Off-Road Vehicle Movement Detection Using Rut Feature Matching
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Solution Overview
Problem
Existing vehicle movement detection systems fail to calculate the movement amount of a host vehicle when it travels off-road, as they rely on extracting road markings from road surface images, which are not available in off-road conditions.
Innovation Solution
A vehicle movement amount detection device equipped with an external sensor capable of detecting ruts, which calculates the movement amount by matching pre-movement and post-movement detection results using ruts as feature points, even when the vehicle is off-road. Additionally, the system varies the shape of the rut if it remains unchanged for a predetermined period to facilitate movement calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If road markings are used for vehicle movement detection, then measurement precision is improved on roads, but reliability deteriorates when traveling off road
Solution Approach 1:
The system changes the detection parameter from road markings to ruts. When road markings are unavailable (off-road), the system automatically switches to detecting ruts created by vehicle wheels in the terrain, allowing continuous movement detection across different environments without manual intervention
Solution Approach 2:
The external sensor is designed to detect multiple types of features (road markings and ruts) depending on the environment. This multi-functional capability allows the same sensor system to reliably detect vehicle movement both on-road using road markings and off-road using ruts, eliminating the need for separate detection systems
2Stability of the object's composition
If the rut shape remains unchanged for a predetermined period, then detection stability is improved, but measurement precision deteriorates due to inability to calculate movement
Solution Approach 1:
The system introduces dynamic adjustment of the rut shape by controlling vehicle motion. When ruts become static and unchangeable, the vehicle control device actively modifies the rut shape through controlled vehicle movements, ensuring that feature points remain detectable and movement calculation remains possible
Solution Approach 2:
The system continuously monitors the shape of detected ruts and uses this information to determine when vehicle movement should be induced. When ruts are detected to be unchanged for a predetermined period, the system provides feedback to trigger vehicle motion that will alter the rut shape, maintaining detectability
Data Source
AI summary
A vehicle movement amount detection device provided in an own vehicle provided with an external sensor capable of detecting a rut uses, as a feature point, a rut included in a detection result of an external sensor before movement of the own vehicle and a rut included in a detection result of an external sensor after movement of the own vehicle while the own vehicle is traveling on an off-road, and calculates a movement amount of the own vehicle by matching a detection result of the external sensor before movement of the own vehicle with a detection result of the external sensor after movement of the own vehicle.