Vehicle Map Generation via Mirror Symmetry Inversion
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Solution Overview
Problem
Existing map generation systems for vehicles require actual travel on both outward and return paths to efficiently generate environmental maps, leading to increased man-hours and processing load, making it difficult to generate maps effectively.
Innovation Solution
A map generation apparatus that includes a controller with a camera and sensor system, capable of generating a return path map by inverting the outward path map based on camera images, allowing for pre-generation of return path maps during outward path travel, reducing processing load and enabling efficient map creation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the subject vehicle actually travels in each lane to generate map data, then the map generation accuracy is improved, but the time consumption and processing load increase significantly
Solution Approach 1:
The patent applies inversion by generating the return path map through mirror symmetry transformation of the outward path map, rather than collecting data by actually traveling the return path. The controller creates a virtual map of the opposite lane by reflecting the captured image data horizontally, thereby obtaining return path map data without physical traversal of that path.
Solution Approach 2:
The patent creates a copy of the outward path map data to generate the return path map. The controller stores the captured image data and its mirror-symmetry transformed version, effectively creating a copied and transformed representation of the outward path that serves as the return path map, eliminating the need for separate data collection.
2Loss of information
If the subject vehicle actually travels in each lane to generate map data, then the completeness of map coverage is improved, but the processing load and man-hours increase
Solution Approach 1:
The patent uses mirror symmetry transformation to generate the return path map from the outward path map, achieving complete map coverage for both lanes without requiring the vehicle to physically travel both paths. This inversion approach ensures that map data for the opposite lane is obtained through geometric transformation rather than physical traversal.
Solution Approach 2:
The patent performs preliminary action by capturing and storing image data during the outward path travel, and simultaneously generating the return path map through mirror symmetry transformation. This preliminary generation of the return path map before actual return path travel reduces the overall processing load and man-hours required for complete map coverage.
3Reliability
If map data is collected by actual travel on both outward and return paths, then the reliability of bidirectional map data is improved, but the device complexity and operational requirements increase
Solution Approach 1:
The patent makes the outward path map generation process universal by enabling it to serve dual purposes: creating the outward path map for forward navigation and generating the return path map through mirror symmetry transformation. This multi-functionality allows a single data collection process to provide reliable map data for both directions, reducing operational complexity.
Solution Approach 2:
The patent creates a transformed copy of the outward path map data to serve as the return path map. By storing both the original captured image data and its mirror-symmetry transformed version, the system achieves reliable bidirectional map data from a single data collection process, eliminating the need for separate return path travel and reducing operational complexity.
Data Source
AI summary
A map generation apparatus including an electronic control unit including a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform acquiring a map data of a first map for a current lane on which a subject vehicle travels, and generating a second map for an opposite lane opposite to the current lane by inverting the first map, based on the map data acquired.