Vehicle Obstacle Mapping Using Matrix Superposition
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Solution Overview
Problem
Current vehicle obstacle detection systems either fail to provide accurate distance information or precise obstacle location, with camera-based systems lacking distance data and sensor-based systems struggling to accurately assess obstacle position.
Innovation Solution
The method and apparatus for obstacle mapping utilize a memory to store location and obstacle matrices, processing ultrasound sensor signal datasets to determine obstacle locations by superposing amplitude values based on distance values, identifying initial and final shaped obstacles, and recursively refining these to create an accurate obstacle map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If a camera-based system is used to capture images of the environment, then visual information about obstacle positions is provided, but distance data to obstacles is not provided
Solution Approach 1:
The patent combines camera-based visual information with sensor-based distance measurements (ultrasonic or electromagnetic sensors) to create a unified obstacle mapping system. The sensor data provides distance information that is integrated with the visual data from the camera, resolving the contradiction between visual coverage and distance precision.
2Measurement precision
If a sensor-based system using ultrasonic sensors is used to detect obstacles, then distance estimates to obstacles are provided, but accurate assessment of obstacle location is not achieved
Solution Approach 1:
The patent transitions from one-dimensional distance measurements from a single sensor to two-dimensional spatial mapping by using multiple sensors at different locations around the vehicle. This multi-sensor array approach adds spatial dimensionality, allowing accurate localization of obstacles by triangulating their positions based on distance measurements from multiple sensor viewpoints.
3Measurement precision
If multiple sensors are used to improve obstacle location accuracy, then more comprehensive data is collected, but system complexity increases
Solution Approach 1:
The patent employs a unified obstacle mapping algorithm that processes data from multiple sensors using a consistent mathematical framework (location matrix and obstacle matrix). This universal processing approach handles data from various sensor types and positions through a single coherent system, managing complexity while maintaining high measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for precise 2D location determination of obstacles, enabling accurate visual presentation or navigation system input, improving driver awareness and vehicle maneuverability by providing reliable obstacle mapping.
Implementation Method 1
a sensor mounted on the vehicle and arranged to send and receive acoustic pulses which reflect off any facing surfaces of obstacles in the vicinity of the vehicle
Data Source
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AI summary
There is provided apparatus for obstacle mapping in a vehicle, the apparatus comprising a memory configured to store a location matrix and an obstacle matrix, each representative of an area around the vehicle and a logical module. The logical module is configured to receive a plurality of sensor signal datasets from a plurality of respective sensors, each sensor signal dataset comprising at least one amplitude value having a respective at least one associated distance value. The logical module is further configured to modify the location matrix by superposing each amplitude value of each sensor signal dataset on the location matrix at all locations representative of a possible obstacle location based on the associated respective distance value and a location of the respective sensor. The logical module is further configured to determine an initial shaped obstacle as a peak location corresponding to a maximum value in the location matrix. The logical module is further configured to determine a final shaped obstacle based on recursively determining locations in the location matrix around the initial shaped obstacle having a value within a predetermined threshold of the maximum value and expanding the initial shaped obstacle to include the determined locations. The logical module is further configured to populate the obstacle matrix based on the final shaped obstacle. The logical module is further configured to, after the final shaped obstacle has been determined, calculate a further location matrix not including at least some of the amplitude values in the sensor signal datasets which represented a possible obstacle location at the peak location, whereby to identify any remaining peaks in the further location matrix indicative of a further obstacle.