Vehicle Position Control Using Camera-Radar Object Edge Detection
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Solution Overview
Problem
Existing vehicle control systems face challenges in accurately determining the positional relationship between a host vehicle and detection target objects, leading to potential safety issues and errors in lateral distance estimation.
Innovation Solution
A control device that utilizes a processor to combine output information from both imaging devices and radar devices to detect specific ends of a detection target object, derive angles and distances, and determine the positional relationship based on these measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If lateral distance is determined by preferentially using image data, then the determination process is simplified, but measurement precision deteriorates when image error increases
Solution Approach 1:
The patent combines radar device output and imaging device output to determine lateral distance. When the imaging device provides reliable data, it is used; when error is detected, radar data is used instead. This merging of multiple data sources resolves the contradiction by maintaining both simplicity (through preferential use of image data) and precision (through fallback to radar data when needed).
Solution Approach 2:
The system dynamically changes the data source parameter based on error detection. It switches between using imaging device data and radar device data depending on the reliability of the image-based lateral distance measurement, thereby maintaining precision while keeping the process simple through conditional selection.
2Device complexity
If only imaging device is used for positional relationship determination, then device complexity is reduced, but reliability deteriorates due to potential errors in lateral distance measurement
Solution Approach 1:
The control device is designed to perform positional relationship determination using multiple data sources (imaging device and radar device). This multi-functionality ensures reliability by having backup measurement methods while maintaining a unified control system that can adaptively select the appropriate data source based on conditions.
3Measurement precision
If both imaging device and radar device are combined, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system dynamically selects between imaging device data and radar device data based on error detection and reliability assessment. This dynamic adaptation allows the system to achieve high measurement precision when needed while avoiding the constant complexity of processing both data sources simultaneously, as it only activates the radar fallback when imaging data reliability is compromised.
Data Source
AI summary
A control device on a vehicle includes is configured to: detect, based on an output from an imaging device, one end and the other end in a left-right direction of the vehicle, in a first end of a detection target object, the first end being on a side close to the vehicle in a front-rear direction of the vehicle, derive, based on the one end and the other end, a first angle between a direction connecting the vehicle and the one end and the front-rear direction and a second angle between a direction connecting the vehicle and the other end and the front-rear direction, derive a first distance between the first end of the detection target object and the vehicle based on radar information, and determine a positional relationship between the vehicle and the detection target object based on the first angle, the second angle, and the first distance.