Vehicle Free Space Detection Using Minimum Contour Points
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Solution Overview
Problem
Existing methods for determining free space in vehicle surroundings are computationally intensive and require significant data volumes, limiting bandwidth and computational resources, while also failing to provide reliable detection in complex environments.
Innovation Solution
A method that involves receiving contour points, assigning them to rows within a field of vision, identifying the minimum contour points relative to a vehicle reference system, and connecting these points to define free spaces, reducing data volume and computational effort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If all detected contour points are transmitted and processed, then complete vehicle surroundings information is available, but bandwidth and computational resources are exceeded
Solution Approach 1:
The patent extracts only the essential free space information from complete contour data by identifying minimum contour points that define the boundaries of drivable areas. This extraction process removes redundant contour points while preserving the critical geometric information needed for driver assistance functions, thereby reducing data volume and computational requirements without sacrificing detection reliability
Solution Approach 2:
The patent segments the vehicle surroundings into discrete free space regions bounded by minimum contour points. By dividing the continuous contour data into meaningful segments that represent actual drivable areas, the system processes only relevant information rather than handling all raw contour points, thus reducing computational complexity while maintaining complete situational awareness
2Ease of operation
If grid cell methods are used to determine free space, then free space detection is simplified, but computational effort and runtime are very high
Solution Approach 1:
The patent replaces the computationally intensive grid cell filling mechanism with a direct geometric connection approach. Instead of iteratively filling grid cells to determine free space, the system directly connects minimum contour points to define free space boundaries, eliminating the need for complex grid-based algorithms while maintaining processing simplicity and achieving high computational efficiency
3Productivity
If intersection point methods are used to estimate free space, then computational effort is reduced, but resolution decreases at increased ranges and direct line of sight is required
Solution Approach 1:
The patent performs preliminary identification and selection of minimum contour points that define free space boundaries before any free space calculation is performed. By pre-processing the contour data to extract only the critical boundary points, the system ensures high resolution free space determination at all ranges while maintaining computational efficiency, eliminating the need for iterative intersection point calculations that degrade resolution at distance
Data Source
AI summary
A method for determining at least one free space in vehicle surroundings of a vehicle. The method includes receiving at least two-dimensional contour points of objects in the vehicle surroundings, assigning the received contour points to a plurality of rows, which subdivide into rows pf at least one field of vision situated in the vehicle surroundings, ascertaining the particular contour point within a row for at least a portion of the plurality of rows as the minimum contour point, which, of all contour points assigned to this row, has the shortest contour point distance to a reference system of the vehicle within the particular row, and connecting the previously determined minimum contour points to a free space or multiple free spaces within the at least one field of vision.