LiDAR Virtual Box Heading Estimation for Stable Autonomous Driving
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Solution Overview
Problem
Existing vehicle control systems using LiDAR for autonomous driving face issues with inaccurately determining the heading direction of a virtual box corresponding to an external object, leading to instability in driving assistance and autonomous driving modes.
Innovation Solution
A vehicle control apparatus and method that utilizes a LiDAR to obtain contour points, calculate a loss distribution based on angles, determine a virtual box by identifying a range of angles with minimal loss, and control autonomous driving operations based on the heading direction of the virtual box.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If LiDAR is used to identify external objects for autonomous driving, then object detection capability is improved, but heading direction accuracy deteriorates
Solution Approach 1:
The patent segments the angle range into multiple candidate ranges and performs iterative refinement. The processor divides the full angle range into several segments, evaluates loss distribution in each segment, and progressively narrows down to the optimal heading direction by selecting the segment with minimum loss and repeating the process until convergence.
Solution Approach 2:
The patent performs preliminary action by pre-defining candidate angle ranges and loss calculation criteria before final heading determination. The system pre-processes the point cloud data to identify contour points and establishes candidate ranges based on initial loss distribution, then uses these preliminary results to guide the final precise heading calculation.
2Measurement precision
If iterative angle range refinement is performed to improve heading direction accuracy, then measurement precision is improved, but computational complexity increases
Solution Approach 1:
The patent reduces computational complexity by segmenting the angle range into candidate ranges and processing only relevant segments in each iteration. Instead of evaluating all possible angles, the system divides the search space into manageable segments, calculates loss distribution only for candidate points within these segments, and eliminates non-optimal segments early in the process.
Solution Approach 2:
The patent applies partial action by performing loss calculation and range refinement only on selected candidate angle ranges rather than exhaustively processing the entire angle spectrum. The system identifies and focuses computational resources on the most promising candidate ranges based on initial loss distribution, performing partial iterations until the stopping criterion is met.
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
Accurately determines the heading direction of the virtual box, enhancing driving stability and safety in autonomous and driving assistance modes by improving the accuracy of vehicle control.
Implementation Method 1
a light detection and ranging device (LiDAR)
Data Source
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AI summary
The present disclosure relates to an apparatus for controlling a vehicle and a method thereof. The vehicle control apparatus may obtain, based on a point cloud obtained via a LiDAR, contour points corresponding to an object external to a vehicle, determine, based on the contour points, a loss distribution according to at least one angle representing a direction, determine, based on new angles in a first range of angles that is associated with a minimum loss value in the loss distribution, a second range of angles that is included in the first range of angles, determine a virtual box corresponding to the object by determining, based on a difference between the minimum loss value and angles within the second range of angles being within a threshold value, a heading direction of the virtual box, and control, based on the virtual box, an autonomous driving operation of the vehicle.