Autonomous Vehicle LiDAR Positioning with Fixed and Variable Structure Contours
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Solution Overview
Problem
Conventional autonomous vehicle positioning systems face reduced accuracy due to the inability to distinguish between LiDAR contours of fixed and variable structures, leading to noise interference and incomplete matching sets when variable structures obscure fixed structures.
Innovation Solution
An apparatus and method that utilize a LiDAR sensor to generate contours for both fixed and variable structures, with a controller determining location offsets by dividing windows into regions, calculating representative points, and fusing offsets to correct vehicle positioning without prior classification, using a detailed map and reliability values to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If LiDAR sensor obtains LiDAR points for all structures without classification, then data acquisition is simplified and processing time is reduced, but positioning accuracy is degraded due to noise from variable structures
Solution Approach 1:
The patent divides the matching process into multiple stages: initial matching using all LiDAR contours, then selective refinement using only fixed structure contours for final positioning. This segmentation allows rapid initial processing while maintaining high accuracy in the final result by excluding variable structure noise.
Solution Approach 2:
The system performs preliminary classification of LiDAR contours into fixed and variable structures before the main matching process. This preliminary action separates useful data from noise in advance, enabling both fast processing of relevant data and high positioning accuracy without needing to filter during the critical matching phase.
2Measurement precision
If variable structures are filtered out before matching, then positioning accuracy is improved by reducing noise, but processing time increases due to additional classification steps
Solution Approach 1:
The matching process is segmented into phases where different types of contours are used at different stages. Fixed structure contours are used for final precise matching while variable structure contours are used only for initial coarse positioning, eliminating the need for time-consuming pre-filtering.
Solution Approach 2:
The system uses variable structure contours partially - only for initial positioning where high precision is not critical. This partial use of potentially noisy data provides sufficient initial positioning without requiring complete filtering, saving processing time while maintaining adequate accuracy for the initial stage.
3Measurement precision
If only fixed structure LiDAR contours are used for matching, then positioning accuracy is improved by eliminating variable structure noise, but matching set is insufficient when fixed structures are hidden
Solution Approach 1:
The patent merges the advantages of both fixed and variable structure contours by using them in different matching stages. Variable structure contours expand the matching set when fixed structures are hidden, while fixed structure contours provide high precision when available. This combination maintains large matching set size and high accuracy simultaneously.
Solution Approach 2:
The system dynamically selects which contour type to use based on real-time conditions. When fixed structures are visible, it uses them for high-precision matching; when they are hidden, it switches to variable structure contours to maintain sufficient matching set size. This dynamic adaptation ensures both accuracy and sufficient data availability.
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 improves positioning accuracy by effectively integrating LiDAR data from both fixed and variable structures, reducing noise interference and enhancing location detection in autonomous vehicles.
Implementation Method 1
a light detection and ranging (LiDAR) sensor configured to generate a LiDAR contour of a fixed structure located at the roadside and a LiDAR contour of a variable structure
Data Source
AI summary
An apparatus for recognizing a location in an autonomous vehicle is provided. The apparatus includes a light detection and ranging (LiDAR) sensor that generates a LiDAR contour of a fixed structure located at the roadside and a LiDAR contour of a variable structure. A controller then detects a location of the autonomous vehicle based on the LiDAR contour of the fixed structure and the LiDAR contour of the variable contour, generated by the LiDAR sensor.