LiDAR Glancing Angle Distance Object Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
LiDAR systems in autonomous vehicles face challenges in detecting small objects at extended ranges due to limitations in range and distinguishing objects from the road surface, often relying on process-intensive segmentation and precise localization information which may not be available.
Innovation Solution
The method involves classifying LiDAR returns from beyond a glancing angle distance as not coming from the road by determining the glancing angle distance and analyzing the consistency and energy of returns, allowing for object detection without segmentation and reliance on precise map data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional LiDAR segmentation approaches are used to distinguish objects from road surface, then object detection accuracy is improved, but processing complexity and requirement for precise localization information increase
Solution Approach 1:
The patent changes the parameter used for object detection from relying on precise localization and segmentation to using glancing angle distance. By determining whether LiDAR returns originate from beyond the glancing angle distance of the road surface, the system achieves object detection without requiring precise localization information or complex segmentation processing, thus resolving the contradiction between detection accuracy and processing complexity
2Loss of time
If LiDAR range is extended to detect objects at longer distances, then reaction time is improved, but ability to distinguish objects from road surface deteriorates
Solution Approach 1:
The patent applies preliminary action by calculating the glancing angle distance before processing LiDAR returns. This pre-determined distance threshold allows the system to quickly classify returns from beyond this distance as potential objects without requiring complex real-time analysis, thereby maintaining both extended detection range and classification accuracy while improving reaction time
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 approach enhances the ability of autonomous vehicles to detect objects at longer distances, improving reaction time and accuracy in navigating obstacles without requiring precise localization or segmentation, thereby overcoming the limitations of conventional LiDAR systems.
Implementation Method 1
LiDARs... can return data about where an object is (e.g., a range) with respect to an autonomous vehicle... the LiDAR detector will only detect reflections off of objects
Data Source
AI summary
A method of detecting an object in a path of an vehicle using a LiDAR system includes emitting a LiDAR signal with the LiDAR system; receiving the LiDAR signal with the LiDAR system; determining a glancing angle distance; determining the LiDAR signal is received from beyond the glancing angle distance based on receipt of the LiDAR signal; and classifying the LiDAR signal as a return from an object based at least in part on the LiDAR signal coming from a distance beyond the glancing angle distance.