Vehicle Object Positioning via Horizontal Reference Line Heading Detection
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Solution Overview
Problem
Existing autonomous vehicle systems face limitations in accurately determining the state and driving intention of objects outside the vehicle, relying solely on object position, which is insufficient for effective vehicle control.
Innovation Solution
An apparatus and method utilizing a camera and processor to detect a horizontal reference line, calculate gradients, and determine heading angle differences between the vehicle and target objects, incorporating image and stereoscopic coordinates, and recognizing license plates to assess the driving intention of target vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only object position is used for determining object state, then the system complexity is reduced, but the measurement precision of object state determination deteriorates
Solution Approach 1:
The patent transitions from using only 2D image coordinates to incorporating 3D stereoscopic coordinates by detecting the gradient of horizontal reference lines. This dimensional enhancement allows the system to calculate heading angle differences and determine object states more accurately without substantially increasing system complexity, as the gradient calculation leverages existing image data.
Solution Approach 2:
The patent introduces gradient parameters of horizontal reference lines as new measurement dimensions. By calculating gradients perpendicular to the front direction of the vehicle and deriving heading angle differences from these gradients, the system enriches the parameter set used for object state determination, improving precision while maintaining reasonable system complexity.
2Measurement precision
If gradient calculation and heading angle determination are added, then the measurement precision of driving intention assessment is improved, but the device complexity increases
Solution Approach 1:
The patent segments the target object into detectable horizontal reference lines (such as license plates or vehicle body lines). By identifying and analyzing specific line segments rather than treating the entire object as a single entity, the system can calculate gradients and heading angles more precisely without requiring complex overall object modeling.
Solution Approach 2:
The patent uses horizontal reference lines as intermediary elements between the camera system and the driving intention assessment. These reference lines serve as mediators that translate visual information into gradient data, which then informs heading angle calculations and driving intention determination, reducing the complexity of direct object analysis.
3Measurement precision
If homography image matching method is used for coordinate transformation, then the measurement precision of stereoscopic coordinates is improved, but the loss of processing time increases
Solution Approach 1:
The patent performs preliminary detection of horizontal reference lines and their gradients before full coordinate transformation is needed. By pre-processing and identifying key geometric features in the image data, the system reduces the computational burden during real-time operation, balancing precision with processing time efficiency.
Data Source
AI summary
An apparatus for determining a position of an object outside a vehicle includes: a camera that obtains an external image of the vehicle, and a processor that may detect a target region corresponding to a target object in the external image. In particular, the processor detects a predetermined horizontal reference line in the target region, calculates a gradient of the horizontal reference line perpendicular to a front direction of the vehicle on a horizontal plane parallel to a road surface, and calculates a heading angle difference between the vehicle and the target object based on the gradient of the horizontal reference line.