Radar-Based Vertical Road Profile Estimation
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Solution Overview
Problem
Existing methods for estimating the height of target objects using radar sensors on vehicles assume a flat road, leading to unreliable height estimations in hilly landscapes, as they do not account for the vertical profile of the road, which can result in overestimation or underestimation of object heights and improper activation of emergency braking systems.
Innovation Solution
A method and system that utilize an existing radar sensor on a host vehicle to estimate the vertical profile of the road by monitoring a detection point on a surrounding or preceding vehicle, determining its height relative to the host vehicle's reference level, and adapting a road profile model to improve accuracy, without requiring additional sensors or predefined maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar sensor is used to estimate height of target object assuming flat road, then height estimation can be obtained, but reliability of height estimation deteriorates in hilly landscapes
Solution Approach 1:
The patent introduces an intermediary element - a detection point on a surrounding or preceding vehicle - to indirectly measure the road's vertical profile. By monitoring the elevation angle and height of this detection point, the system derives road slope information without directly measuring the road surface, thereby resolving the contradiction between obtaining height estimates and maintaining reliability on hilly terrain
Solution Approach 2:
The system implements feedback by continuously monitoring the detection point's position and using this information to dynamically adjust and adapt the road profile model. This feedback loop allows the system to learn and adapt to actual road conditions, improving the reliability of height estimations over time while maintaining measurement precision
2Reliability
If additional sensors or predefined maps are used to monitor road course, then reliability of height estimation improves, but device complexity increases
Solution Approach 1:
The patent applies multi-functionality by using the existing radar sensor for dual purposes: its original function of detecting target objects and an additional function of monitoring the detection point on surrounding vehicles to estimate road profile. This eliminates the need for additional dedicated sensors, maintaining reliability improvement while avoiding increased device complexity
Solution Approach 2:
The system employs self-service by utilizing the host vehicle's existing radar sensor and surrounding vehicles as cooperative targets to automatically estimate the road vertical profile. No external infrastructure, predefined maps, or additional hardware are required - the system serves itself using available resources, thereby improving reliability without increasing device complexity
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 reliable estimation of the road's vertical profile, correcting height estimations of target objects and reducing the likelihood of erroneous obstacle detection and emergency braking, while maintaining low hardware requirements.
Implementation Method 1
a radar sensor may determine a height of a target object in a coordinate system of a radar sensor by estimating an elevation angle between the radar sensor and the target object
Data Source
AI summary
An illustrative example embodiment of a computer implemented method for estimating a vertical profile of a road in front of or behind a host vehicle includes monitoring a detection point at a surrounding or preceding vehicle by a sensor on the host vehicle, determining at least one value for a height of the detection point with respect to a reference level at the host vehicle based on the elevation angle of the detection point, and estimating the vertical profile of the road based on the at least one value for the height of the detection point. An estimation of a height of the object with respect to a road surface may be corrected by the estimated vertical profile.