Vehicle Lateral Offset Calculation Without Square Root Operations
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Solution Overview
Problem
Autonomous vehicles require efficient methods to calculate lateral offsets without performing computationally intensive square root operations, which are resource-heavy and unsuitable for low-power systems.
Innovation Solution
A method and apparatus using small angle approximation and symmetric transformation to calculate lateral offsets, eliminating the need for square root operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If square root operations are used to calculate lateral offset, then calculation accuracy is maintained, but computational resources and power consumption increase significantly
Solution Approach 1:
The patent transforms the lateral offset calculation from using square root operations to using polynomial approximation operations. By changing the mathematical parameters and operations involved, the system achieves comparable accuracy while significantly reducing computational complexity and power consumption, making it suitable for resource-constrained autonomous vehicle systems
Solution Approach 2:
The patent replaces expensive computational operations (square root) with cheaper alternative operations (polynomial approximation). This substitution uses simpler, more computationally efficient methods that consume less energy and require fewer computational resources, effectively trading off minimal accuracy for significant gains in efficiency
2Measurement precision
If square root operations are used to calculate lateral offset, then accurate results are obtained, but computation time increases
Solution Approach 1:
The patent changes the computational approach from square root operations to polynomial approximation operations. This parameter change in the calculation method dramatically reduces computation time while maintaining sufficient accuracy for autonomous vehicle applications, enabling real-time processing of point cloud data
Solution Approach 2:
The patent substitutes computationally expensive square root operations with computationally inexpensive polynomial operations. This replacement uses simpler mathematical operations that execute faster, reducing computation time while providing adequate accuracy for safety-critical autonomous vehicle operations
3Measurement precision
If Babylonian algorithm is used for square root operations, then approximate values are obtained, but the number of iterations increases computation time
Solution Approach 1:
The patent extracts the square root operation entirely from the calculation process and replaces it with direct polynomial approximation. By removing the need for iterative square root calculation, the system eliminates the time-consuming iteration loop while maintaining the ability to obtain approximate lateral offset values
Solution Approach 2:
The patent replaces the iterative Babylonian algorithm with a direct polynomial approximation method. This substitution uses simpler, non-iterative operations that provide sufficient accuracy without requiring multiple calculation passes, dramatically reducing computation time
4Measurement precision
If Babylonian algorithm is used for square root operations, then square roots can be calculated, but power consumption increases with repeated operations
Solution Approach 1:
The patent removes the square root operation from the calculation pipeline entirely and replaces it with polynomial approximation. This extraction eliminates the energy-intensive iterative computation while preserving the essential functionality of calculating lateral offset from point cloud data
Solution Approach 2:
The patent substitutes the power-consuming Babylonian algorithm with energy-efficient polynomial operations. This replacement uses computationally lightweight operations that consume significantly less power, making the system suitable for battery-powered autonomous vehicle platforms
Data Source
Figure 1~2A
Figure 2B
Figure 3A
AI summary
A method and an apparatus for calculating a lateral offset of an object. An aspect of the present disclosure provides a method for calculating a lateral offset between a vehicle and an object, the method comprising: obtaining driving information of the vehicle and position information of the object using at least one sensor included in the vehicle, wherein the position information of the object comprises coordinates of the object with respect to a reference coordinate system at the current time point; calculating a y-axis coordinate of the vehicle according to a x-axis coordinate of the vehicle using a driving trajectory approximation that represents a lateral travel distance according to a longitudinal travel distance of the vehicle, wherein the driving trajectory approximation is determined based on a small angle approximation and the driving information of the vehicle; and calculating the lateral offset using the y-axis coordinate of the vehicle and the y-axis coordinate of the object.