Vehicle Sensor Localization via Moveable Element Imaging
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Solution Overview
Problem
Existing vehicle systems lack a reliable method to localize sensors, such as cameras, relative to a vehicle coordinate system, especially in vehicles with adjustable steering wheels, where precise spatial data is required for accurate monitoring and control, but information about the sensor's position and orientation is often unavailable.
Innovation Solution
A method involving a first sensor capturing images of a moveable element with a predetermined spatial relationship to a second sensor, using transformation rules and algorithms like particle filters or neural networks to determine the second sensor's location within the vehicle coordinate system, allowing for flexible adaptation to different vehicle configurations without physical measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a camera or sensor is mounted on the steering wheel column to monitor the driver, then the sensor can capture the driver's face and eyes effectively, but the sensor position becomes moveable and its location relative to the vehicle coordinate system cannot be reliably determined
Solution Approach 1:
A marker is introduced as an intermediary element that is fixed to the sensor housing. This marker serves as a reference object that can be detected by a camera to determine the sensor's position and orientation. The marker acts as a mediator between the moveable sensor and the vehicle coordinate system, enabling reliable localization despite the sensor's moveable mounting position.
Solution Approach 2:
The physical sensor position is copied into a digital representation through image capture. The camera captures images of the marker, and through image processing and coordinate transformation, the real-world position and orientation of the sensor is reconstructed in the vehicle coordinate system. This creates a digital twin of the sensor location that can be used for spatial data determination.
2Measurement precision
If electronic adjustment monitoring is implemented to track steering wheel position, then sensor location can be calculated from a reference position, but such information is not available in many vehicles
Solution Approach 1:
The system uses its own resources to determine sensor position. The camera, which is already part of the driver monitoring system, is used to capture images of the marker on the sensor housing. The processing unit then performs image processing and coordinate transformations using pre-stored transformation rules. This self-service approach eliminates the need for external electronic adjustment monitoring systems.
Solution Approach 2:
The camera serves multiple functions: it monitors the driver's face and eyes for safety applications, and simultaneously captures images of the marker for sensor localization. This multi-functionality allows the system to determine sensor position without requiring additional sensors or vehicle-specific electronic adjustment monitoring capabilities, making it universally applicable across different vehicle types.
3Ease of operation
If the steering wheel position is adjusted mechanically without electronic monitoring, then the sensor moves with the steering wheel, but no information about the adjustment amount is available
Solution Approach 1:
A visual marker is introduced as an intermediary that carries position information in a detectable form. The marker is fixed to the sensor housing and its position relative to the camera changes as the steering wheel is adjusted mechanically. The camera captures these position changes, and through image processing, the lost position information is recovered without requiring electronic monitoring of the mechanical adjustment.
Data Source
AI summary
A method for localizing a sensor in a vehicle includes using a first sensor mounted on a vehicle to capture at least one image of a moveable element of the vehicle, the moveable element having a predetermined spatial relationship to a second sensor mounted on the vehicle, the moveable element being moveable relative to the first sensor; determining spatial information on the moveable element on the basis of the at least one image; and localizing the second sensor on the basis of the spatial information by a transformation rule representing the predetermined spatial relationship between the moveable element and the second sensor.