Sensor Fusion Track Alignment Using LIDAR Area and Velocity Vectors
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Solution Overview
Problem
Conventional sensor fusion systems generate inaccurate shape information due to substantial errors in the position/heading information of reference points, leading to discrepancies between the generated sensor fusion track and actual shape information.
Innovation Solution
An apparatus and method that calculate an absolute velocity vector for the RADAR track, divide the LIDAR track into areas, and generate a sensor fusion track using a box-shaped LIDAR track, ensuring accurate alignment with actual shape information by determining which area the absolute velocity vector is heading to.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If reference point gating method is used to select high accuracy information from sensor outputs, then information selection efficiency is improved, but shape information accuracy deteriorates due to errors in position/heading information of reference points
Solution Approach 1:
The patent introduces an intermediary coordinate transformation process that converts RADAR track information into LIDAR track coordinate system. This intermediary transformation acts as a bridge between the two sensor systems, allowing the fusion of velocity information from RADAR with shape information from LIDAR while eliminating the reference point error problem. The transformation uses relative velocity calculation and coordinate system conversion as intermediate steps to achieve accurate track fusion without being affected by reference point positioning errors.
2Reliability
If sensor fusion track is generated by selecting information with high accuracy from LIDAR and RADAR, then data quality is improved, but track shape accuracy deteriorates when heading error of fused sensors is increased
Solution Approach 1:
The patent segments the track information processing into distinct components: LIDAR provides shape/position information while RADAR provides velocity information. By dividing the fusion process into separate information streams that are processed independently and then combined through coordinate transformation, the system maintains high data quality from both sensors while avoiding the propagation of heading errors into the final track shape.
3Device complexity
If conventional reference point gating is used for sensor fusion, then system complexity is reduced, but accuracy of shape information deteriorates due to uncorrected position/heading errors
Solution Approach 1:
The patent replaces the conventional mechanical reference point gating approach with a mathematical coordinate transformation system. Instead of physically aligning sensors based on reference points, the system uses relative velocity calculation and coordinate system transformation to fuse sensor data. This substitution eliminates the need for precise physical reference point alignment while maintaining system simplicity through algorithmic processing.
Data Source
AI summary
An apparatus and method for generating a sensor fusion track is provided to generate the same sensor fusion track as actual shape information even when errors in the position/heading information of a reference point of fused sensors are substantial. The apparatus includes an absolute velocity vector calculation module, a LIDAR track angle calculation module, a LIDAR track area search module, and a sensor fusion track generation module.