Narrow Road Detection Using LiDAR Circular Arcs
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Solution Overview
Problem
Existing technologies fail to accurately detect narrow roads, particularly when they are curved, leading to potential fender-benders as drivers visually estimate the road width, and existing sensor systems may not accurately measure the road width when obstacles are present on both sides.
Innovation Solution
An apparatus and method using a LiDAR sensor to collect obstacle positions, generating circular arcs between obstacles, selecting the arc closest to the middle, and creating offset curves to determine if the road width exceeds a threshold, thereby informing the driver of a narrow road.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a rotating sensor is mounted in the central part of the front of a vehicle body to detect road width, then the device can sense the width of narrow roads, but it cannot accurately detect the width when the narrow road is a curved line rather than a straight line
Solution Approach 1:
The patent applies curvature by generating multiple circular arcs with different radii that pass between obstacles on both sides of the road. Instead of using a single straight-line measurement, the system creates curved paths (circular arcs) that can adapt to the geometry of the road and obstacles, enabling accurate width detection on both straight and curved roads.
Solution Approach 2:
The system dynamically selects the appropriate circular arc based on real-time obstacle positions detected by the LiDAR sensor. The processor generates multiple candidate arcs and selects the one that best fits the current road geometry, allowing the detection system to adapt to changing road conditions and curvature.
2Ease of operation
If a driver visually judges the width of the road by looking at the left and right sides of the vehicle, then the driver can attempt to pass through, but a fender-bender with obstacles may occur due to an incorrect judgment
Solution Approach 1:
The patent replaces the driver's manual visual judgment (mechanical/optical system) with an automated LiDAR-based detection system. The LiDAR sensor and processor automatically calculate the available road width by generating circular arcs between obstacles, providing reliable and accurate measurements without relying on the driver's subjective visual assessment.
Solution Approach 2:
The system introduces an intermediary computational layer that processes LiDAR data to determine road width. Instead of directly comparing vehicle width with visual estimates, the processor generates multiple circular arcs, selects the appropriate one, and calculates the offset curve to determine the actual passable width, providing a reliable intermediate measurement that accounts for obstacles and road geometry.
3Measurement precision
If multiple circular arcs are generated to detect curved roads, then the accuracy for curved roads is improved, but the computational complexity increases
Solution Approach 1:
The patent segments the road detection problem by dividing it into discrete circular arcs with different radii. Instead of attempting to model the entire curved road as a single complex geometry, the system breaks it down into multiple simpler arc segments, each of which can be independently calculated and evaluated based on LiDAR obstacle positions.
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 detects narrow roads, preventing fender-benders by determining road width through LiDAR-based obstacle positioning and circular arc analysis, even when roads are curved, and provides timely driver notification.
Implementation Method 1
a position sensor configured to sense positions of obstacles at both sides of a road in front of the vehicle
Implementation Method 2
based on detected positions of obstacles using a LiDAR
Data Source
AI summary
An apparatus for detecting a narrow road in front of a vehicle includes: a narrow road determination processor configured to generate circular arcs passing between obstacles, select a circular arc closest to the middle of the obstacles among the generated circular arcs, and generate an offset curve which is a circular arc having the same central point as the selected circular arc and contacting a corresponding obstacle at left/right sides of the selected circular arc, based on driving information and specification information of the vehicle, and then to determine that a road is a narrow road when a width between the two offset curves does not exceed a threshold value.