Trajectory-Tangential Environment Modeling for Driver Assistance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing driver assistance systems, such as ACC and AEBS, face complexity in modeling vehicle environments, leading to increased computational effort and error-prone decision-making due to the need for detailed trajectory analysis in complex road conditions.
Innovation Solution
A method and apparatus that transform the vehicle's driving situation into a tangential coordinate system, simplifying the ego vehicle trajectory as a straight movement, allowing for reduced complexity calculations and improved hazard detection by defining a reference point relative to detected objects and transforming object-related information into a new coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If detailed trajectory analysis is performed in complex road conditions, then measurement precision of environment model is improved, but device complexity and computational effort increase
Solution Approach 1:
The patent transforms the coordinate system parameters from the original vehicle coordinate system to a tangential coordinate system aligned with the trajectory. This parameter transformation simplifies the trajectory representation to primarily longitudinal motion in the tangential direction, reducing computational complexity while maintaining measurement precision for hazard detection
Solution Approach 2:
The patent introduces a new tangential coordinate dimension that aligns with the trajectory direction, effectively rotating the coordinate system. This dimensional transformation allows the complex curved trajectory to be represented as predominantly linear motion along the tangential axis, reducing the complexity of trajectory analysis
2Reliability
If complex trajectory calculations are performed, then reliability of hazard detection is improved, but loss of time in computational processing increases
Solution Approach 1:
By changing the coordinate system parameters to a tangential alignment with the trajectory, the patent simplifies the mathematical expressions for hazard detection calculations. This parameter transformation maintains detection reliability by preserving the essential trajectory geometry while reducing computational time through simpler arithmetic operations
3Ease of operation
If conventional coordinate systems are used for trajectory representation, then ease of operation is maintained, but device complexity increases due to error-prone calculations
Solution Approach 1:
The patent transforms the coordinate system parameters to align the first coordinate axis with the trajectory tangent. This parameter change simplifies the mathematical representation of trajectory points, making calculations more intuitive and less error-prone while maintaining ease of operation for trajectory analysis
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A method of parametrizing an environment model (108) for a driver assistance system (106) of a vehicle (100) comprises steps of defining, determining and transforming. In the step of defining, a reference point (R) on a predicted trajectory (T) of the vehicle (100) is defined in relation to a detected object (OBJ) in an environment of the vehicle (100). In the step of determining, an angle (αx) between a tangent (tan) to the trajectory (T) in the reference point (R) and a first axis (x) of a vehicle coordinate system (K) and a relative distance between object (OBJ) and reference point (R) are determined, to obtain object-related information (115). In the step of transforming, the object-related information (115) is transformed according to the determined angle (αx) to a new coordinate system with its first axis tangential to the trajectory (T) in the reference point (R), to obtain parametrization data (117).