Multi-Camera Road Surface Estimation for Vehicle Distance Correction
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Solution Overview
Problem
Existing distance measurement systems using monocular cameras face errors due to road surface gradients, especially at longer distances, and struggle with accurate distance correction without a capable distance measurement sensor.
Innovation Solution
A sensing device that integrates data from multiple cameras to estimate the relative posture between the road surface and vehicle, including pitch and roll angles, using a coordinate integration unit and road surface estimation unit to correct for gradient errors and improve measurement accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If monocular camera is used for distance measurement assuming road surface is a plane, then device complexity is reduced, but measurement precision deteriorates due to gradient errors
Solution Approach 1:
The patent segments the road surface into multiple regions with different gradient characteristics. By dividing the observation area into multiple zones and estimating gradients separately for each region, the system achieves accurate distance measurement across varying road conditions without requiring complex active laser sensors throughout the entire field of view.
Solution Approach 2:
The patent introduces an intermediary gradient estimation mechanism that uses passive image data from the monocular camera to infer road surface characteristics. By calculating depression angles and estimating gradients from image processing rather than direct sensor measurement, the system bridges the gap between simple camera hardware and accurate distance measurement requirements.
2Measurement precision
If active laser distance measurement sensor is used to correct gradient errors, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts gradient information from passive image data without requiring active laser distance measurement sensors. By separating the gradient estimation function from direct distance measurement and deriving it from image processing of road surface features, the system eliminates the need for complex active sensing hardware while maintaining measurement accuracy.
Solution Approach 2:
The patent creates a virtual model of the road surface gradient by processing image data, effectively copying the essential geometric information needed for distance correction without physical laser sensors. The gradient estimation unit generates a digital representation of road surface characteristics that replaces the function of active laser ranging devices.
3Measurement precision
If gradient estimation is performed using depression angle and distance information, then measurement precision is improved, but device complexity increases due to multiple sensors
Solution Approach 1:
The patent makes the monocular camera perform multiple functions: it serves as both the primary distance measurement device and the gradient estimation sensor. By processing image data to extract both depth information and road surface orientation, the single camera system achieves multi-functionality that would otherwise require separate sensors, thereby improving precision without increasing device complexity.
Data Source
AI summary
A sensing device includes a first common image pickup region observation unit that observes a first region in a periphery of a host vehicle from information of a common image pickup region acquired by at least a first sensor and a second sensor having the common image pickup region, a second common image pickup region observation unit that observes a second region different from the first region from information of a common image pickup region acquired by at least a third sensor and a fourth sensor having the common image pickup region, a coordinate integration unit that integrates a geometric relationship between the sensors with coordinates of pieces of information observed in the first region and the second region, and a road surface estimation unit that estimates a relative posture between each sensor and a road surface including a pitch angle and a roll angle of the host vehicle based on point group information calculated from the integrated coordinates.