Vehicle Ambient Sensor Misalignment Detection Using Object Angular Velocities
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Solution Overview
Problem
Existing methods for detecting sudden changes in the position and orientation of environmental sensors for vehicles are slow due to temporal averaging, leading to delayed detection of sensor decalibration, which can cause safety-critical errors in highly automated and autonomous systems.
Innovation Solution
A method that detects a large number of objects using environmental sensors, determines their angular velocities, and employs histogram evaluation to identify accumulations away from zero angular velocity, allowing for immediate detection of sensor misalignment by comparing vehicle movement data with sensor data, thereby reducing detection time and enhancing confidence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If temporal averaging is used to determine sensor orientation, then the algorithm is robust to noise, but the detection of sudden changes in sensor orientation is delayed
Solution Approach 1:
The patent segments the analysis into two distinct parts: (1) temporal averaging for robust orientation estimation, and (2) histogram analysis for rapid change detection. By separating these functions, the system maintains noise robustness while enabling immediate detection of sudden orientation changes without being constrained by filter constants.
Solution Approach 2:
The patent introduces angular velocity as an intermediary parameter that bridges the gap between robust orientation estimation and rapid change detection. By computing angular velocities from sensor data and analyzing their histogram distribution, the system can detect sudden orientation changes immediately while the temporal averaging continues to provide reliable baseline orientation information.
2Reliability
If large filter constants are used in temporal averaging, then noise is reduced, but sudden changes in sensor orientation cannot be detected immediately
Solution Approach 1:
The patent applies dynamics by making the detection mechanism adaptive: under normal conditions, the system uses temporal averaging with large filter constants for noise reduction; when sudden changes occur, the histogram analysis of angular velocities provides immediate detection. This dynamic switching allows the system to optimize between noise reduction and detection speed based on actual conditions.
Solution Approach 2:
The patent performs partial action by using temporal averaging only for baseline orientation estimation, while dedicating a separate histogram analysis mechanism specifically for change detection. This partial specialization allows each mechanism to be optimized for its specific purpose without compromising the other.
3Loss of time
If histogram analysis of angular velocities is used, then immediate detection of sensor decalibration is achieved, but computational complexity increases
Solution Approach 1:
The patent makes the system self-service by using the existing sensor data and angular velocity computations that are already being performed for navigation and mapping purposes. The histogram analysis reuses these existing computations rather than requiring separate dedicated sensors or measurements, thereby reducing the actual additional complexity despite the enhanced detection capability.
Data Source
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AI summary
The invention relates to a method for detecting a decalibration of at least one ambient sensor (2) for capturing the surroundings of a vehicle (1), wherein a plurality of objects (3) in the surroundings is detected by means of the ambient sensor (2), wherein angular velocities (dα/dt) of the detected objects (3) are ascertained during travel of the vehicle (1), wherein clusters (P) of a number (N) of the objects (3) are ascertained by means of a histogram evaluation on the basis of the angular velocities (dα/dt), wherein a decalibration of the ambient sensor (2) is identified if a cluster (P) is determined beyond an angular velocity (dα/dt) of zero, which is caused by a deviation of the orientation of the ambient sensor (2) from a normal position relative to a vehicle axis (A) of the vehicle (1). The invention also relates to a device for detecting a decalibration and to a vehicle (1) comprising such a device.