Occupancy Grid Object Determining Device for Dynamic Tracking
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Solution Overview
Problem
Dynamic Occupancy Grids face increased computation requirements and reduced perception speed due to high particle distribution, especially in environments with high-velocity objects, as the number of particles needed to accurately track objects increases with object speed, leading to inefficiencies in real-time object tracking and environment perception.
Innovation Solution
Implementing an object tracking device with a grid generator, object determiner, and occupancy remover to generate occupancy grids, determine objects, and remove redundant particles, thereby optimizing the number of particles required for accurate tracking without compromising resolution, using a combination of sensors and processing units to manage and update the occupancy grid dynamically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the number of particles in occupancy grids is increased to improve perception precision, then measurement precision is improved, but computation requirements increase and perception speed decreases
Solution Approach 1:
The patent extracts and removes redundant particles from occupancy grids by identifying and eliminating particles that do not contribute to accurate object detection. The system selectively removes particles based on their contribution to occupancy information, thereby reducing computation requirements while maintaining perception precision for critical detection tasks.
Solution Approach 2:
The patent applies different particle density strategies to different regions of the occupancy grid. High-velocity objects receive enhanced particle distribution in their specific regions, while static or low-velocity regions use fewer particles. This localized approach maintains measurement precision where needed without uniformly increasing computation requirements across the entire grid.
2Measurement precision
If the number of particles is increased to accurately track high-velocity objects, then measurement precision is improved, but device complexity and computation requirements increase
Solution Approach 1:
The patent dynamically adjusts the number and distribution of particles based on object velocity and motion characteristics. High-velocity objects trigger increased particle density in their trajectory regions, while static objects use minimal particles. This dynamic adaptation maintains tracking accuracy for high-velocity objects without permanently increasing overall system complexity.
Solution Approach 2:
The patent changes particle distribution parameters adaptively based on detected object characteristics. When high-velocity objects are detected, the system modifies particle density, distribution, and update frequencies in affected regions. This parameter adjustment allows accurate tracking of fast-moving objects while keeping computation requirements manageable through localized changes rather than global increases.
Data Source
AI summary
An occupancy grid object determining device is provided, which may include a grid generator configured to generate an occupancy grid of a predetermined region, the occupancy grid including a plurality of grid cells and at least some of the grid cells having been assigned an information about the occupancy of the region represented by the respective grid cell, a determiner configured to determine at least one object in the occupancy grid wherein the at least one object includes a plurality of grid cells, and a remover configured to remove occupancy information from at least one grid cell of the plurality of grid cells of the determined object.