Vehicle Coordinate Conversion for Low-Latency Local Map Control
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Solution Overview
Problem
Existing vehicle systems face challenges in shortening the acquisition period of local map data based on the ego vehicle's position and improving the accuracy of vehicle control, while also reducing the acquisition and transmission load of local map data.
Innovation Solution
A vehicle system that includes a position acquisition unit, a local map generation unit, a coordinate conversion unit, and a vehicle control unit, which work together to acquire and transmit position information and local map data at optimized intervals, ensuring the newest position information is used for vehicle control and reducing processing and communication loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the map transmission period is shortened to reduce transmission delay, then the accuracy of vehicle control is improved, but the communication load and processing load increase significantly
Solution Approach 1:
The patent segments map data into local map data (peripheral area around ego vehicle) and other map data, transmitting only the relevant local portion at high frequency while reducing transmission of other areas. This segmentation allows frequent updates of critical map data without proportionally increasing overall communication load.
Solution Approach 2:
The patent extracts and transmits only the necessary local map data (peripheral area) at short transmission periods, separating it from the complete map data set. This extraction approach reduces communication load by transmitting only the subset of map data that is immediately relevant for current vehicle control decisions.
2Measurement precision
If the position transmission period is shortened to provide newest position information, then the accuracy of vehicle control is improved, but the communication load increases
Solution Approach 1:
The patent applies partial action by transmitting position information at a shorter period than the map transmission period, providing sufficiently fresh position data without the excessive communication overhead of continuous transmission. This partial frequency approach balances accuracy requirements with communication efficiency.
3Reliability
If the acquisition period of local map data is shortened to improve vehicle control accuracy, then the reliability of vehicle control is improved, but the processing load and transmission load increase
Solution Approach 1:
The patent applies local quality by focusing processing and transmission resources on the local map data (peripheral area) that has the highest impact on vehicle control reliability, rather than uniformly processing all map data at the same frequency. This localized approach improves reliability where it matters most while controlling overall processing load.
Solution Approach 2:
The patent implements periodic action with different transmission periods for different data types: position information is transmitted more frequently than local map data, which in turn is transmitted more frequently than other map data. This hierarchical periodic approach optimizes reliability for time-critical data while reducing load for less time-sensitive data.
Data Source
AI summary
To provide a vehicle system can shorten the acquisition period of the local map data on the basis of the position of the ego vehicle, and improve the accuracy of vehicle control. A vehicle system transmits position information of an ego vehicle for every position transmission period; transmits local map data and a reference position for every map transmission period; converts relative positions on the basis of the reference position into the positions in an ego vehicle coordinate system on the basis of the position of the ego vehicle, based on newest position information of the ego vehicle, for every conversion period; calculates the vehicle control amount of the ego vehicle using the positions in the ego vehicle coordinate system; and the conversion period is longer than the position transmission period, and shorter than the map transmission period.