Vehicle Overhead Recognition Using Vertical LIDAR Angles
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Solution Overview
Problem
Existing object recognition devices fail to accurately identify overhead structures such as signs and bridges, which do not obstruct vehicle travel, due to their design focusing on road surface obstacles.
Innovation Solution
An overhead-structure recognition device utilizing a LIDAR system with multiple light emitting elements at different angles, combined with image and millimeter-wave radar data, to analyze range point cloud data and determine the presence of overhead structures based on predefined criteria including distance, direction, and reflectance patterns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If object recognition devices use millimeter-wave radar to detect obstacles, then road surface obstacles can be identified, but overhead structures cannot be distinguished from obstacles
Solution Approach 1:
The patent introduces vertical angle information as a new dimension to differentiate overhead structures from road surface obstacles. By measuring the vertical angle of reflected light and comparing it against threshold values, the system can identify objects located above the vehicle that do not obstruct travel, thereby resolving the inability of conventional radar to distinguish overhead structures from obstacles.
2Measurement precision
If LIDAR system uses multiple light emitting elements at different angles, then overhead structure detection accuracy is improved, but device complexity increases
Solution Approach 1:
The LIDAR system is divided into multiple light emitting elements, each responsible for emitting laser light at specific vertical angles. This segmentation allows the system to scan different spatial zones independently, improving overhead structure detection accuracy while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The multiple light emitting elements serve dual functions: detecting overhead structures and detecting road surface obstacles. By configuring elements at different vertical angles, the system can identify objects in various spatial positions using the same hardware platform, reducing the need for separate detection systems.
3Reliability
If object recognition focuses on road surface obstacles, then obstacle detection is reliable, but overhead structures are misidentified as obstacles
Solution Approach 1:
The patent introduces vertical angle threshold values as an intermediary criterion to mediate between obstacle detection and overhead structure identification. By comparing the measured vertical angle against predefined thresholds, the system can reliably distinguish overhead structures from obstacles without compromising the reliability of obstacle detection, as the threshold mechanism provides a clear decision boundary.
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
Enhances the accuracy of overhead structure detection by ensuring that only stationary, non-obstructing objects are identified, reducing false positives and improving driving assistance systems.
Implementation Method 1
a LIDAR device that emits laser light in a plurality of directions whose horizontal angles differ from one another in each of a plurality of planes whose angles with respect to a vertical direction differ from one another
Implementation Method 2
receive reflected light of the emitted laser light
Data Source
AI summary
In an overhead-structure recognition device to be mounted to a vehicle, a determination unit is configured to, in response to there being, among specific pieces of range point data each having a direction variable indicating a predefined direction, a predefined number or more of pieces of range point data each having a distance variable taking a plurality of values, determine that an object of interest corresponding to a subset of interest of pieces of range point data is an overhead structure. The predefined direction is a direction such that a horizontal angle difference from a direction indicated by the direction variable of the piece of range point data corresponding to the object of interest is within a predefined angle range and an angle with respect to a vertical direction is greater than an angle between the vertical direction and a direction of travel of the vehicle.