Vehicle Orientation Correction Using LiDAR Planar Surface Feedback
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Solution Overview
Problem
Orientation sensors in vehicles, such as IMUs, accumulate errors over time, degrading vehicle performance, and adding additional sensors to correct these errors increases cost and decreases reliability.
Innovation Solution
Utilize relative distance data from distance sensors like LiDAR to detect planar surfaces and correct orientation errors by comparing these surfaces with orientation axes, adjusting the orientation sensor based on variances to align with vehicle axes, using feedback mechanisms to accumulate corrections over time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors (e.g., inclinometer) are added to correct orientation errors, then orientation accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The existing distance sensor, originally designed for measuring distances to external objects, is repurposed to detect planar surfaces and correct orientation errors. This multi-functional use eliminates the need for dedicated orientation correction sensors while maintaining correction capability
Solution Approach 2:
The distance sensor performs dual functions: its primary function of measuring external object distances and a secondary function of detecting planar surfaces for orientation correction. The system uses its own existing capabilities to correct its measurement errors without requiring external assistance from additional sensors
2Measurement precision
If additional sensors are added to correct orientation errors, then orientation accuracy is improved, but system reliability decreases
Solution Approach 1:
By making the distance sensor multi-functional, the system reduces the total number of sensor components. Fewer components mean fewer potential failure points, thereby improving overall system reliability while still achieving orientation correction through the sensor's planar surface detection capability
3Device complexity
If orientation errors are not corrected, then device complexity is reduced, but measurement precision deteriorates over time
Solution Approach 1:
The system implements a feedback mechanism where the distance sensor detects planar surfaces in the environment, compares their detected orientation with the orientation sensor's measurements, and uses the variance to generate correction values. This feedback loop continuously corrects accumulated orientation errors without adding complex hardware
Solution Approach 2:
Planar surfaces in the environment serve as intermediary reference objects. The distance sensor uses these environmental features as mediators to indirectly determine and correct the orientation sensor's accumulated errors, avoiding direct complex sensor-to-sensor correction mechanisms
Data Source
Figure 1~2a
Figure 2b
Figure 3
AI summary
An orientation system comprises an orientation sensor, a distance sensor, and vehicle processing unit. The orientation sensor is configured to generate orientation data. The distance sensor is configured to generate relative distance data measuring relative distances to objects external to the vehicle. The vehicle processing unit is configured to receive the orientation data from the orientation sensor and the relative distance data from the distance sensor, wherein the vehicle processing unit detects orientation errors based on the relative distance data.