Dynamic Impassable Region Detection for Mobile Objects
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Solution Overview
Problem
Existing automatic driving control systems for mobile objects struggle to accurately determine impassable regions, especially when obstacles change positions frequently, such as chairs or people, as they rely solely on static map information without considering dynamic changes in obstacle positions over time.
Innovation Solution
An automatic operation control system that includes an environment map storage unit storing position information with state quantity variability, allowing the system to determine impassable regions by correlating position information with the tendency of state changes over time, using sensors like LIDAR and GPS to update and calculate state quantities and variabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If static map information is used to determine impassable regions, then the system structure is simple, but the accuracy of determining impassable regions deteriorates when obstacles change positions frequently
Solution Approach 1:
The patent transforms the static map information into dynamic information by introducing time variability. The environment map now includes state quantity variability that changes over time, allowing the system to adapt to moving obstacles while maintaining a relatively simple overall structure. This resolves the contradiction by making the determination process dynamic rather than static.
Solution Approach 2:
The patent introduces state quantity variability as an intermediary parameter between the static map information and the impassable region determination. This intermediary captures the dynamic nature of obstacles without requiring complete real-time tracking of every obstacle, thus improving accuracy while avoiding excessive system complexity.
2Quantity of substance
If only position information is stored in the environment map, then the storage requirement is low, but the ability to ascertain current situation deteriorates
Solution Approach 1:
Instead of storing complete real-time information for all positions, the patent applies local quality by storing state quantity variability specifically at positions where obstacles are likely to change. This selective storage approach improves situation awareness while keeping data storage requirements manageable.
Solution Approach 2:
The patent changes the parameter stored in the environment map from static position information to position information combined with state quantity variability. This parameter transformation allows the system to capture dynamic obstacle behavior without requiring proportional increases in data storage capacity.
3Measurement precision
If the system accounts for dynamic changes in obstacle positions, then the accuracy of impassable region determination improves, but the computational complexity increases
Solution Approach 1:
The patent applies partial action by focusing computational resources on calculating state quantity variability only for relevant positions and time periods. Rather than computing complete dynamic trajectories for all obstacles, the system performs partial calculations that are sufficient for determining impassable regions, thus improving accuracy without excessive computational complexity.
Data Source
AI summary
An automatic operation control system of a mobile object includes an environment map storage unit configured to store environment map information and an electronic control unit configured to include an impassable region determining unit. The environment map information includes position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability is correlated with the corresponding position information, and the state quantity variability indicates a variation tendency of a state quantity of the corresponding position with respect to time. The impassable region determining unit is configured to determine an impassable region which is unsuitable for movement of the mobile object on the basis of the state quantity variability of the environment map information.