Autonomous Vehicle Travel Control for LiDAR Dead Zone Stops
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Solution Overview
Problem
Automated and unmanned work vehicles equipped with LiDAR sensors face challenges in detecting objects in dead zones, where insufficient data points hinder accurate object detection, leading to potential unsafe vehicle operation.
Innovation Solution
A travel control system that uses three-dimensional point cloud data to count points in predetermined angular ranges, identifying areas with low point counts and grouping them to determine when to stop the vehicle, preventing it from continuing to travel when objects are present in dead zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the vehicle travels autonomously using a LiDAR sensor, then automation is improved, but object detection reliability deteriorates in dead zones where insufficient data points are obtained
Solution Approach 1:
The system performs preliminary analysis of point cloud data by counting the number of points in predetermined angular ranges before making travel decisions. This preliminary action identifies potential dead zones where objects might exist but insufficient data is obtained, allowing the system to proactively stop the vehicle before traveling into unsafe conditions
Solution Approach 2:
The patent introduces an intermediary evaluation mechanism that counts data points in angular ranges as a mediator between the LiDAR sensor and the travel control decision. This intermediary layer detects when objects are present in dead zones by identifying angular ranges with abnormally low point counts, bridging the gap between incomplete sensor data and safe travel decisions
2Reliability
If the vehicle stops when insufficient points are detected, then safety is improved, but productivity deteriorates due to unnecessary stops
Solution Approach 1:
The system applies local quality analysis by evaluating point counts in specific predetermined angular ranges rather than uniformly across all directions. This allows the vehicle to identify localized dead zones where objects might be present while maintaining travel in other safe directions, preventing unnecessary complete stops
Solution Approach 2:
The patent segments the surrounding environment into multiple predetermined angular ranges and evaluates each segment independently. This segmentation allows the system to make precise travel decisions based on local conditions in each angular range, stopping only when necessary in specific directions rather than making blanket stops that reduce productivity
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
The system effectively prevents the vehicle from moving when objects are in the dead zone, ensuring safety by maintaining the vehicle at rest even when sufficient data points for detection are not obtained, thereby enhancing object detection accuracy and safety.
Implementation Method 1
a light detection and ranging (LiDAR) sensor
Implementation Method 2
a light detection and ranging (LiDAR) sensor
Data Source
AI summary
A travel control system to control traveling of a vehicle includes a sensor to sense an environment around the vehicle and output sensor data, and a controller configured or programmed to detect an object around the vehicle based on the sensor data, and to control traveling of the vehicle depending on a result of the object detection. The sensor data includes three-dimensional point cloud data. The controller is configured or programmed to obtain data of points from the three-dimensional point cloud data, count a number of points in each of predetermined angular ranges as viewed from above in a height direction of the vehicle, and perform a control to put the vehicle into a travel stopped state depending on the counted number of the points.