Radar Mirror Track Identification via Histogram Comparison
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Solution Overview
Problem
Autonomous vehicles equipped with radar sensors often mistakenly identify mirror tracks as actual objects, leading to incorrect vehicle control and potential accidents due to inaccurate detection of virtual images in environments with weak signal intensity or severe diffuse reflections.
Innovation Solution
A system that includes an image sensor and a radar sensor, with a controller processing both types of data to designate reference tracks, extract transverse location information, generate histograms, and compare them to accurately identify mirror tracks, using a track sorter, histogram generator, and identifier to differentiate between actual and virtual tracks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar sensor is used to detect objects and generate tracks, then object detection capability is improved, but mirror tracks are generated causing incorrect vehicle control
Solution Approach 1:
The patent introduces an intermediary processing system that includes a track sorter, histogram generator, and mirror track identifier. This intermediary layer processes the raw track data from the radar sensor, generates histograms of transverse locations, compares histograms to identify mirror tracks, and filters them out before vehicle control decisions are made. This resolves the contradiction by maintaining the radar's object detection capability while adding a mediation layer that prevents mirror tracks from causing incorrect control.
Solution Approach 2:
The patent extracts and identifies mirror tracks from the set of all detected tracks by comparing histogram characteristics. The mirror track identifier specifically extracts mirror tracks based on histogram similarity comparisons, separating them from actual object tracks. This extraction process removes the harmful mirror tracks while preserving the useful detection data for accurate vehicle control.
2Measurement precision
If histogram comparison method is used to identify mirror tracks, then mirror track identification accuracy is improved, but processing complexity increases
Solution Approach 1:
The patent segments the track identification process into distinct functional modules: track sorter, histogram generator, and mirror track identifier. Each module performs a specific task in the data processing chain. The histogram generation is further segmented into short-term and long-term histograms with different time constants. This segmentation makes the complex processing more manageable and modular while maintaining high identification accuracy.
Solution Approach 2:
The patent performs preliminary actions by generating histograms of transverse locations before comparing tracks to identify mirror tracks. The track sorter pre-processes tracks by sorting them based on transverse location, and the histogram generator creates probability distribution histograms in advance. These preliminary histogram representations simplify the subsequent mirror track identification process by providing a standardized format for comparison.
Data Source
AI summary
Disclosed are a method of processing data, an apparatus for processing data, and a system for controlling a vehicle. The apparatus includes: a track sorter, configured to select a reference track from among a plurality of tracks generated based on sensing data captured by a radar sensor and to sort one or more sorted tracks that satisfy a preset filter condition, based on the reference track; a histogram generator, configured to extract transverse location information of the reference track and the one or more sorted tracks for a preset period and generate a short-term histogram and a long-term histogram having transverse locations of the reference track and each of the sorted tracks as factors; and an identifier configured to identify a mirror track based on a histogram similarity using the short-term histogram and the long-term histogram for the reference track and each of the sorted tracks. According to the present disclosure, there is an effect of increasing driving safety by accurately identifying a mirror track.