LiDAR Virtual Box Heading Estimation for Autonomous Vehicle Control
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Solution Overview
Problem
Existing vehicle control systems using LiDAR for autonomous driving face challenges in accurately determining the orientation of the heading direction of the external object, which can lead to inaccurately identifying the heading direction of the external object, which can lead to incorrect identification of the external object, which can result in driving performance issues, which can result in driving stability and safety issues.
Innovation Solution
A vehicle control apparatus and method that utilizes a LiDAR to obtain contour points, determine a loss distribution based on angles, and identifies a virtual box, and controls the driving stability of the external object, which determines the heading direction of the virtual box, and controls the autonomous driving operation of the vehicle based on the virtual box.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If LiDAR is used to identify external objects, then object detection capability is improved, but heading direction identification accuracy deteriorates
Solution Approach 1:
The patent segments the object detection process into multiple stages: initial object identification using LiDAR, contour point extraction, virtual box generation, and iterative heading direction refinement. This segmentation allows each stage to focus on specific tasks, improving overall measurement precision while maintaining detection capability.
Solution Approach 2:
The patent implements feedback mechanisms where the system iteratively refines heading direction estimates by comparing virtual box orientations with actual point cloud data. The loss distribution calculation provides feedback on orientation accuracy, allowing continuous improvement of heading direction identification through multiple refinement cycles.
2Productivity
If virtual box heading direction is determined using traditional methods, then processing speed is maintained, but driving stability deteriorates
Solution Approach 1:
The patent performs preliminary actions by pre-defining angle ranges and loss distribution parameters before actual heading direction determination. Virtual boxes are pre-generated with initial orientations, and angle ranges are pre-calculated based on object contours. This preliminary preparation enables faster processing while maintaining stability through constrained search spaces.
Solution Approach 2:
The patent changes parameters dynamically by adjusting angle ranges and loss thresholds based on object characteristics and detection confidence. The system adapts parameter values such as virtual box dimensions, angle step sizes, and loss distribution weights to balance processing speed and driving stability for different scenarios.
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 solution accurately determines the heading direction of the virtual box, improving driving stability and safety by accurately controlling the autonomous driving operation, thereby enhancing vehicle control and safety.
Implementation Method 1
a light detection and ranging device (LiDAR)
Data Source
AI summary
The present disclosure relates to an apparatus for controlling a vehicle and a method thereof. The vehicle control apparatus may obtain, based on a point cloud obtained via a LiDAR, contour points corresponding to an object external to a vehicle, determine, based on the contour points, a loss distribution according to at least one angle representing a direction, determine, based on new angles in a first range of angles that is associated with a minimum loss value in the loss distribution, a second range of angles that is included in the first range of angles, determine a virtual box corresponding to the object by determining, based on a difference between the minimum loss value and angles within the second range of angles being within a threshold value, a heading direction of the virtual box, and control, based on the virtual box, an autonomous driving operation of the vehicle.