Vehicle Buffer Region Convexification for Collision Detection
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Solution Overview
Problem
Existing vehicle collision avoidance systems face challenges in accurately determining buffer regions for object detection and collision avoidance due to uncertainties in vehicle trajectory and environmental conditions, leading to inefficiencies in object detection and collision prevention.
Innovation Solution
The implementation of a convex polygonal buffer region determination system, which calculates a predicted region of travel for a vehicle's front bumper and divides it into segments to determine buffer section polygons, then convexifies these polygons to create a minimal-edge convex polygonal buffer region for efficient object detection and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a buffer region is determined for collision avoidance, then vehicle safety is improved, but the computational complexity and processing time increase
Solution Approach 1:
The buffer region determination is divided into multiple discrete steps: generating initial buffer regions, identifying vertices, determining convex hulls, and selecting minimal edge sets. This segmentation allows the complex computational task to be broken down into manageable sub-tasks that can be processed efficiently at each stage.
Solution Approach 2:
The system dynamically adjusts the buffer region based on real-time vehicle trajectory predictions and environmental conditions. The buffer region is not static but adapts to changing conditions, optimizing the balance between safety coverage and computational efficiency by only processing relevant spatial data.
2Measurement precision
If the buffer region covers the entire predicted region of travel, then detection accuracy is improved, but the region size and processing load increase
Solution Approach 1:
Instead of processing the entire predicted region of travel, the system applies partial action by focusing only on the convex hull that encompasses the essential boundary. This reduces the processing area to the minimum necessary region while maintaining detection accuracy for objects that could impact vehicle safety.
Solution Approach 2:
The system extracts the essential boundary information from the full predicted region by identifying vertices and constructing convex hulls. This extraction process removes unnecessary data points and regions that do not contribute to collision detection, leaving only the critical buffer zone that requires processing.
3Reliability
If multiple polygons are used to represent the buffer region, then the region coverage is improved, but the number of edges and computational burden increase
Solution Approach 1:
Multiple buffer region polygons are merged into a single convex hull representation. This combining process consolidates the coverage area while reducing the total number of edges by eliminating redundant boundaries, thus maintaining region coverage while improving processing efficiency.
Solution Approach 2:
The system performs preliminary identification of vertices and construction of convex hulls before final buffer region determination. This preliminary action pre-processes the geometric data to identify essential boundary points, reducing the computational burden in subsequent processing stages.
Data Source
AI summary
Systems and techniques for determining a buffer region for use in controlling a vehicle and avoiding collisions are disclosed herein. A predicted region of travel of a vehicle front bumper may be determined. The position of the front bumper may be determined at points along a center curve of the predicted region of travel and polygons may be determined for the positions. The polygons may be joined and modified using a convex shape-based algorithm to determine a convex polygonal buffer region that is used in collision detection.