Vehicle Radar Weighting Using 3D Map Shape for Multipath Control
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Solution Overview
Problem
Existing automatic driving and advanced safety driving systems face challenges in accurately detecting objects not registered on navigation maps and managing multipath errors from millimeter wave radar, particularly with large trailers and unregistered obstacles like guardrails.
Innovation Solution
An apparatus and method that utilize a three-dimensional map generated from image-capturing device data to adjust radar detection results based on the three-dimensional shape of each region, incorporating a radar weight estimation unit to assign weights to detection results and mitigate multipath errors by referencing a specific shape database.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If millimeter wave radar is used for object detection, then detection capability is improved, but multipath errors occur due to reflection from large objects causing erroneous distance and angle measurements
Solution Approach 1:
The patent introduces map information as an intermediary element to mediate between radar detection results and final object identification. The system uses map data about known objects (guardrails, large trailers, etc.) to filter and validate radar detections, reducing multipath errors without compromising detection capability
Solution Approach 2:
The system implements feedback by continuously comparing radar detection results with map information and adjusting detection strategies accordingly. When multipath errors are detected through comparison with known map objects, the system adjusts monitoring frequency and detection parameters to maintain reliability
2Measurement precision
If navigation map information is used to predict objects, then detection of registered objects is improved, but objects not registered on the map cannot be detected
Solution Approach 1:
The system dynamically adjusts the balance between map-based prediction and radar-based detection. For regions with complete map information, map data is prioritized. For regions with incomplete or no map data, the system increases radar monitoring to detect unregistered objects, maintaining both precision and adaptability
Solution Approach 2:
The detection space is segmented into regions with complete map information and regions with incomplete or no map information. Different detection strategies are applied to each segment: map-based prediction for well-mapped regions and enhanced radar detection for unmapped regions
3Use of energy by moving object
If radar monitoring frequency is reduced in low reliability states, then energy consumption is reduced, but detection capability may be compromised
Solution Approach 1:
The system implements periodic monitoring with variable frequency based on detected reliability conditions. When multipath errors are detected, the system increases monitoring frequency in affected regions while maintaining reduced frequency in reliable regions, optimizing energy usage while preserving detection reliability
Data Source
AI summary
An apparatus and the like for controlling a mobile body that are capable of adjusting a detection result by a radar device in accordance with a three-dimensional shape for each region of a three-dimensional map generated from an image captured by an image-capturing device are provided. A mobile body control unit 105 is an apparatus for controlling the vehicle (mobile body) including an image-capturing device 101 and a millimeter wave radar device 102 (radar device). A three-dimensional map generation unit 203 generates a three-dimensional map around the vehicle from an image captured by the image-capturing device 101. A radar weight map estimation unit 204 (weight estimation unit) estimates the weight of the detection result by the millimeter wave radar device 102 for each region of the three-dimensional map from the three-dimensional shape for each region of the three-dimensional map. A weight adjustment unit 205 (adjustment unit) adjusts a detection result by the millimeter wave radar device 102 on the basis of a weight.