Free Space Boundary Splines With Efficient Point Association
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing vehicle assistance systems face challenges in efficiently associating measurement points to spline points for determining a free space boundary, requiring excessive computational resources and memory, while maintaining approximation quality, especially in dynamic environments.
Innovation Solution
A method is introduced to associate measurement points to spline points by generating perpendicular lines from each spline point to determine corresponding measurement points, adjusting control point distribution based on environmental changes, and using a Kalman filter for parametric curve estimation and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional methods are used to associate measurement points to spline points, then comprehensive coverage of the free space boundary is achieved, but computational resources and processing time are excessively consumed
Solution Approach 1:
The patent segments the free space boundary into multiple arcs, each approximated by a separate parametric curve with its own set of spline points. This segmentation allows the system to process only relevant portions of the boundary at any given time, reducing the overall computational burden while maintaining approximation quality through localized precision.
Solution Approach 2:
The patent applies partial action by determining correspondence between measurement points and spline points only for the currently processed arc segment rather than the entire free space boundary. This partial processing approach significantly reduces computational resources required per processing cycle while maintaining overall boundary approximation accuracy through iterative processing of all segments.
2Manufacturing precision
If the number of spline points is increased to improve approximation quality, then the shape fidelity of the free space boundary is improved, but memory requirements and computational complexity increase
Solution Approach 1:
The patent divides the free space boundary into multiple arcs, each with its own parametric curve and limited set of spline points. This segmentation allows high approximation quality to be achieved on each local segment using a manageable number of spline points, while the overall system complexity is controlled by processing segments independently rather than managing a single large set of spline points for the entire boundary.
Solution Approach 2:
The patent dynamically adjusts the processing focus to only the currently active arc segment, loading and processing spline points only for that segment at any given time. This dynamic approach allows the system to maintain high approximation quality for the active segment while keeping memory requirements and computational complexity manageable by not loading all spline points simultaneously.
3Reliability
If measurement points are processed for the entire free space boundary at once, then complete boundary definition is achieved, but processing time and computational load increase significantly
Solution Approach 1:
The patent segments the free space boundary into multiple arcs that are processed sequentially or in parallel independent batches. Each arc is defined by its own parametric curve and spline points, allowing the system to process complete boundary definition through composition of multiple smaller, faster processing units, thereby reducing total processing time while maintaining completeness.
Solution Approach 2:
The patent implements continuous processing by iteratively processing each arc segment and immediately using its results to define the complete free space boundary. This continuous action approach avoids idle time between processing stages and allows the system to build the complete boundary definition through uninterrupted sequential processing of segments, reducing total processing time while ensuring completeness.
Data Source
Figure 1
Figure 2
Figure 3
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.