3D Travelable Area Extraction Using Road Structure Rules
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Solution Overview
Problem
Existing systems face difficulties in accurately extracting travelable areas from point cloud data due to variations in road widths and the presence of guardrails or tunnels, leading to inappropriate extraction of travelable areas.
Innovation Solution
A travelable area extraction apparatus and method that inputs three-dimensional data from a vehicle-mounted sensor, acquires vehicle position information, and uses a road structural rule to define the distance from one end to the other end of a traveling area, allowing for accurate extraction of travelable areas without detecting road ends.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If road ends are detected from captured images or point cloud data to extract travelable area, then the extraction process can be performed, but the detection accuracy deteriorates due to variations in road width and presence of guardrails or tunnels
Solution Approach 1:
The patent introduces road structure information (such as road width, guardrail positions, and tunnel characteristics) as an intermediary element between the point cloud data and the travelable area extraction process. This intermediary provides reference frameworks that help accurately identify road ends even in complex scenarios with varying road widths, guardrails, or tunnels, thereby resolving the detection accuracy issue without directly detecting road ends from raw point cloud data
2Productivity
If the width of point cloud is extracted from point cloud data including sections with and without guardrails, then the extraction process can be performed, but the extracted travelable area becomes inappropriate due to mixed sections
Solution Approach 1:
The patent segments the road into distinct sections based on the presence or absence of guardrails and other road characteristics. By dividing the point cloud data into separate segments corresponding to different road types (with guardrails, without guardrails, tunnels), the system can apply appropriate extraction methods to each segment, preventing the mixing of incompatible sections and ensuring accurate travelable area extraction while maintaining processing efficiency
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
Enables accurate extraction of travelable areas from three-dimensional data, improving detection precision by utilizing position information and road structural rules, even in complex road scenarios.
Implementation Method 1
A sensor such as Light Detection and Ranging (LiDAR) emits a laser to each measurement point of a measurement target, and can calculate a distance to each measurement point on the basis of a time from the emission of the laser to the reception of light.
Data Source
AI summary
An object of the present disclosure is to provide a travelable area extraction apparatus and the like capable of extracting a travelable area from three-dimensional data. A disclosed travelable area extraction apparatus includes: a three-dimensional data input unit that inputs three-dimensional data from a three-dimensional data acquisition unit mounted in a vehicle; a position information acquisition unit that acquires position information of the vehicle; and a travelable area extraction unit that extracts a travelable area from the three-dimensional data on the basis of the position information of the vehicle and a road structure rule indicating a distance from one end to the other end of a traveling area in a road.