Laser Scanner Roadway Detection via Vehicle Inclination Reference
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Solution Overview
Problem
Existing object detection systems, particularly those using laser scanners, struggle to reliably detect black objects and holes on roadways due to low reflectivity issues and are prone to false alarms from road unevenness and measurement errors.
Innovation Solution
The method involves detecting vehicle inclination caused by deceleration or acceleration, comparing it with speed measurement signals, and using this data to calculate a reference line that adjusts for sensor height and road evenness, allowing for more accurate detection of objects and obstacles by ensuring the scanned laser line remains within tolerance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If laser scanners are used to detect objects on the roadway, then object detection capability is improved, but detection reliability deteriorates for black objects and holes due to low reflectivity
Solution Approach 1:
The system performs preliminary detection of vehicle inclination and roadway gradient before object detection. By calculating the expected roadway position based on vehicle acceleration/deceleration and comparing it with actual laser measurements, the system establishes a reference framework that enables reliable detection of low-reflectivity objects against the roadway background
Solution Approach 2:
The patent introduces an intermediary reference system consisting of expected roadway positions calculated from vehicle dynamics. This intermediary framework mediates between the laser scanner measurements and object detection, allowing the system to distinguish between roadway features and actual obstacles even when reflectivity is low
2Area of stationary object
If laser scanners are mounted low on the vehicle to improve roadway coverage, then detection area is improved, but false alarms increase due to road unevenness and vehicle inclination
Solution Approach 1:
The system calculates the expected roadway position in advance based on vehicle acceleration, deceleration, and gradient data before performing object detection. This preliminary calculation allows the system to anticipate roadway inclination and adjust detection thresholds accordingly, preventing false alarms from road unevenness
Solution Approach 2:
The system continuously compares actual laser measurements with expected roadway positions and uses this feedback to adjust detection parameters. When deviations are detected, the system can distinguish between actual obstacles and roadway variations, reducing false alarms while maintaining comprehensive coverage
3Measurement precision
If multiple sensors are used to improve detection accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the laser scanner perform multiple functions: it detects both the roadway surface and objects above it, while also providing data for vehicle inclination detection. By processing laser measurements in different ways (comparing with expected positions vs. detecting deviations), the system achieves high measurement precision without adding separate sensor systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the reliability of object detection by differentiating between actual objects and measurement errors, improving safety through more accurate evaluation of the road surface and reducing false alarms, especially for black objects and road depressions.
Implementation Method 1
The distance is measured via the reflection on the objects hit by the laser beam
Implementation Method 2
an inclination of the vehicle caused by deceleration and/or acceleration is detected as a differential value
Data Source
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AI summary
The method involves detecting an object (6) in a direction of movement of a vehicle (2) using a sensor (1) i.e. laser scanner, which is arranged on the vehicle, where the sensor is directed onto a plane i.e. track plane (3). A distance of the sensor from a measuring point is determined using a control unit such that an actual value of the determined distance is compared with a reference value. A difference value is delivered for evaluation either as an object or as a measurement error when the actual value deviates from a desired value.