Ultrasonic SLAM Parking Localization Using Line Object Correction
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Solution Overview
Problem
Existing driver assistance systems face challenges in accurately determining a vehicle's position relative to its surroundings due to manufacturing tolerances and sensor limitations, particularly with ultrasonic sensors, which hinder the application of SLAM methods.
Innovation Solution
The method employs ultrasonic sensors to detect a line object, such as a curb or wall, and uses SLAM based on these signals to correct the vehicle's position by correlating odometry information, enabling precise localization and mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If ultrasonic sensors are used to detect objects during parking, then the system can identify parking spaces and objects, but the measurement precision of vehicle position deteriorates due to sensor limitations and inability to track specific objects
Solution Approach 1:
The patent segments the detection task by distinguishing between general object detection (using ultrasonic sensors for parking space identification) and precise position tracking (using line object features for SLAM). This allows each subsystem to operate optimally for its specific function.
Solution Approach 2:
The patent introduces line objects (curbs, walls, parking space boundaries) as intermediary reference features that bridge the gap between ultrasonic sensor detections and precise vehicle positioning. These line objects serve as stable reference points for SLAM algorithms to correct odometry drift.
2Measurement precision
If SLAM method is applied using general object tracking, then vehicle localization can be achieved, but the method becomes inapplicable with ultrasonic sensors due to inability to track single objects
Solution Approach 1:
The patent applies local quality by focusing SLAM tracking specifically on line objects (curbs, walls, boundaries) rather than attempting to track all objects. This selective approach provides stable reference features while keeping the system compatible with ultrasonic sensor capabilities.
Solution Approach 2:
Instead of trying to make ultrasonic sensors track individual moving objects (which fails), the patent inverts the approach by using stationary line objects as reference features. This reverses the tracking paradigm from dynamic object tracking to static feature-based localization.
3Productivity
If odometry information is used to determine vehicle position, then the system can track vehicle movement, but manufacturing tolerances and vehicle modifications cause deviations from the odometric model
Solution Approach 1:
The patent implements feedback by continuously comparing odometry-based position estimates with SLAM-based position corrections. The SLAM system uses line object features to provide feedback that corrects cumulative odometry errors, maintaining long-term positioning accuracy.
Solution Approach 2:
The patent introduces line object features as intermediary reference points that mediate between odometry measurements and true vehicle position. These features serve as external references that correct the drift inherent in odometry-based tracking.
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 allows for accurate vehicle positioning during parking, correcting deviations of up to 10 cm by continuously updating the vehicle's position using simultaneous localization and mapping, enhancing the reliability of semi-autonomous or autonomous parking.
Implementation Method 1
acquire ultrasonic signals from a line object
Data Source
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AI summary
The invention relates to a method for correcting a position of a vehicle (10), particularly when parking in a parking space (14), said method comprising the following steps: determining the position of the vehicle (10) based on odometry information of the vehicle (10); detecting ultrasonic signals from a line object (28); carrying out a method for simultaneous localisation and mapping (SLAM) based on the line object (28) and the ultrasonic signals; and correcting the position of the vehicle (10) on the basis of the odometry information with the simultaneous localisation and mapping based on the line object (28). The invention also relates to a control device (14) for a driver assistance system (12) of a vehicle (10), which is designed in such a way as to be able to receive odometry information of the vehicle (10), to receive ultrasonic signals from at least one ultrasonic sensor (18) of the driver assistance system (12), and to implement the above-mentioned method. The invention further relates to a driver assistance system (12) for a vehicle (10), comprising an above-mentioned control device (16) and at least one ultrasonic sensor (18). The invention also relates to a vehicle (10) comprising an above-mentioned driver assistance system (12).