Sensor Fusion Object Tracking for LiDAR Heading Consistency
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Solution Overview
Problem
The precision of object detection and tracking in autonomous vehicles is compromised by errors in the heading angle of LiDAR tracks, particularly during maneuvers like overtaking or cornering, leading to unnecessary acceleration/deceleration situations.
Innovation Solution
A method for determining the heading angle of a final sensor fusion track by assessing the consistency of the LiDAR track using an ICP algorithm for point cloud registration, and adjusting the heading angle based on reliability thresholds and path angles from camera and radar data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If LiDAR track heading angle is used directly for sensor fusion track, then object tracking is simplified, but heading angle accuracy deteriorates due to rapid changes during maneuvers
Solution Approach 1:
The patent implements a feedback mechanism where the consistency of LiDAR track heading angle changes is continuously assessed against threshold values. When the heading angle change exceeds the threshold, the system detects this as inconsistent and switches to using the sensor fusion track heading angle instead, thereby correcting errors in real-time based on feedback from consistency assessment.
Solution Approach 2:
The patent dynamically switches between two different heading angle sources (LiDAR track and sensor fusion track) based on the assessed consistency of heading angle changes. This dynamic adaptation allows the system to optimize heading angle accuracy for each specific driving scenario, rather than using a fixed approach.
2Loss of time
If LiDAR track heading angle is used without consistency assessment, then processing time is reduced, but autonomous drive control reliability deteriorates due to errant heading angles
Solution Approach 1:
The patent applies partial assessment by only evaluating consistency when necessary (when heading angle changes are detected) rather than continuously assessing all tracks. This selective approach reduces processing overhead while still providing reliability improvement when needed, rather than applying full assessment to all cases.
3Productivity
If sensor fusion track is created without checking LiDAR track consistency, then tracking process is faster, but object tracking precision deteriorates during overtaking or cornering maneuvers
Solution Approach 1:
The patent performs preliminary consistency assessment of the LiDAR track heading angle before finalizing the sensor fusion track. By checking whether the heading angle change is consistent with expected behavior during maneuvers like overtaking or cornering, the system prepares the accurate heading angle in advance, ensuring precision is maintained without sacrificing tracking speed.
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 reduces errors in object tracking by ensuring accurate determination of the heading angle, thereby enhancing the reliability of autonomous vehicle control.
Implementation Method 1
the registration is performed by use of an ICP algorithm
Data Source
AI summary
An embodiment object tracking method by use of sensor fusion technology includes creating a LiDAR track that tracks an object according to point clouds extracted from LiDAR data of the object, creating a non-final sensor fusion track for the object according to camera data or radar data in addition to the LiDAR data, assessing consistency of a heading angle of the LiDAR track, and determining the heading angle of the LiDAR track to be a heading angle of a final sensor fusion track according to a result of assessing the consistency.