Intersection Path Generation for Mapless Moving Body Control
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Solution Overview
Problem
Compact moving bodies, such as ultra-compact mobility vehicles and mobile robots, face challenges in generating travel routes through intersections without using high-precision map information, as conventional methods struggle to handle road shapes with multiple exits or course changes.
Innovation Solution
A moving body control system that includes imaging and recognition means to capture and analyze road shapes, generating paths through intersections by recognizing entrance and exit sections using machine learning models, allowing path generation without high-precision maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional white line extraction methods are used to recognize road shapes, then simple curved roads can be handled, but intersections with multiple exits cannot be handled because white lines do not continue
Solution Approach 1:
The patent segments the road shape recognition into multiple components: entrance section detection, exit section detection, and course change detection. By dividing the intersection recognition task into these segments, the system can handle complex intersection geometries with multiple exits that cannot be captured by continuous white line extraction alone.
Solution Approach 2:
The patent transitions from two-dimensional white line extraction to three-dimensional spatial reasoning by detecting entrance and exit sections as distinct geometric entities and analyzing their spatial relationships. This dimensional change enables the system to understand intersection topology and generate appropriate routes through course changes.
2Measurement precision
If high-precision map information is used for route generation, then accurate navigation through intersections is achieved, but compact moving bodies lack the hardware resources to store and process such information
Solution Approach 1:
The patent enables compact moving bodies to perform self-service navigation by detecting and recognizing road shapes and intersections in real-time using onboard sensors and image processing. The system generates routes autonomously based on detected entrance and exit sections without relying on external high-precision map data, thereby reducing hardware resource requirements while maintaining navigation accuracy.
Solution Approach 2:
The patent replaces the mechanical approach of storing and processing high-precision map data with an optical and computational approach using cameras and image processing algorithms. By substituting map-based navigation with real-time visual recognition of road shapes and intersections, the system achieves accurate navigation without the hardware burden of map storage and processing.
3Speed
If the moving body enters the intersection before capturing the exit image, then real-time navigation is achieved, but the exit of the intersection cannot be captured before entry
Solution Approach 1:
The patent performs preliminary detection of entrance sections and potential exit sections before the moving body fully enters the intersection. By identifying the intersection structure and possible exit paths in advance, the system prepares the route generation in real-time without needing to capture all exit information after entry, thus maintaining navigation speed while preventing information loss.
Data Source
AI summary
A moving body control system of the present invention comprises: acquiring a captured image of a travel area of a destination of a moving body; recognizing a road shape included in the captured image; and generating a path of the moving body based on the road shape recognized by the recognition means. In the path generation, when the recognition means recognizes a road shape including an entrance section and at least one exit section accompanied by a course change, a first path from a current position of the moving body to the entrance section, and a second path from the entrance section to an exit section to be identified in accordance with indication information about the destination of the moving body are generated.