Vehicle CoG Height Detection Using LIDAR Point Cloud Data
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Solution Overview
Problem
Current autonomous vehicles lack sensors to directly measure vehicle center of gravity height and mass, which are essential parameters for advanced driver assistance and autonomous driving features, requiring excitation conditions and additional sensors like gyros.
Innovation Solution
A system utilizing LIDAR point cloud data to estimate vehicle center of gravity height and mass by processing data to identify a ground plane, calculating height differences, and employing least square algorithms with vehicle CoG and suspension metrics, allowing for accurate estimation during both steady-state and excitation conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional vehicle CoG height and mass detection techniques based on vehicle dynamics are used, then measurement capability is provided, but excitation conditions (acceleration or deceleration) are required and additional sensors like gyros are needed
Solution Approach 1:
The patent replaces mechanical/dynamic measurement methods with optical measurement using LIDAR. Instead of using vehicle dynamics (mechanical system) to infer CoG height and mass, the system uses light detection and ranging to directly measure the distance from the ground to the vehicle chassis, providing the same measurement capability without requiring vehicle excitation or additional mechanical sensors like gyros
Solution Approach 2:
The LIDAR sensor on the vehicle serves dual purposes: its primary function for autonomous navigation and its secondary function for measuring vehicle CoG height and mass. The existing LIDAR infrastructure is utilized for both navigation and measurement tasks, eliminating the need for separate dedicated measurement sensors
2Device complexity
If no direct measurement sensors are used, then device complexity is reduced, but CoG height and mass cannot be directly measured
Solution Approach 1:
The LIDAR sensor performs multiple functions: autonomous vehicle navigation and direct measurement of vehicle CoG height and mass. By making the LIDAR system multi-functional, the patent eliminates the need for separate dedicated measurement sensors while maintaining high measurement precision through the same optical measurement capabilities
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
Enables accurate and direct estimation of vehicle center of gravity height and mass without the need for excitation conditions or additional sensors, enhancing autonomous driving features by providing precise parameters for vehicle control and safety.
Implementation Method 1
a light detection and ranging (LIDAR) sensor configured to emit light pulses and capture reflected light pulses that collectively form LIDAR point cloud data
Data Source
AI summary
Vehicle center of gravity (CoG) height and mass estimation techniques utilize a light detection and ranging (LIDAR) sensor configured to emit light pulses and capture reflected light pulses that collectively form LIDAR point cloud data and a controller configured to estimate the CoG height and the mass of the vehicle during a steady-state operating condition of the vehicle by processing the LIDAR point cloud data to identify a ground plane, identifying a height difference between (i) a nominal distance from the LIDAR sensor to the ground plane and (ii) an estimated distance from the LIDAR sensor to the ground plane using the processed LIDAR point cloud data, estimating the vehicle CoG height as a difference between (i) a nominal vehicle CoG height and the height difference, and estimating the vehicle mass based on one of (i) vehicle CoG metrics and (ii) dampening metrics of a suspension of the vehicle.