Vehicle Boundary Crossing Detection Using Rotation Direction
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Solution Overview
Problem
Existing methods for determining whether a vehicle violates the boundaries of a drivable area are computationally expensive and may not yield reliable results due to the need to solve complex systems of equations.
Innovation Solution
A method using rotation-direction-based testing, where points on the vehicle's body contour and boundary lines are analyzed to determine the direction of rotation, allowing for a computationally efficient and reliable check for boundary violations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If distance-based methods or intersection point calculation methods are used to check boundary violations, then measurement precision is improved, but computational complexity increases significantly
Solution Approach 1:
The vehicle body contour is divided into multiple straight-line sections, and the boundary line is divided into multiple line segments. This segmentation transforms the complex continuous geometric problem into a set of simpler discrete line-line intersection checks, reducing computational complexity while maintaining detection accuracy.
Solution Approach 2:
The patent replaces complex mechanical-like geometric calculations (solving systems of equations for intersection points) with a simpler algebraic approach using cross-product calculations. This substitution eliminates the need to solve quadratic equations and significantly reduces computational burden.
2Measurement precision
If systems of equations are solved to determine vehicle distance to boundaries or intersection points, then measurement precision is improved, but reliability deteriorates due to potential lack of real solutions
Solution Approach 1:
The patent uses simple algebraic cross-product calculations instead of complex systems of equations. These calculations are computationally inexpensive and always yield real results, eliminating the reliability issue of quadratic equations potentially having no real solutions or multiple solutions requiring further verification.
3Measurement precision
If complex geometric calculations are performed to determine intersection points, then measurement precision is improved, but processing time increases
Solution Approach 1:
By segmenting the vehicle contour and boundary into discrete line sections, the patent enables parallel processing of multiple independent line-line intersection checks, reducing overall computation time compared to solving a single complex system of equations.
Solution Approach 2:
The substitution of quadratic equation solving with linear algebraic cross-product calculations dramatically reduces the computational complexity from O(n²) to O(1) per section pair, enabling real-time processing even with multiple vehicle contour sections and boundary segments.
Data Source
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AI summary
The invention relates to a computer-implemented method for monitoring whether a vehicle (1), which travels along a trajectory (T), has crossed a boundary of a zone in which the vehicle (1) can drive, by determining a direction of rotation.