Vehicle Sensor Fusion for Pitching Object Tracking
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Solution Overview
Problem
During vehicle pitching motions, sensors lose objects from their detection area, leading to incomplete data for emergency braking systems, as conventional systems rely primarily on data from sensors with limited vertical detection angles, resulting in incomplete tracking and prediction of crash scenarios.
Innovation Solution
Implementing a method that uses data fusion between a primary sensor with a smaller detection angle and a secondary sensor with a larger vertical detection angle to track objects, associating distance information and relative velocity, allowing continued object tracking and crash prediction even when the object leaves the primary sensor's detection area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor with limited vertical detection angle is used for object detection, then the sensor can maintain precise distance measurement capability, but the sensor loses objects from its detection area during vehicle pitching motions
Solution Approach 1:
The detection task is segmented between two sensors: the first sensor (radar) with limited vertical detection angle handles precise distance measurement when objects are within its detection area, while the second sensor (video sensor) with larger vertical detection angle takes over object tracking when the vehicle pitches and objects leave the first sensor's detection area. This segmentation resolves the contradiction by assigning different functional roles to different sensors based on their respective strengths.
Solution Approach 2:
The control unit acts as an intermediary that receives data from both sensors, associates distance information from the first sensor with object detection data from the second sensor, and maintains continuous object tracking by switching between sensors based on detection availability. This intermediary coordination enables reliable object tracking throughout vehicle pitching motions while preserving precise distance measurement capability.
2Device complexity
If data from a single sensor is used for emergency braking triggering, then the system can maintain simple triggering logic, but the system produces incomplete data for crash prediction during pitching motions
Solution Approach 1:
The system merges data from two different sensors - combining distance information and relative velocity from the first sensor with object detection and position data from the second sensor. The control unit associates these data types to create a complete object tracking record, ensuring that all necessary information for crash prediction is available even during vehicle pitching motions, while maintaining relatively simple triggering logic through centralized data fusion.
3Reliability
If a sensor with larger vertical detection angle is used, then the sensor can maintain object detection during pitching motions, but the sensor provides less precise distance measurement capability
Solution Approach 1:
The detection functions are segmented by sensor capability: the second sensor (video sensor) with larger vertical detection angle is responsible for maintaining object detection reliability during pitching motions, while the first sensor (radar sensor) with limited vertical detection angle provides precise distance measurement when objects are within its detection area. This functional segmentation allows each sensor to optimize for its strength.
Solution Approach 2:
The control unit serves as an intermediary that intelligently combines data from both sensors, using the second sensor for continuous object detection and tracking during pitching motions while incorporating distance information from the first sensor when available. This intermediary data fusion resolves the precision-reliability trade-off by utilizing both sensors' contributions appropriately.
Data Source
AI summary
A method for monitoring an area ahead of a vehicle, the vehicle including a first sensor oriented in the direction of the area and a second sensor oriented in the direction of the area, the second sensor having a greater vertical detection angle than the first sensor, in a step of associating, an item of distance information detected by the first sensor is associated with an object detected by the second sensor in the area. In a step of tracking, a position of the object is tracked while using the second sensor when the object leaves the detection angle of the first sensor due to a pitch angle of the vehicle.