Road Boundary Detection Using 3D LIDAR Coordinate Fitting
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Solution Overview
Problem
Conventional road boundary detection methods are affected by special road conditions and adverse weather, leading to inaccurate detection.
Innovation Solution
A method and device that utilize detection beams sent by a vehicle-mounted detection device to determine target coordinates of detection points on the road, using polynomial fitting to generate road boundary information, unaffected by external conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional road boundary detection methods are used, then the detection process is simple, but the detection accuracy deteriorates under special road conditions and bad weather
Solution Approach 1:
The patent replaces conventional optical detection methods with laser radar (LIDAR) technology. The laser radar device emits laser beams that reflect off the road surface and return to the detector, enabling accurate measurement of road boundary coordinates through time-of-flight calculations. This substitution allows detection to proceed accurately under various weather conditions including rain, snow, and darkness where optical methods fail.
Solution Approach 2:
The patent transforms detection data from two-dimensional image coordinates to three-dimensional world coordinates through coordinate transformation. By calculating the intersection of laser beams with the road surface and converting detection coordinate system values to world coordinate system values, the system achieves accurate road boundary positioning independent of environmental conditions.
2Measurement precision
If laser radar detection beams are used to detect road boundaries, then detection accuracy improves, but device complexity increases
Solution Approach 1:
The patent integrates the laser radar device into the vehicle's existing environmental perception system, allowing the same device to perform both general environmental scanning and specific road boundary detection. The coordinate transformation module reuses vehicle motion data from existing sensors, avoiding the need for separate dedicated systems and reducing overall complexity.
Solution Approach 2:
The system uses the vehicle's own motion information (from existing GPS, IMU, and odometer systems) to assist in the coordinate transformation process. Rather than requiring separate calibration equipment or additional sensors, the system leverages data already available from the vehicle's normal operation to achieve accurate road boundary detection.
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
Enables accurate detection of road boundaries by converting initial coordinates to a three-dimensional world coordinate system and performing polynomial fitting, ensuring reliable detection even in challenging conditions.
Implementation Method 1
obtaining echo signals of the detection beams reflected by the road
Data Source
AI summary
A method and a device for detecting a road boundary are provided. The method includes: sending, at a current detection moment, multiple detection beams to a road where a target vehicle is located by using a detection device installed on the target vehicle; obtaining echo signals of the detection beams reflected by the road; determining target coordinates of detection points on the road corresponding to the detection beams in the same coordinate system based on the echo signals of the detection beams; and determining a road boundary on the road based on the target coordinates of the detection points.