Host Vehicle Position Estimation Using Multi-Range Deviation Detection
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Solution Overview
Problem
In host vehicle position estimation using three-dimensional objects, changes in the target object's position due to construction or other factors can cause deviations between the actual and mapped positions, leading to errors in vehicle positioning.
Innovation Solution
A host vehicle position estimation device that utilizes two recognition ranges around the vehicle to detect target objects and determines deviations by comparing the positions estimated from these objects, with a deviation threshold value to assess matching accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single target object is used for host vehicle position estimation, then the estimation process is simple, but the accuracy deteriorates when the target object position changes due to construction or other factors
Solution Approach 1:
The patent divides the recognition space into multiple non-overlapping recognition ranges (first recognition range, second recognition range, etc.) around the host vehicle. Each range independently detects target objects, and the system performs position estimation using target objects from multiple ranges. This segmentation allows the system to maintain simple individual detection processes while achieving high accuracy through combined multi-range estimation, resolving the contradiction between measurement precision and device complexity.
2Reliability
If multiple recognition ranges are used to improve position estimation accuracy, then the reliability improves, but the device complexity increases
Solution Approach 1:
The patent segments the detection space into multiple non-overlapping recognition ranges, each with its own target object detection process. This segmentation ensures that each range independently contributes to position estimation, improving reliability through diversity of detection sources while maintaining manageable complexity through modular processing of each segment.
Solution Approach 2:
The system performs position estimation using target objects detected in multiple recognition ranges, which exceeds the minimum single-range detection. This partial or excessive action approach improves reliability by using more detection data than strictly necessary, while the modular structure keeps the increased complexity manageable through systematic processing of additional ranges.
3Measurement precision
If target object positions are frequently monitored to detect deviations, then the measurement precision improves, but the loss of time increases
Solution Approach 1:
The patent performs position estimation using target objects from multiple non-overlapping recognition ranges simultaneously or in sequence, establishing a baseline position before deviation occurs. By having pre-established position data from multiple ranges, the system can quickly detect deviations when they occur, improving measurement precision while minimizing the time loss associated with deviation detection through prepared reference data.
Data Source
AI summary
A host vehicle position estimation device includes: a detected position recognition unit configured to recognize a detected position of a first target object included in a first recognition range and a detected position of a second target object included in a second recognition range; a host vehicle first position estimation unit configured to estimate a host vehicle first position; a host vehicle second position estimation unit configured to estimate a host vehicle second position; and a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.