Free Space Boundary Splines With Adaptive Measurement Point Mapping

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Solution Overview

Problem

Current vehicle assistance systems face challenges in efficiently determining a free space boundary of a physical environment, requiring significant computational resources and memory, while existing methods either use too many or too few control points, leading to suboptimal approximation quality and increased complexity.

Innovation Solution

A method is introduced to associate measurement points with spline points in a parametric curve representation of the free space boundary, allowing for dynamic adjustment of control points to match the local complexity of the boundary shape, reducing computational resources and memory usage while maintaining or improving approximation quality.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a parametric curve with many control points is used to represent the free space boundary, then the approximation quality improves, but the computational resources and memory usage increase

Engineering Contradiction:
Improveapproximation qualityVSAvoidcomputational resources
Core Design Contradiction:
Measurement precisionVSQuantity of substance

Solution Approach 1:

The patent applies local quality by dynamically adjusting the distribution of control points along the parametric curve based on local geometric characteristics. Control points are densified in regions with high curvature or complex boundary geometry while being sparse in regions with low curvature, thereby achieving high approximation quality only where necessary and reducing overall computational resource consumption.

Inventive Principle:
Principle #3Local quality

2Measurement precision

If a parametric curve with many control points is used to represent the free space boundary, then the approximation quality improves, but the memory usage increases

Engineering Contradiction:
Improveapproximation qualityVSAvoidmemory usage
Core Design Contradiction:
Measurement precisionVSQuantity of substance

Solution Approach 1:

The patent implements local quality by adaptively distributing control points according to local boundary complexity. By concentrating control points only in regions requiring high approximation accuracy (such as high-curvature areas) and using fewer control points in simple regions, the system achieves the desired approximation quality while minimizing memory consumption for storing control point data.

Inventive Principle:
Principle #3Local quality

3Quantity of substance

If a parametric curve with fewer control points is used to represent the free space boundary, then the computational resources and memory usage reduce, but the approximation quality deteriorates

Engineering Contradiction:
Improvecomputational resourcesVSAvoidapproximation quality
Core Design Contradiction:
Quantity of substanceVSMeasurement precision

Solution Approach 1:

The patent resolves this contradiction by applying local quality through adaptive control point distribution. The system identifies regions of high geometric complexity (such as sharp corners or curved boundaries) and concentrates control points in those specific areas, while using fewer control points in regions with simple geometry. This ensures high approximation quality is maintained locally where needed while achieving overall computational efficiency.

Inventive Principle:
Principle #3Local quality

4Ease of operation

If uniformly distributed control points are used along the parametric curve, then the distribution is simple, but the approximation quality is suboptimal in regions of varying curvature

Engineering Contradiction:
Improvedistribution simplicityVSAvoidapproximation quality
Core Design Contradiction:
Ease of operationVSMeasurement precision

Solution Approach 1:

The patent applies local quality by transitioning from uniform to non-uniform control point distribution based on local curvature characteristics. The system calculates curvature at different segments of the boundary and adjusts control point density accordingly, placing more control points in high-curvature regions and fewer in low-curvature regions. This adaptive approach maintains distribution simplicity in terms of algorithmic structure while dramatically improving approximation quality in varying curvature regions.

Inventive Principle:
Principle #3Local quality

Data Source

PatentUS20240367643A1Associating measurement points to spline points in determinations of a free space boundary in a vehicle assistance system
Publication Date: 2024.11.07 APTIV TECHNOLOGIES AG
  • US20240367643A1 patent drawing
  • US20240367643A1 patent drawing
  • US20240367643A1 patent drawing

AI summary

This document describes techniques and systems for associating measurement points to spline points in determining a free space boundary for a vehicle assistance system. An exemplified method includes obtaining a set of measurement points that define a subset of a free space boundary near a host vehicle. A parametric curve that approximates spatial information representing the free space boundary is also obtained. The parametric curve includes a plurality of spline samples. The method then includes determining, for each respective spline point of the plurality of spline samples, a respective measurement point of the set of measurement points that corresponds to the respective spline point. In this way, a more efficient technique is disclosed for a vehicle assistance system to associate measurement points to spline points that make up a parametric-curve representation of the free space boundary.