Vehicle Sensor System Resolving Ground Obstacle Detection
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Solution Overview
Problem
Existing optical sensor systems for vehicles, including self-driving ones, often fail to detect obstacles close to the ground due to their arrangement, leading to potential collisions and safety risks, especially when the vehicle undergoes pitching movements or encounters bumps.
Innovation Solution
Incorporating a depth camera that generates three-dimensional images and adjusts a reference contour based on acceleration-dependent movements, combined with a distance sensor, to enhance obstacle detection and reduce errors, allowing for better recognition of objects both above and below the monitoring area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the distance sensor is arranged at a distance from the ground to avoid erroneous detection during pitching movements, then false detection of ground as obstacle is avoided, but obstacles close to the ground are not detected
Solution Approach 1:
The monitoring area is divided into two segments: a first monitoring area for flat surfaces parallel to ground (detected by distance sensor) and a second monitoring area for areas below the flat surface (detected by depth camera). This segmentation allows each sensor to focus on specific zones, resolving the contradiction between avoiding false detection and detecting close obstacles.
Solution Approach 2:
The system transitions from two-dimensional flat surface monitoring (distance sensor) to three-dimensional volume monitoring (depth camera). The depth camera captures depth information in the vertical dimension below the flat surface, enabling detection of obstacles that would be missed by traditional distance sensors positioned to avoid ground detection errors.
2Measurement precision
If the distance sensor scans a line-shaped area parallel to ground, then flat surfaces are monitored effectively, but obstacles below the monitoring area are missed
Solution Approach 1:
The system merges the functionality of a distance sensor (for flat surface monitoring) with a depth camera (for volumetric obstacle detection). The evaluation unit combines data from both sensors, maintaining effective flat surface monitoring while adding comprehensive obstacle detection capability below the monitoring area.
3Measurement precision
If a depth camera is added to detect obstacles below the monitoring area, then obstacle detection accuracy is improved, but device complexity increases
Solution Approach 1:
The depth camera serves multiple functions: detecting obstacles below the monitoring area, providing depth information for the evaluation unit, and working in conjunction with the distance sensor to create a comprehensive monitoring system. This multi-functionality justifies the added complexity by delivering significant performance improvements.
Solution Approach 2:
The evaluation unit acts as an intermediary that processes and integrates data from both the distance sensor and depth camera. It combines the line-shaped area data from the distance sensor with the three-dimensional image data from the depth camera, resolving the complexity of managing multiple sensors through centralized intelligent processing.
4Measurement precision
If the reference contour is adjusted based on acceleration values, then detection accuracy during vehicle movement is improved, but processing complexity increases
Solution Approach 1:
The system implements feedback by continuously monitoring acceleration values and using them to adjust the reference contour in real-time. The evaluation unit receives acceleration data, processes it to determine vehicle movement state, and dynamically adapts the reference contour accordingly, maintaining high detection accuracy during pitching movements while using straightforward processing logic.
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
The combination of distance sensors and depth cameras improves obstacle detection accuracy and reduces errors, enabling safer vehicle operation by identifying flat obstacles and adapting to movement-induced changes, thus preventing collisions and enhancing safety.
Implementation Method 1
The depth camera is preferably a TOF camera (i.e. a time-of-flight camera or a camera with time-of-flight measurement)
Implementation Method 2
a laser scanner, which determines distance information for a first monitoring area
Data Source
Figure 1~2
Figure 3~4
AI summary
The invention relates to an optical sensor system with a distance sensor, in particular a laser scanner, which determines distance information for a first monitoring area, wherein the first monitoring area defines a flat surface that preferably runs parallel to a surface. The sensor system further comprises an evaluation unit configured to recognize objects based on the distance information and to output a warning signal upon detection of an object, wherein the sensor system additionally comprises a depth camera that generates a three-dimensional image of a second monitoring area.