Obstacle Tracking for Autonomous Mobile Bodies
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing object recognition systems for autonomous mobile bodies, such as robots, fail to effectively handle the uneven movement of obstacles like human beings, particularly in environments where sudden changes in direction or speed occur, leading to potential collisions.
Innovation Solution
An object recognition system equipped with a sensor unit and an electronic control unit that determines the velocity and travel direction of obstacles based on position changes over multiple measurement cycles, detects changes in behavior, and recalculates these parameters when sudden changes are detected, ensuring accurate navigation around human-like obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the system tracks obstacles based on position changes over multiple measurement cycles, then collision avoidance capability is improved, but the system cannot handle sudden changes in obstacle behavior such as direction changes or stopping
Solution Approach 1:
The system dynamically adjusts its tracking approach by detecting behavior changes in obstacles. When an obstacle suddenly changes direction or stops, the system recognizes this as a behavior change and resets the velocity and travel direction calculations, allowing it to adapt to unpredictable human movements while maintaining reliable collision avoidance
Solution Approach 2:
The system uses feedback from continuous position measurements to detect behavior changes. By comparing current position data with previously calculated velocity and travel direction, the system can identify when an obstacle's behavior has changed and adjust its tracking accordingly, resolving the contradiction between stable tracking and adaptability
2Measurement precision
If the system calculates velocity and travel direction based on position changes over multiple measurement cycles, then measurement accuracy is improved, but the system mistakes the same obstacle for multiple obstacles when the vehicle moves
Solution Approach 1:
The system performs preliminary calculations of velocity and travel direction based on position changes over multiple measurement cycles before making identification decisions. This allows the system to maintain accurate measurements while using the calculated velocity and direction as additional criteria to determine if detected obstacles are the same or different, preventing duplicate identification
Solution Approach 2:
The calculated velocity and travel direction serve multiple functions: they improve measurement precision for collision avoidance and simultaneously serve as identification criteria to maintain obstacle identity continuity. This multi-functional use of the same data resolves the contradiction between accurate measurement and preventing duplicate obstacle identification
3Reliability
If the system determines obstacle behavior by analyzing position changes over time, then navigation safety is improved, but the system cannot deal with uneven movement patterns of human obstacles
Solution Approach 1:
The system dynamically adapts its behavior analysis by detecting changes in human movement patterns. When uneven movement or sudden direction changes are detected, the system resets its velocity and direction calculations, allowing it to maintain navigation safety while adapting to the unpredictable nature of human obstacles
Data Source
AI summary
The present invention provides an object recognition system for an autonomous mobile body. The object recognition system includes a sensor unit for detecting an obstacle in a target field of view and measuring the position of the obstacle, and an electronic control unit for controlling movement of the autonomous mobile body. The electronic control unit performs the functions of determining a velocity and a travel direction of the obstacle based on changes in the position of the obstacle obtained from the sensor unit over a plurality of measurement cycles, determining a still state of the obstacle, detecting that the obstacle has changed behavior if a current measured value of position of the obstacle deviates a predetermined angle from the previously measured travel direction or if it determined that the obstacle is standing still, and calculating, when a change in the behavior of the obstacle is detected, the velocity and travel direction of the obstacle anew starting at the position where the change has been detected.