Sensor Axis Correction Using Estimated and Corrected Target Tracks
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Solution Overview
Problem
Existing systems for determining sensor axis deviation in driving assistance and autonomous driving systems fail to correct axial deviation when detection regions of multiple sensors do not overlap, leading to inaccurate parameter alignment and inability to determine axial deviation.
Innovation Solution
An aiming device that calculates correction parameters by generating estimated and corrected tracks using movement information from own-vehicle sensors, selecting combinations with minimal differences, and adjusting sensor positions accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor deviation correction is performed based on overlapping detection regions, then measurement precision is improved, but the system fails when detection regions do not overlap
Solution Approach 1:
The patent introduces a third sensor (imaging sensor) as an intermediary to bridge the gap between sensors whose detection regions do not overlap. The imaging sensor captures images of positioning markers on both sensors, enabling calculation of relative positions and axial deviations even when the sensors themselves cannot directly observe each other's detection regions.
Solution Approach 2:
The patent transitions from a two-dimensional sensor detection plane to a three-dimensional spatial measurement approach. By using the imaging sensor to capture positioning markers in 3D space and calculate relative positions through coordinate transformations, the system can determine axial deviations without requiring overlapping detection regions in the original sensor plane.
2Area of stationary object
If multiple sensors are used for comprehensive monitoring, then coverage area is improved, but determining axial deviation becomes impossible without overlapping regions
Solution Approach 1:
The imaging sensor serves as a mediator that enables axial deviation measurement between any pair of sensors regardless of their spatial arrangement. By capturing positioning markers and calculating relative positions through coordinate transformations, the system can determine deviations for sensors positioned in configurations that would otherwise prevent direct measurement.
3Measurement precision
If sensor mounting angle deviation is corrected using traditional methods, then detection accuracy is improved, but the system requires overlapping detection regions which limits installation flexibility
Solution Approach 1:
The imaging sensor acts as a mediator that decouples the correction process from the requirement of overlapping detection regions. By using the imaging sensor to capture positioning markers and calculate relative positions, the system can correct mounting angle deviations for sensors installed in flexible configurations without requiring their detection regions to overlap.
Data Source
AI summary
An axial deviation of the sensor is corrected. An aiming device that calculates a correction parameter for correcting a detection result of a target sensor includes an estimated-track generation unit that detects a track of a target for a period when an own vehicle moves, by using information of a movement of the own vehicle, which is detected by a movement sensor, and generates a plurality of estimated tracks having different start-point positions from the detected track of the target by using a first variable group, a corrected-track generation unit that generates a plurality of corrected tracks from the track of the target around the own vehicle, which is detected by the target sensor, by using a second variable group, and a correction parameter calculation unit that selects a combination in which a difference between the estimated track and the corrected track is small, and calculates the correction parameter for correcting a displacement of the target sensor by using a first variable related to the selected estimated track and a second variable related to the selected corrected track.