LiDAR Trailer Angle Measurement for Autonomous Trucks
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Solution Overview
Problem
Current methods for measuring a truck's trailer angle in autonomous driving face challenges such as mechanical device durability, noise filtering, and calibration requirements, with existing solutions lacking stability and accuracy.
Innovation Solution
A system utilizing LiDAR to generate a point cloud, filter with a threshold range, perform coordinate changes, and apply linear fitting and data averaging to accurately calculate the trailer angle and angular velocity, enhancing measurement precision and reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mechanical devices are used to measure trailer angle, then measurement function is achieved, but device durability and reliability deteriorate due to vibration and bumping
Solution Approach 1:
The patent replaces mechanical angle measurement devices with a LiDAR-based optical sensing system. The LiDAR emits laser beams to scan the trailer edge and generates point cloud data for angle calculation, eliminating mechanical components that are susceptible to vibration and bumping, thereby improving reliability and device service life.
2Measurement precision
If LiDAR is used to generate point cloud data, then measurement accuracy is improved, but data processing complexity increases
Solution Approach 1:
The patent extracts only the relevant point cloud data corresponding to the trailer edge from the complete LiDAR scan data. By identifying and isolating the specific geometric features needed for angle measurement, the system reduces processing complexity while maintaining high measurement precision.
Solution Approach 2:
The patent performs preliminary filtering and coordinate transformation on the point cloud data before angle calculation. By preprocessing the data to establish a clean coordinate system and remove irrelevant points in advance, the subsequent angle computation becomes more efficient and accurate.
3Stability of the object's composition
If data filtering and processing are applied, then measurement stability is improved, but computational time increases
Solution Approach 1:
The patent applies filtering and processing only to the necessary subset of point cloud data that contains information about the trailer edge. By processing only the relevant portion of data rather than the complete scan, the system achieves measurement stability while minimizing computational 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
The system provides a stable, cost-efficient, and accurate method for measuring the trailer angle and angular velocity, effectively filtering noise and improving measurement reliability through data processing techniques.
Implementation Method 1
generating a point cloud representing information on a relative position of a front edge of the second portion with respect to the first portion; generating the point cloud is by a LiDAR
Data Source
AI summary
A system for generating a ground truth dataset for motion planning is disclosed. The system includes: a collecting module configured to collect LiDAR scans; a detecting module configured to detect two pose estimates that are closest to LiDAR scan accusation time; a determining module configured to determine LiDAR's poses based on an interpolation; and a transforming module configured to transform LiDAR raw scans into undistorted LiDAR scans.