Vehicle Depth Imager Radar Fusion for Range Accuracy
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Solution Overview
Problem
Depth imagers are not typically used in vehicles due to their trade-off between range accuracy and maximum detectable range, making them unsuitable for automotive applications, while radar systems have limitations in obtaining high-density reflectivity images.
Innovation Solution
Fusing a depth imager with a radar system by transmitting RF energy and light simultaneously, processing reflected light and RF reflections to obtain azimuth, elevation, range, variance, and reflectivity, and using the fusion-based range for semi-autonomous or autonomous vehicle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a depth imager is used to improve range accuracy, then measurement precision is improved, but maximum detectable range is reduced
Solution Approach 1:
The patent combines a depth imager and radar system into a unified sensor fusion system. The depth imager provides high-precision range measurements for nearby objects, while the radar system extends the detectable range to distant objects. The two systems are merged through sensor fusion algorithms that integrate their respective strengths, resolving the contradiction between range accuracy and maximum detectable range.
Solution Approach 2:
The sensor fusion system performs multiple functions: it operates as a depth imager for short-range high-precision measurements and as a radar system for long-range detection. The system universally handles both near-field and far-field objects, adapting its measurement strategy based on object distance to achieve both high accuracy and extended range.
2Length of stationary object
If a radar system is used to extend maximum detectable range, then detection capability is improved, but ability to obtain high-density reflectivity images is reduced
Solution Approach 1:
The patent merges radar and depth imager data through sensor fusion. The radar system provides long-range detection capability, while the depth imager supplies high-density reflectivity information for objects within its effective range. The fusion algorithm combines these complementary data sources, achieving both extended range and high-resolution reflectivity imaging.
Solution Approach 2:
The system applies different measurement qualities to different spatial regions. For distant objects, radar provides adequate detection with lower resolution. For nearby objects within the depth imager's range, high-density reflectivity images are captured. This local differentiation of quality resolves the contradiction between range extension and image resolution.
3Measurement precision
If sensor fusion is performed to improve measurement accuracy, then measurement precision is improved, but device complexity is increased
Solution Approach 1:
The sensor system is segmented into distinct functional modules: a depth imager unit, a radar unit, and a fusion processing unit. Each module handles specific tasks independently, and the segmentation allows for optimized design and processing of each component while maintaining overall system accuracy.
Solution Approach 2:
A fusion processing module acts as an intermediary between the depth imager and radar system. This intermediary integrates data from both sensors, reconciles their different measurement characteristics, and produces unified high-precision output. The mediator manages the complexity of fusion algorithms while presenting a simplified interface for vehicle control applications.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This fusion method enhances range accuracy and provides high-resolution images, combining the strengths of both sensors to improve vehicle sensing capabilities and enable advanced autonomous or semi-autonomous operations.
Implementation Method 1
transmitting radio frequency (RF) energy from the radar system to a region, and receiving, at the radar system, RF reflections resulting from reflection of the RF energy emitted by the radar system by one or more objects in the region
Implementation Method 2
emitting light to the region using a light source simultaneously with transmission of the RF energy, and receiving, at a depth imager aligned with the light source, reflected light from the region resulting from the light emitted by the light source
Data Source
AI summary
Systems and methods to perform sensor fusion with a depth imager and a radar system involve transmitting radio frequency (RF) energy from the radar system to a region and simultaneously emitting light to the region using a light source, Reflected light is received at a depth imager aligned with the light source, and RF reflections are received at the radar system. The reflected light is processed to obtain azimuth, elevation, range, variance in range, and reflectivity to each pixel that makes up the region. Processing the RF reflections provides azimuth, elevation, range, variance in range, velocity, and variance in velocity to a subset of the pixels representing a region of interest. Performing the sensor fusion includes using the azimuth, the elevation, the variance in range, and the reflectivity resulting from the depth imager and the range, the velocity, and the variance in velocity resulting from the radar system.