Vehicle Sensor Error Compensation via Rotation and Position Correction

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Solution Overview

Problem

Existing vehicle sensor systems face challenges in accurately identifying objects due to coordinate mismatches between heterogeneous sensors, leading to position errors that can cause malfunctions in autonomous driving, such as incorrect collision avoidance and lane change decisions.

Innovation Solution

A vehicle sensor error compensation apparatus that calculates and corrects rotation angle and longitudinal/lateral position errors between sensor object information and sensor fusion object information, using a rotation angle error calculator, position error calculator, and sensor error compensator to enhance object identification performance.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If coordinate correction between heterogeneous sensors is performed, then measurement precision is improved, but device complexity increases due to the need for error calculation and compensation mechanisms

Engineering Contradiction:

Improvecoordinate accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system performs preliminary coordinate correction by calculating rotation angle errors and position errors between heterogeneous sensors before object identification. The error calculator computes correction values in advance, and the coordinate corrector applies these corrections proactively, ensuring accurate coordinate alignment before the sensors are used for object detection and identification tasks.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system implements a feedback mechanism where the error calculator continuously monitors coordinate mismatches between sensors and generates correction values. The coordinate corrector applies these corrections, and the process repeats to maintain accurate coordinate alignment. This closed-loop feedback ensures that coordinate precision is maintained despite sensor drift or environmental changes.

Inventive Principle:

Principle #23Feedback

2Reliability

If real-time sensor error compensation is implemented, then reliability of object identification is improved, but loss of time increases due to additional calculation steps

Engineering Contradiction:

Improveobject identification reliabilityVSAvoidprocessing time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary error calculations and coordinate corrections before object identification is required. By pre-calculating rotation angle errors and position errors, and applying corrections in advance, the system ensures that when object identification is needed, the coordinates are already aligned, reducing the time penalty during critical identification moments.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system calculates and corrects only the essential error components (rotation angle error and position error) rather than attempting to correct all possible sensor deviations. This partial correction approach focuses computational resources on the most critical error sources that impact object identification reliability, achieving sufficient accuracy without excessive processing time.

Inventive Principle:

Principle #16Partial or excessive action

3Manufacturing precision

If coordinate correction is performed to reduce position errors, then manufacturing precision of sensor alignment is improved, but ease of operation deteriorates due to complex correction procedures

Engineering Contradiction:

Improvesensor alignment precisionVSAvoidsystem operation simplicity

Core Design Contradiction:

Manufacturing precisionVSEase of operation

Solution Approach 1:

The system performs self-correction by automatically calculating coordinate mismatches and applying corrections without requiring manual intervention. The error calculator and coordinate corrector work autonomously to maintain alignment precision, eliminating the need for operators to manually adjust sensor coordinates or understand complex alignment procedures.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system replaces manual mechanical adjustment of sensor alignment with an automated computational correction system. Instead of physically repositioning sensors to achieve precise alignment, the system uses mathematical calculations to determine coordinate transformation parameters and applies software-based corrections, substituting complex mechanical alignment operations with simpler computational processes.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS11538253B2Apparatus and method for compensating for error of vehicle sensor

Publication Date: 2022.12.27 HYUNDAI MOTOR CO LTD

AI summary

An apparatus and method for compensating for an error of a vehicle sensor for enhancing performance for identifying the same object are provided. The apparatus includes a rotation angle error calculator that calculates a rotation angle error between sensor object information and sensor fusion object information. A position error calculator calculates a longitudinal and lateral position error between the sensor object information and the sensor fusion object information. A sensor error compensator calculates a sensor error based on the calculated rotation angle and a position error. In calculating the rotation angle error, the sensor error compensator corrects an error of the sensor object information based on the rotation angle error, and compensates for the sensor error based on the longitudinal and lateral position error between the corrected sensor object information and the sensor fusion object information.