Vehicle Lidar Fog Detection via Radar-Lidar Correlation
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Solution Overview
Problem
Lidar systems face challenges in accurately detecting solid objects due to interference from non-impeding objects like fog, smoke, and dust, which can reflect light and produce unreliable data, leading to incorrect surface detection and reduced effective range.
Innovation Solution
The use of a combination of radar and lidar sensors to determine the presence and density of non-impeding objects by correlating radar and lidar observations, with a machine learning approach to calculate a similarity score that distinguishes between solid surfaces and particulate matter, allowing for improved object detection and navigation in environments with such interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lidar is used to detect surfaces, then distance measurement capability is provided, but false detections occur due to light reflection from particulate matter like fog and smoke
Solution Approach 1:
The patent combines radar and lidar sensors into an integrated sensor array system. The radar sensor detects particulate matter through radio wave reflection while the lidar sensor provides precise distance measurement. By merging the data from both sensors and correlating their observations, the system achieves both accurate distance measurement and reliable detection by cross-validating readings from multiple modalities.
Solution Approach 2:
The patent introduces radar as an intermediary sensor that detects the presence of particulate matter (fog, smoke, dust) between the lidar and target surfaces. The radar acts as a mediator by identifying environmental conditions that cause lidar false detections, allowing the system to compensate for particulate interference and improve overall detection reliability.
2Length of stationary object
If lidar emits light to measure distance, then ranging capability is achieved, but effective range is reduced due to light scattering by vapor and particulate matter
Solution Approach 1:
The radar sensor serves as an intermediary that detects particulate matter concentration in the environment. By measuring radio wave reflection from fog, smoke, and dust, the radar provides information about light-scattering conditions that affect lidar performance. This allows the system to compensate for reduced effective range by identifying and accounting for environmental interference.
Solution Approach 2:
The system implements feedback by continuously monitoring environmental conditions with radar and using this information to adjust lidar interpretation. When radar detects high particulate concentration that would scatter lidar light, the system compensates by relying more on radar data and less on lidar returns, thereby maintaining accurate distance measurement despite reduced lidar effective range.
3Measurement precision
If radar and lidar are used together, then object detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements multi-functionality by using the radar sensor for dual purposes: detecting moving objects directly and simultaneously detecting environmental particulate matter that affects lidar performance. This universal approach allows a single sensor to serve multiple functions, reducing the need for additional specialized sensors and thereby limiting the increase in device complexity while maintaining improved detection accuracy.
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 method enhances the reliability of object detection by differentiating between solid surfaces and non-impeding objects, thereby improving the accuracy and range of lidar data and enabling safer navigation for autonomous vehicles in challenging environmental conditions.
Implementation Method 1
Radar generally measures the distance from a radar device to the surface of an object by transmitting a radio wave and receiving a reflection of the radio wave from the surface of the object
Implementation Method 2
A lidar system has a light emitter and a light sensor. The light emitter may comprise a laser that directs light into an environment. When the emitted light is incident on a surface, a portion of the light is reflected and received by the light sensor
Implementation Method 3
A distance is then calculated based on the flight time and the known speed of light
Implementation Method 4
fine particulate matter may also reflect light. Problematically, fog, smoke, fog, exhaust, steam, and other such vapors may reflect light emitted by a lidar system
Data Source
AI summary
Techniques for detecting and determining a density for a non-impeding object based on correlation between radar and lidar returns are described herein. The techniques provide for receiving lidar data and radar data from a vehicle system operating in an environment. Portions of the lidar data and radar data are determined based on being associated with moving objects in the environment. The portions are then correlated to determine a similarity between the radar and lidar data. The similarity may then be used to determine an indication and density of the non-impeding object in the environment and cause the vehicle to operate within the environment accordingly.