation Using Corrected Point Sequences
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Solution Overview
Problem
Existing vehicle control systems struggle to accurately estimate the position of delimiting lines over extended distances due to limitations in image capture and noise interference, leading to insufficient estimation accuracy for vehicle positioning on a map.
Innovation Solution
A vehicle control system that captures images of a travel route using an imaging device and generates a first and second delimiting point sequence, with a corrected sequence extending rearward in the vehicle travel direction, combining overlapping and non-overlapping sections to enhance estimation distance and accuracy, while applying rotational corrections and validity checks for improved reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the position of the delimiting line is estimated based on a single previous image superimposed on a current image, then the estimation process is simple, but the distance of the estimable section becomes insufficient
Solution Approach 1:
The delimiting point sequence is divided into multiple sections (first delimiting point sequence from previous image, second delimiting point sequence from current image) that are processed separately and then combined. This segmentation allows each sequence to be estimated independently and then merged to extend the total estimable distance.
Solution Approach 2:
The first delimiting point sequence and second delimiting point sequence are merged into a corrected delimiting point sequence. The merging process combines the overlapping sections and extends the non-overlapping sections, thereby extending the total distance of the estimable delimiting line section.
2Measurement precision
If the delimiting line position is estimated based on a single image sequence, then the processing is straightforward, but the estimation accuracy decreases due to noise in the image
Solution Approach 1:
Multiple delimiting point sequences are merged into a corrected delimiting point sequence. By combining information from both the previous image and current image, the estimation accuracy is improved as the noise in individual images is averaged out through the merging process.
Solution Approach 2:
The merging process uses the overlapping section between the first and second delimiting point sequences as feedback to verify and refine the estimation. The consistent information in the overlapping section confirms the accuracy of the delimiting line position estimation.
3Length of moving object
If multiple delimiting point sequences are generated and merged, then the estimation distance is extended, but the computational complexity increases
Solution Approach 1:
The merging process is segmented into distinct steps: identifying overlapping sections, processing overlapping sections, and processing non-overlapping sections. This segmentation allows the computational task to be divided into manageable parts, reducing the overall computation time.
Solution Approach 2:
The overlapping section between the first and second delimiting point sequences is identified in advance before the merging process begins. This preliminary identification allows the system to efficiently determine which sections require detailed processing and which can be directly combined, reducing computation time.
Data Source
AI summary
A vehicle control system includes an imaging device configured to capture an image of a travel route on which a vehicle is traveling, and a delimiting line estimating unit configured to estimate a position of a delimiting line on the travel route based on the image captured by the imaging device. The delimiting line estimating unit is configured to generate a first delimiting point sequence, generate a second delimiting point sequence that is offset rearward in a vehicle travel direction with respect to the first delimiting point sequence, generate a corrected delimiting point sequence based on the first delimiting point sequence and the second delimiting point sequence, and estimate the position of the delimiting line on the travel route based on the corrected delimiting point sequence.