Vehicle Radar Road Height Profiling From Elevation Spectrum
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Solution Overview
Problem
Current methods fail to provide reliable and efficient information on the road height profile around a vehicle, essential for safe and autonomous driving, as existing technologies struggle to accurately estimate road elevation using radar sensors.
Innovation Solution
A computer-implemented method using Fast-Chirp FMCW radar sensors to determine the elevation spectrum of the road by analyzing backscattering, which is then used to estimate the height profile, incorporating peak detection, filtering, and integration over time, and can be stored or fused with data from other sensors or vehicles for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar sensors are used to measure road elevation, then measurement capability is provided, but measurement precision is insufficient for accurate height profile estimation
Solution Approach 1:
The radar measurement process is segmented into multiple elevation angles, with each angle providing measurements for a specific road section. The system divides the elevation spectrum into discrete angular segments and processes each segment separately to improve overall measurement precision of the height profile
Solution Approach 2:
The system transitions from traditional single-dimensional range measurements to two-dimensional measurements by incorporating elevation angle as an additional dimension. This creates an elevation spectrum that provides comprehensive spatial information about the road profile, significantly improving height estimation accuracy
2Measurement precision
If multiple elevation angles are measured to improve height profile accuracy, then measurement precision improves, but measurement time increases
Solution Approach 1:
The radar system performs periodic measurements at multiple elevation angles in a systematic sequence. By using periodic action with optimized angle sequences, the system captures comprehensive elevation data efficiently, balancing measurement precision with acceptable time loss
Solution Approach 2:
The system pre-calculates optimal elevation angle sequences and measurement parameters before actual road profile measurement. This preliminary preparation allows the radar to execute measurements more efficiently, reducing the total time required to capture responses at multiple elevation angles
3Measurement precision
If peak detection and filtering are applied to improve estimation accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The signal processing system automatically performs peak detection and filtering operations without requiring external intervention or complex configuration. The algorithm identifies and processes relevant peaks in the elevation spectrum autonomously, improving measurement precision while keeping the processing system relatively simple through self-contained automated routines
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach provides a robust and accurate estimation of the road height profile, enabling improved vehicle control strategies and increased safety by offering precise elevation data with high spatial resolution, enhancing both active safety and autonomous driving capabilities.
Implementation Method 1
receiving radar responses captured by a radar sensor mounted on the vehicle
Implementation Method 2
The elevation spectrum may be generated by observing the backscattering of the road across elevation
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3A
AI summary
A computer implemented method for estimating a height profile of a road around a vehicle, comprises the following steps carried out by computer hardware components: receiving radar responses captured by a radar sensor mounted on the vehicle; determining an elevation spectrum of the road around the vehicle based on the radar responses; and estimating the height profile based on the elevation spectrum.