Reverse Driving Assistance Using Weighted Sensor-GPS Path Correction
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Solution Overview
Problem
Existing vehicle reversing systems face challenges with location estimation errors due to sensor inaccuracies, which accumulate during forward driving, making it difficult to navigate backward accurately, especially in narrow spaces or underground parking lots, and current solutions like V-SLAM are computationally costly.
Innovation Solution
A reverse driving assistance system that corrects vehicle position using a combination of internal sensor information, GPS data, and real-time feature information from cameras, applying weights to optimize position estimation and compensating for GPS delays, to generate an accurate driving path based on forward driving data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If V-SLAM is used for position correction during backward driving, then position estimation accuracy is improved, but computational cost increases
Solution Approach 1:
The position correction process is segmented into multiple correction stages using different methods: initial correction using stored sensor information, intermediate correction using GPS information, and final correction using feature information from images. This segmentation allows the system to use computationally intensive V-SLAM only when necessary while relying on simpler methods for routine corrections.
Solution Approach 2:
Sensor information is stored and pre-processed during forward driving before backward driving begins. This preliminary action creates a reference framework that enables faster position correction during backward driving without requiring intensive real-time computation, thus reducing computational cost while maintaining accuracy.
2Measurement precision
If GPS information is used for position correction, then position accuracy is improved, but time delay reduces responsiveness
Solution Approach 1:
GPS information is pre-processed and stored during forward driving along with timestamp and position data. This preliminary action allows the system to retrieve and apply appropriate GPS corrections during backward driving without experiencing real-time delays, as the data is already prepared and organized for quick access.
Solution Approach 2:
The system uses an intermediary data structure that stores GPS information alongside sensor information and feature information. This intermediary framework allows the system to selectively apply GPS corrections based on the specific driving context, reducing unnecessary processing delays while maintaining position accuracy.
3Speed
If sensor information is used for position estimation, then real-time correction is achieved, but accumulated errors increase over distance
Solution Approach 1:
The system implements a feedback mechanism where position estimation results from sensor information are continuously compared against reference data (GPS information and feature information from images). When deviations beyond a threshold are detected, the system adjusts the sensor-based estimates using the reference data, thereby correcting accumulated errors while maintaining real-time responsiveness.
Solution Approach 2:
The system merges multiple information sources (sensor information, GPS information, and feature information from images) into a unified position estimation framework. This combination allows the system to leverage the real-time responsiveness of sensor data while using the more accurate but slower GPS and image-based data to correct accumulated errors, achieving both speed and precision.
Data Source
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AI summary
A memory reverse driving assistance method and device are provided. The driving assistance method and device includes storing a driving path of a vehicle based on forward driving of the vehicle, in response to that the vehicle drives backward, correcting a position of the vehicle based on at least one of sensor information measured by an internal sensor of the vehicle, global positioning system (GPS) information of the vehicle, or feature information obtained through image information of the vehicle, and assisting backward driving of the vehicle based on the stored driving path and the corrected position of the vehicle.