Autonomous Vehicle Radar Level Ambiguity Resolution Using Map Fusion
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Solution Overview
Problem
Radar systems for autonomous vehicles face level ambiguity issues, particularly on multi-level roadways, due to poor vertical resolution, leading to potential misclassification of detected objects' levels, which can result in erroneous vehicle behavior, such as false alarms or collisions.
Innovation Solution
A method that involves detecting objects using a radar system, associating them with existing tracked objects based on position, and determining heights using a tile map and vector map to resolve level ambiguity, allowing for accurate level determination and safe autonomous driving operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the beamwidth in the vertical plane is reduced to improve vertical resolution, then the vertical resolution is improved, but the coverage area in the horizontal plane deteriorates
Solution Approach 1:
The system merges radar detection with map data to achieve accurate level determination without modifying the radar beamwidth. This combination allows maintaining wide horizontal coverage while achieving precise vertical resolution through data fusion rather than physical beam narrowing
2Ease of operation
If level ambiguity is not resolved, then the radar system operation is simplified, but the autonomous vehicle safety deteriorates
Solution Approach 1:
The system performs preliminary actions by pre-processing map data into tile maps and vector maps with embedded level information before radar detection. This preparation enables rapid level determination during operation without adding complexity to the real-time radar processing, maintaining ease of operation while ensuring safety
Solution Approach 2:
The patent uses map data as an intermediary to resolve level ambiguity without complicating radar operation. The map information acts as a reference layer that automatically provides level context for detected objects, maintaining operational simplicity while enhancing safety through accurate level identification
Data Source
AI summary
Methods, systems, and products for resolving level ambiguity for radar systems of autonomous vehicles may include detecting a plurality of objects with a radar system. Each first detected object may be associated with an existing tracked object based on a first position thereof. First tracked object data based on a first height determined for each first detected object may be stored. The first height may be based on the position of the detected object, the existing tracked object, and a tile map. Second tracked object data based on a second height determined for each second detected object not associated with the existing tracked object(s) may be stored. The second height may be based on a position of each second detected object, a vector map, and the tile map. A command to cause the autonomous vehicle to perform at least one autonomous driving operation may be issued.