Vehicle Control Box Merging for Stable LiDAR Object Tracking
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Solution Overview
Problem
In vehicle control systems using LiDAR sensors, incorrect merging of virtual boxes can lead to inaccurate identification of external objects, potentially causing dramatic and incorrect changes in the driving route of a host vehicle.
Innovation Solution
A vehicle control apparatus comprising a sensor and a processor that generates a tracking box by converting a virtual box at a first time point to a virtual box at a second time point, determines associated virtual boxes based on overlap and distance criteria, and selectively merges these boxes based on distance, location relative to the road edge, and type, to output a signal indicating the merged virtual boxes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If all virtual boxes are merged without selective criteria, then the identification process is simplified, but the accuracy of external object identification deteriorates and driving route may change incorrectly
Solution Approach 1:
The patent applies parameter changes by introducing multiple selection criteria (distance between virtual boxes, location relative to road edges, type of objects) to control the merging process. Instead of merging all boxes uniformly, the system dynamically adjusts merging behavior based on these parameters, thereby maintaining identification accuracy while managing complexity.
Solution Approach 2:
The patent implements local quality by applying different merging rules to different groups of virtual boxes based on their specific characteristics. Virtual boxes located outside road edges are treated differently from those on the road, and boxes representing different object types are merged selectively. This localized approach ensures accuracy is maintained where critical while simplifying processing where appropriate.
2Measurement precision
If selective merging criteria are applied to improve identification accuracy, then the merging process becomes more complex, but processing efficiency deteriorates
Solution Approach 1:
The patent applies segmentation by dividing the virtual boxes into distinct groups based on their characteristics (location, type, distance). This segmentation allows the system to apply efficient merging rules to each group independently rather than evaluating all boxes against all criteria, thereby maintaining accuracy while improving processing efficiency through structured organization.
3Measurement precision
If multiple criteria are used for selective merging, then the accuracy of object identification is improved, but the computational load on the processor increases
Solution Approach 1:
The patent implements preliminary action by pre-establishing the selection criteria and classification rules for virtual boxes before the actual merging process. By defining distance thresholds, road edge boundaries, and object type categories in advance, the system reduces the computational complexity during real-time processing, thereby maintaining high accuracy while reducing processor load during operation.
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
The solution effectively reduces the load on the processor and shortens computation time by selectively merging virtual boxes, thereby improving the accuracy of external object identification and maintaining a stable driving route.
Implementation Method 1
the external object may be identified by using a sensor (e.g., LiDAR)
Data Source
AI summary
The disclosure presents a vehicle control apparatus comprising a sensor and a processor. The processor is configured to generate a tracking box from a virtual box acquired at an initial time point, determine associated virtual boxes at a subsequent time point, and merge virtual boxes selectively based on factors like distance, road edge location, or virtual box type, resulting in a signal indicating the merged virtual boxes.