Doppler Displacement Estimation Using Road-Height Point Extraction
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Solution Overview
Problem
Existing techniques for estimating displacement amounts in moving objects, particularly at low speeds, often inaccurately treat moving objects as stationary, leading to decreased estimation accuracy and difficulty in distinguishing between moving and stationary objects during sudden changes.
Innovation Solution
A displacement amount estimation device that extracts specific distance measurement points outside predetermined vertical distance ranges from the road surface, using Doppler speed and azimuth angle to estimate displacement, thereby distinguishing between moving and stationary objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If distance measurement points are used to estimate displacement amount, then displacement estimation can be performed, but moving objects are incorrectly treated as stationary objects leading to decreased estimation accuracy
Solution Approach 1:
The patent extracts and removes distance measurement points that correspond to moving objects from the data used for displacement estimation. By identifying and excluding these moving object points, the system prevents them from being incorrectly treated as stationary objects, thereby improving the accuracy of displacement estimation for stationary objects while maintaining the ability to distinguish between moving and stationary objects.
2Quantity of substance
If all distance measurement points are used for displacement estimation, then more data is available for calculation, but estimation accuracy decreases due to inclusion of moving object points
Solution Approach 1:
The patent selectively removes moving object points from the set of distance measurement points. This extraction process maintains the quantity of useful data (stationary object points) while eliminating the harmful elements (moving object points) that would degrade estimation accuracy, achieving a balance between data quantity and measurement precision.
Solution Approach 2:
The patent applies different processing to different parts of the data: moving object points are excluded from the estimation calculation, while stationary object points are retained. This local differentiation ensures that only the relevant data (stationary objects) contribute to the displacement estimation, improving accuracy without discarding all available data.
3Reliability
If distance measurement points are extracted based on vertical distance from road surface, then moving objects can be distinguished from stationary objects, but the extraction range must be precisely defined
Solution Approach 1:
The patent uses the vertical distance parameter (height above road surface) as a key criterion for extracting moving object points. By changing the parameter space to include vertical distance, the system creates a clear separation between moving objects (which have non-zero vertical distance) and stationary objects (which have zero vertical distance), enabling reliable distinction without complex extraction logic.
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 approach enhances estimation accuracy by excluding moving object points, preventing them from being treated as stationary, and maintains accuracy during sudden changes in speed or direction.
Implementation Method 1
distance measurement data, which is related to a position and Doppler speed of a distance measurement point detected by a distance measurement sensor
Data Source
AI summary
Distance measurement data, related to a position and Doppler speed of a distance measurement point detected by a distance measurement sensor, is acquired. An extraction point is extracted from the distance measurement data. The extraction point is a distance measurement point disposed outside a range between a position where a distance in a vertical direction from a road surface point is a first predetermined distance and a position where the distance in the vertical direction from the road surface point is a second predetermined distance larger than the first predetermined distance. The displacement amount of a mobile object movable on a road surface is estimated based on a value related to the Doppler speed of the extraction point.