LIDAR Axis Deviation Detection via Camera-LIDAR Fusion
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Solution Overview
Problem
Existing axis deviation detection technologies for on-board LIDAR systems are unable to accurately detect axis deviations when the vehicle is not traveling in a straight line or when the LIDAR is exposed to external obstacles, leading to potential safety issues during vehicle control.
Innovation Solution
An axis deviation detection device that utilizes a combination of a camera and LIDAR, where the camera inside the vehicle cabin and LIDAR outside the cabin work together to detect objects and estimate the axis deviation angle by comparing detection results, even when the vehicle is stationary or on a curved road, using coincidence and parallelism degrees to determine the accuracy of object relations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the LIDAR is disposed in the exterior of the vehicle cabin to improve detection coverage, then the detection capability is enhanced, but the axis deviation easily occurs due to contact with obstacles or collisions
Solution Approach 1:
The patent introduces a camera as an intermediary detection device disposed inside the vehicle cabin to monitor the surrounding environment. This camera system serves as a mediator to detect objects and calculate mobile vectors, providing an alternative method to detect axis deviation without requiring the LIDAR to be directly exposed to external obstacles. The camera captures images of the environment, and through image processing, the system calculates the mobile vector of detected objects to determine if axis deviation has occurred.
2Device complexity
If the axis deviation detection uses mobile vector of surrounding stationary body during straight traveling, then the detection method is simple, but it cannot detect axis deviation when the vehicle is not traveling in a straight line
Solution Approach 1:
The patent makes the detection system universal by enabling it to detect axis deviation under multiple driving conditions (straight traveling, curved road, and stationary state) using the same fundamental method. The system calculates the mobile vector of detected objects through image processing and compares it with the vehicle movement direction, regardless of whether the vehicle is moving straight, turning, or stationary. This multi-functional approach allows the same detection mechanism to work across all operating conditions.
3Reliability
If the LIDAR detection result is compared with camera detection result to estimate axis deviation angle, then the axis deviation can be detected without depending on vehicle behavior, but the device complexity increases
Solution Approach 1:
The patent merges the detection results from two different sensing systems (LIDAR and camera) to estimate the axis deviation angle. The LIDAR provides point cloud information about the surrounding environment, while the camera provides image information. By combining these two data sources and comparing their respective detection results, the system can calculate the axis deviation angle more accurately and independently of vehicle behavior conditions. This fusion of multiple detection methods enhances reliability while managing system complexity through integrated processing.
Data Source
AI summary
An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.