Dual GridTile Sensor Data Integration for Vehicle Assistance
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Solution Overview
Problem
Existing driver assistance systems face significant discretization errors when integrating local sensor data into a global environment model, leading to inaccurate obstacle representation and increased complexity, particularly due to differences in cell orientation and size between local and global networks.
Innovation Solution
The system uses a dual GridTile structure where sensor data is stored in second virtual cells that match the dimensions and orientation of first virtual cells, allowing direct integration without additional discretization errors, using run-length coding for efficient data transfer and compression.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If local sensor networks are integrated into global environment models using traditional occupancy grids, then sensor data can be combined, but discretization errors increase and measurement precision deteriorates
Solution Approach 1:
The environment is divided into discrete cells (GridTiles) that can be independently managed and integrated. Each sensor creates its own local GridTile representation, which is then segmented and merged into the global environment model, allowing precise obstacle representation while maintaining integration capability
Solution Approach 2:
The patent introduces a hierarchical dimension to the traditional 2D occupancy grid by creating multiple levels of GridTiles (local sensor level and global environment level). This dimensional extension allows seamless integration of sensor data at different resolutions and orientations without losing precision
2Adaptability or versatility
If different sensor orientations are integrated into a global network, then comprehensive environment coverage is achieved, but transformation complexity and device complexity increase
Solution Approach 1:
The GridTile structure serves multiple functions simultaneously: it represents occupancy information, stores orientation data, and provides a universal interface for integrating sensors with different orientations. This universal structure eliminates the need for complex transformation rules while maintaining flexible sensor integration
Solution Approach 2:
The patent changes the parameters stored within each cell from simple occupancy values to include orientation and position information. This parameter enrichment allows the system to handle sensors with different orientations directly without requiring complex coordinate transformations
3Device complexity
If cell dimensions are increased to cover larger areas, then fewer cells are needed, but discretization error increases and measurement precision worsens
Solution Approach 1:
The environment is segmented into fine-grained GridTiles that can be densely packed when needed. This segmentation allows the system to use small cell dimensions for high precision obstacle representation while still managing computational complexity through efficient data structures
Solution Approach 2:
The system dynamically adjusts the effective resolution by activating only the GridTiles that are relevant to the current sensor field of view and vehicle position. This dynamic approach maintains high measurement precision in active areas while reducing overall computational complexity
Data Source
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AI summary
The invention relates to an assistance device, in particular for a vehicle (1), comprising at least one sensor (2) for scanning a surrounding area (3) of the vehicle (1) and comprising at least one control device (4) which can exchange data with the sensor (2) in an alternating manner. The control device (2) has a first memory device which stores the scanned surroundings in at least one first virtual cell (5), in particular in at least one first GridTile, and the first virtual cell (5) represents a sub-region of the surrounding area (3) of the vehicle (1). The sensor (2) has a second memory device which stores data obtained by the sensor (2) in at least one second virtual cell (6), in particular a second GridTile, the second cell (6) represents at least one sub-region of a surrounding area (3) of the sensor (2) and at least partly represents the same region of the surroundings (3) as the first cell (5), and the control device (4) is designed to integrate the contents of the second cell (6) into the first cell (5).