Stereo Camera Vehicle Behavior Backup for Yaw Sensor Failure
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Solution Overview
Problem
Conventional methods for substituting yaw rate sensors with wheel speed sensors fail to accurately reflect tire slippage and yaw rate, leading to errors in vehicle locus prediction and inadequate driving assistance or collision avoidance in low friction environments.
Innovation Solution
An image-capturing device is integrated into vehicles, equipped with stereo camera capabilities and processing units to infer vehicle behavior information, diagnose sensor accuracy, and select appropriate data for vehicle control, thereby complementing failed sensors and improving prediction accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wheel speed sensors are used to substitute for a failed yaw rate sensor, then vehicle behavior information can still be obtained, but measurement precision deteriorates due to tire slippage not being reflected
Solution Approach 1:
The patent introduces image-capturing units as an intermediary to obtain vehicle behavior information from the external environment (road surface movement, landmark displacement) rather than relying solely on internal sensor data. This mediator approach allows the system to cross-validate sensor readings and compensate for inaccuracies caused by tire slippage, thereby maintaining measurement precision while ensuring information availability.
Solution Approach 2:
The patent replaces the mechanical measurement approach (wheel speed sensors measuring rotation) with an optical measurement approach (image-capturing units measuring external environment changes). This substitution enables the system to detect actual vehicle movement relative to the ground, providing accurate yaw rate information even when mechanical wheel-speed-based methods fail due to slippage.
2Device complexity
If conventional sensor substitution methods are used, then device complexity is reduced by using existing sensors, but measurement precision worsens in low friction environments
Solution Approach 1:
The patent makes the image-capturing units multi-functional by using them for both primary purposes (obstacle detection, lane recognition) and secondary purposes (vehicle behavior measurement). This universality allows the system to maintain measurement precision without adding dedicated hardware, as the same optical components serve multiple functions including yaw rate estimation through environmental feature tracking.
3Adaptability or versatility
If wheel speed difference is used to calculate yaw rate, then the system can operate without a yaw rate sensor, but measurement precision deteriorates because tire slippage is not accounted for
Solution Approach 1:
The patent implements feedback by continuously comparing vehicle behavior information derived from image-capturing units with sensor data. When discrepancies are detected (such as those caused by tire slippage), the system uses the visual feedback to correct sensor readings or switch to alternative calculation methods, thereby maintaining measurement precision while preserving adaptability to sensor failures.
Data Source
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AI summary
The present invention provides an image-capturing device capable of fulfilling a complementary role to a vehicle behavior sensor when a failure occurs in the vehicle behavior sensor. The invention is characterized by being provided with: an image acquisition unit for acquiring images of the surroundings of a vehicle; a vehicle behavior inference unit for inferring vehicle behavior information on the basis of the images acquired by the image acquisition unit; a vehicle behavior acquisition unit for acquiring vehicle behavior information which has been detected by a vehicle behavior sensor; and an abnormality detection unit for detecting an abnormality in the vehicle behavior sensor by comparing the behavior information acquired by the vehicle behavior acquisition unit and the behavior information inferred by the vehicle behavior inference unit.