Object Tracking Point Shift for Vehicle Orientation Mismatch
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Solution Overview
Problem
Current object tracking methods for ego vehicles, particularly in autonomous driving, face challenges in accurately estimating the movement of external vehicles due to deviations between the direction of movement and geometric orientation, leading to reduced tracking accuracy and reliability.
Innovation Solution
The method involves shifting a point tracked based on a movement model to align its direction of movement with the geometric orientation of the object, using environmental sensor data to determine the shift, thereby improving the estimation of the object's state and reducing errors in tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a movement model is used to estimate the state of an object to be tracked, then the tracking process can be automated and continuous, but the direction of movement of the tracked point deviates from the geometric orientation of the object, reducing tracking accuracy
Solution Approach 1:
The patent introduces a new dimension of correction by shifting the tracked point from its original position in the movement model to a corrected position that accounts for both the movement model prediction and the geometric orientation from sensor data. This dimensional adjustment in the state space allows reconciling the automated tracking with accurate geometric alignment.
Solution Approach 2:
The patent implements feedback by using environmental sensor data to determine the geometric orientation of the object and comparing it with the direction of movement from the movement model. The deviation between these two is fed back to correct the tracked point's position, creating a closed-loop system that continuously improves tracking accuracy while maintaining automation.
2Measurement precision
If the tracked point is shifted to align with geometric orientation, then tracking accuracy is improved, but additional computational steps are required
Solution Approach 1:
The patent performs preliminary action by pre-defining the geometric orientation of the object based on environmental sensor data before the state estimation process. This pre-computed geometric information is then integrated into the movement model to directly guide the shifting of the tracked point, reducing the need for complex iterative corrections during real-time tracking.
Solution Approach 2:
The patent changes parameters by adjusting the position coordinates of the tracked point based on the deviation between movement model prediction and geometric orientation. Instead of redesigning the entire tracking system, it modifies the state parameters (position and direction) of the tracked point to achieve accurate alignment while keeping the computational approach straightforward.
Data Source
AI summary
According to an object tracking method, a first state of an object is estimated by at least one computing unit based on a predefined movement model for the object to be tracked, where the first state includes a first direction of movement of a point to be tracked. An environmental sensor system generates environmental sensor data representing the object to be tracked and a geometric orientation of the object to be tracked is determined on the basis thereof by the computing unit. The point to be tracked is shifted by the computing unit depending on a first deviation of the geometric orientation from the first direction of movement, and a second state of the object to be tracked is determined by the computing unit depending on the first state and the shifted point.