Vehicle Motion Tracking Abnormality Detection for Control Mode Switching
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Solution Overview
Problem
Existing vehicle control devices face reduced motion estimation accuracy when tracking objects after temporary detection failures, leading to inadequate vehicle control, necessitating accurate abnormality determination of motion estimation for safe vehicle operation.
Innovation Solution
A vehicle control device with a detection unit, tracking unit, type determination unit, model storage unit, model selection unit, abnormality determination unit, and control unit that compares estimated motion with pre-defined motion models to determine abnormality and adjust control modes accordingly, incorporating positional and traveling state-specific motion models to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of stationary object
If the tracking unit tracks a moving object after a temporary detection failure, then the tracking continuity is maintained, but the motion estimation accuracy is reduced
Solution Approach 1:
The abnormality determination unit continuously monitors the tracking results and provides feedback by comparing estimated motion with motion model predictions. When detection failures occur and tracking continues, the feedback mechanism detects the degradation in motion estimation accuracy and triggers abnormality determination to prevent unsafe control actions.
Solution Approach 2:
The patent replaces direct reliance on continuous sensor detection with a model-based verification system. Instead of mechanically requiring uninterrupted detection, the system substitutes a virtual model comparison approach where the motion model predicts expected behavior and validates whether tracked objects conform to these predictions, compensating for detection gaps.
2Measurement precision
If the vehicle control device uses motion models for abnormality determination, then the accuracy of abnormality detection is improved, but the device complexity increases
Solution Approach 1:
The motion models serve multiple functions: they predict future positions of tracked objects, provide reference for abnormality determination, and enable verification of tracking accuracy. This multi-functionality reduces the need for separate verification systems, thereby limiting the increase in device complexity while maintaining high abnormality detection accuracy.
Solution Approach 2:
The system changes parameters by introducing model-based predicted positions and motion characteristics as additional verification criteria. Instead of increasing hardware complexity, the patent modifies the control logic to incorporate model parameters (expected position, velocity, acceleration) that serve as reference values for detecting abnormalities in real-time tracking data.
3Reliability
If the abnormality determination unit compares estimated motion with motion model predictions, then the reliability of vehicle control is improved, but the computation time increases
Solution Approach 1:
The motion models pre-calculate and store expected motion patterns, position trajectories, and velocity profiles for various scenarios before they are needed. This preliminary preparation allows the abnormality determination unit to perform rapid comparisons during real-time operation, improving reliability without proportionally increasing computation time during critical control moments.
Solution Approach 2:
The system performs partial verification by comparing only critical parameters (position, velocity, acceleration) against motion model predictions rather than analyzing all tracking data in full detail. This selective comparison approach maintains high reliability for safety-critical decisions while limiting computation time to essential verification tasks.
Data Source
AI summary
A vehicle control device includes a tracking unit estimating a motion of a moving object, a model selection unit selecting a motion model corresponding to a moving object type, an abnormality determination unit determining a presence or absence of an abnormality of the estimation of the motion of the moving object based on the estimated moving object motion and the motion indicated by the motion model, and a control unit. A control mode in which the control unit controls traveling of a host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit controls the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.