Dynamic Target Detection Area Adjustment for Vehicle Position Error Compensation

Solution Overview

Problem

Conventional image processing systems for detecting traffic indicators do not account for errors in vehicle position and attitude, leading to potential undetection of targets when errors are significant, and increased false detection rates when the image processing area is excessively large.

Innovation Solution

A target detection apparatus that estimates errors in vehicle self-position and adjusts the target detection area based on these errors, using a combination of map information, landmark data, and camera images to accurately determine the target's position and attitude, thereby optimizing the detection area for precise target recognition.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the image processing area is set to cover a large region to account for position errors, then the target detection reliability is improved, but the computational load and false detection rate increase

Engineering Contradiction:

Improvetarget detection reliabilityVSAvoidcomputational load

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The image processing area is dynamically adjusted based on the detected position error magnitude. When position errors are large, the processing area is expanded to ensure the target is included. When position errors are small, the processing area is reduced to minimize computational load and false detections. This dynamic adaptation resolves the contradiction between reliability and productivity.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of image processing area size based on the detected position error. By adjusting this parameter according to actual error conditions rather than using a fixed large area, the system achieves both high reliability (when errors are large) and low computational load (when errors are small).

Inventive Principle:

Principle #35Parameter changes

2Reliability

If the image processing area is set to cover a large region to account for position errors, then the target detection reliability is improved, but the false detection rate increases

Engineering Contradiction:

Improvetarget detection reliabilityVSAvoidfalse detection rate

Core Design Contradiction:

ReliabilityVSObject-generated harmful factors

Solution Approach 1:

The image processing area is dynamically adjusted based on the detected position error magnitude. When position errors are large, the processing area is expanded to ensure the target is included. When position errors are small, the processing area is reduced to minimize computational load and false detections. This dynamic adaptation resolves the contradiction between reliability and productivity.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of image processing area size based on the detected position error. By adjusting this parameter according to actual error conditions rather than using a fixed large area, the system achieves both high reliability (when errors are large) and low computational load (when errors are small).

Inventive Principle:

Principle #35Parameter changes

3Reliability

If the image processing area is set to cover a large region to account for position errors, then the target detection reliability is improved, but the system complexity increases

Engineering Contradiction:

Improvetarget detection reliabilityVSAvoidsystem complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system uses feedback from position error detection to adjust the image processing area. The detected position error feeds back into the area determination process, creating a closed-loop system that automatically adapts the processing area to actual error conditions, resolving the contradiction between reliability and system complexity.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system changes the parameter of image processing area size based on the detected position error. By adjusting this parameter according to actual error conditions rather than using a fixed large area, the system achieves both high reliability (when errors are large) and low computational load (when errors are small).

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentEP3147629B1Object detection device and object detection method

Publication Date: 2019.07.10 NISSAN MOTOR CO LTD

Figure 1
Figure 2
Figure 3~4

AI summary

A target detection apparatus (100) acquires (11) an image by imaging the surroundings of a vehicle, detects (12) a self-position of the vehicle based on an amount of movement of the vehicle from an initial position thereof, and estimates (13) a relative position of a target, located around the vehicle, with respect to the vehicle based on the self-position and information on a position of the target on a map. The target detection apparatus sets (14) a detection area for the target within the image based on the relative position of the target with respect to the vehicle, and detects (15) the target from the detection area. The target detection apparatus estimates (16) error contained in the self-position based on the amount of movement of the vehicle from the initial position, and adjusts (14) the size of the detection area for the target according to the error.