Driving Coordinate System for Curved-Road Target Positioning
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Solution Overview
Problem
Existing vehicle coordinate systems struggle to accurately represent the relative relationship between a vehicle and its surrounding environment, particularly on curved roads, leading to errors in determining lane positions and distances, which can result in judgment errors in autonomous driving systems.
Innovation Solution
A driving coordinate system is constructed by determining a reference line on the road boundary, using the arc length to represent distances, and adjusting the reference line based on navigation direction and road type to ensure accurate mapping of vehicle, lane, and target positions, thereby improving distance calculations and area division.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a vehicle coordinate system is used to determine target information, then the calculation and judgment can be performed in the vehicle coordinate system, but the relative relationship between the vehicle and the surrounding environment (particularly the lane line and the target) cannot be truly reflected, leading to large deviation or judgment errors in lane position, horizontal distance, and longitudinal distance
Solution Approach 1:
The patent introduces a driving coordinate system as an intermediary between the vehicle coordinate system and the road environment. This intermediate coordinate system is established with the vehicle position as origin and uses the vehicle heading direction as the X-axis, allowing target information to be transformed into a coordinate system that better reflects the relative relationship with the road and lane lines, thereby improving measurement precision while maintaining calculation feasibility
Solution Approach 2:
The patent changes the coordinate system parameters from a fixed vehicle coordinate system to a dynamic driving coordinate system that adapts to the vehicle's position and orientation on curved roads. By adjusting the coordinate system parameters based on real-time vehicle state and road geometry, the system achieves more accurate representation of target positions and distances
2Device complexity
If the vehicle coordinate system is used on curved roads, then the system can operate without additional complexity, but the distance representation becomes inaccurate and does not reflect the actual road geometry
Solution Approach 1:
The patent transforms the static vehicle coordinate system into a dynamic driving coordinate system that continuously adapts to the vehicle's position and orientation on curved roads. The coordinate system parameters are dynamically updated based on real-time vehicle state and road geometry, ensuring accurate distance representation while maintaining operational simplicity through automated transformation
3Ease of manufacture
If straight-line distance in vehicle coordinate system is used, then the calculation is simple, but the distance between the vehicle and the road target cannot be expressed realistically in curved road conditions
Solution Approach 1:
The patent applies curvature by transforming the Euclidean straight-line distance calculation into a geodesic distance calculation that follows the curved road geometry. The driving coordinate system incorporates the road's curvature characteristics, allowing distance measurements to reflect the actual path along the curved road rather than straight-line distances that ignore road geometry
Data Source
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AI summary
A method and a system for constructing a driving coordinate system for use in the field of smart transport. The method for constructing a driving coordinate system comprises: determining the road boundary line on one side of the road on which a current vehicle is situated as a reference line for constructing a driving coordinate system (S 110); in a vehicle coordinate system, determining the reference line point having the smallest distance between the reference line and the current vehicle position as an origin point OF of the driving coordinate system (S 120); on the basis of the origin point OF, determining the road guiding line direction as the XF axis of the driving coordinate system and determining the direction relative to the road guiding line direction according to the left-hand rule as the YF axis of the driving coordinate system (S 130); and, on the basis of the origin point OF, the XF axis, and the YF axis, forming a corresponding driving coordinate system (S140). The driving coordinate system established thereby is particularly suited to curving road conditions and uses longitudinal arc length to represent the longitudinal distance to road targets, thus being capable of more realistically expressing the distance between roads targets and the current car compared to the straight line distances in vehicle coordinate systems.