LIDAR Signal Processing Using Road Inclination Reliability Checks
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Solution Overview
Problem
Existing LIDAR apparatuses face challenges in reliably detecting obstacles due to limited vertical field of view and varying laser light emission ranges caused by vehicle inclination, leading to inaccurate obstacle detection, especially when encountering road obstacles like stones or slopes.
Innovation Solution
A LIDAR signal processing apparatus that calculates the flight length of laser light and estimates vehicle inclination relative to the road, determining the reliability of detected information by comparing actual and ideal inclinations, processing data as valid or invalid based on these measurements to ensure accurate obstacle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple channels of laser diodes are employed to extend vertical field of view, then vertical field of view is improved, but device complexity increases
Solution Approach 1:
The patent segments the laser emission into multiple channels (first laser light for road surface, second laser light for obstacles) with different inclination angles. This allows the system to cover both vertical field of view requirements while using a single physical sensor unit, avoiding the complexity of multiple laser diode channels.
Solution Approach 2:
The single sensor unit performs multiple functions by emitting laser light at different inclination angles through different channels. The first channel measures road surface distance for inclination calculation, while the second channel detects obstacles, making the sensor universal for both terrain adaptation and obstacle detection.
2Area of stationary object
If laser light is emitted at fixed inclination towards the road, then vertical field of view is improved, but measurement precision deteriorates due to varying actual inclination
Solution Approach 1:
The system uses feedback by measuring the actual flight length of laser light to the road surface, calculating the actual inclination angle, and comparing it with the ideal inclination angle. This feedback loop enables real-time detection and compensation of vehicle inclination variations, maintaining measurement precision despite changing road conditions.
Solution Approach 2:
The system performs preliminary measurement of the road surface distance using the first laser light channel before obstacle detection. By first establishing the actual inclination through road surface measurement, the system prepares accurate reference data that improves subsequent obstacle detection precision.
3Adaptability or versatility
If vehicle inclination varies on uneven roads, then adaptability is improved, but reliability of obstacle detection information deteriorates
Solution Approach 1:
The reliability determination unit uses feedback from the inclination calculation unit to assess whether detected obstacle information is reliable. By continuously monitoring the difference between actual and ideal inclination angles, the system can identify when vehicle posture changes affect detection accuracy and flag such data accordingly.
Solution Approach 2:
The system dynamically adjusts its assessment of detection reliability based on real-time inclination variations. Rather than using fixed thresholds, the reliability determination adapts to changing road conditions by comparing actual inclination with ideal inclination, allowing the system to maintain high reliability standards even when adapting to uneven roads.
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
Enhances the reliability and accuracy of obstacle detection information by real-time verification of vehicle inclination, ensuring only valid data is processed, thereby improving the precision of LIDAR systems in varying environments.
Implementation Method 1
receiving a reflection wave reflected from an obstacle
Implementation Method 2
calculate a Time of Flight (TOF) using a reflection light received from a first position on the road
Data Source
AI summary
A light detection and ranging (LIDAR) signal processing apparatus capable of accurately measuring a distance to an object using an optical means may include: a flight length deriving unit to calculate a flight length of a first laser light emitted from a sensor toward a road with an inclination, a vertical inclination measurement unit to estimate a vertical inclination of the vehicle with respect to the road based on the flight length, a horizontal inclination measurement unit to estimate a horizontal inclination of the vehicle with respect to the road based on the flight length, a reliability determination unit to determine reliability of information detected by the sensor based on the vertical inclination and the horizontal inclination of the vehicle, and a data processing unit to process the detected information when the detected information is reliable.