Occupancy Grid Contour Simplification for Faster Route Generation
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Solution Overview
Problem
Existing technologies face challenges in generating appropriate routes for moving bodies from their current location to a destination, particularly in navigating around obstacles effectively.
Innovation Solution
A control device and method that utilize an occupancy grid diagram to recognize object positions around a moving body, generate a first contour based on these positions, and then create a second contour with fewer apexes to guide the moving body along a more efficient route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a first contour with all detected apexes is generated to precisely represent the object boundary, then the accuracy of obstacle representation is improved, but the complexity of the contour increases and route planning becomes less efficient
Solution Approach 1:
The patent extracts only the essential apexes from the complete contour by evaluating each apex based on geometric criteria (angle threshold and length threshold). This extraction process removes redundant apexes while preserving the critical features needed for accurate obstacle representation, thereby reducing contour complexity without sacrificing measurement precision.
Solution Approach 2:
The patent applies different evaluation criteria to different apexes based on their local geometric properties. Each apex is assessed individually using angle and length thresholds, allowing the contour to maintain high precision where needed while simplifying regions where fewer apexes are sufficient for accurate route planning.
2Measurement precision
If a detailed contour with many apexes is used to accurately represent the object, then the precision of obstacle detection is improved, but the route generation time increases
Solution Approach 1:
The patent extracts essential apexes from the complete set of detected apexes by applying geometric evaluation criteria. This extraction reduces the number of apexes that need to be processed during route generation, thereby decreasing route generation time while maintaining sufficient obstacle detection precision for safe navigation.
Solution Approach 2:
The patent applies partial action by not processing all detected apexes equally. Instead, it selectively processes only those apexes that meet the angle and length thresholds, performing just enough analysis to ensure safe route generation without the computational overhead of processing every single apex.
3Quantity of substance
If all detected apexes are retained in the contour, then the completeness of object representation is improved, but the computational load for route planning increases
Solution Approach 1:
The patent extracts and removes redundant apexes from the contour by evaluating each apex against angle and length thresholds. This extraction reduces the quantity of apexes that need to be processed during route planning, thereby decreasing computational energy consumption while maintaining complete enough object representation for safe navigation.
Solution Approach 2:
The patent applies partial action by processing only the essential subset of apexes rather than all detected apexes. This approach uses just enough computational resources to ensure complete and accurate route planning without the excessive energy consumption that would result from processing every single apex.
Data Source
AI summary
A control device includes recognition-part that recognizes position of object present around moving-body based on image obtained by imaging state around the moving-body, occupancy-grid-diagram-generation-part that generates occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving-body, and route generation part that generates a route, which the moving-body follows based on contour of the object shown in the occupancy grid diagram, and the occupancy-grid-diagram-generation-part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving-body, generates first contour showing contour of first region including grid cell in which it is determined that the object is present, and generates second contour including the first region with apex number smaller than that of the first contour as the contour of the object.