Vehicle Sensor Fusion With Point-Cloud Verification
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Solution Overview
Problem
Existing autonomous vehicle systems lack the ability to accurately fuse sensing data from multiple sensors to enhance object detection and improve safety.
Innovation Solution
A vehicle sensor fusion apparatus that includes a fusion determination device to assess whether sensing results from radar and LiDAR sensors can be fused based on distance and angle conditions, using a point cloud-based approach to determine if the sensing results are of the same object, and then fuses these results when conditions are met.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If sensing results from multiple sensors are fused without verification, then the quantity of sensing data increases, but the accuracy and reliability of object detection deteriorates due to fusion of inconsistent data
Solution Approach 1:
The patent applies preliminary action by performing verification of sensing results before fusion. The fusion determination device checks whether sensing results from multiple sensors correspond to the same object and meet fusion conditions (distance differences within threshold, angle differences within threshold) before allowing fusion to occur. This preliminary verification ensures that only consistent and reliable data are fused, maintaining detection accuracy while enabling data fusion.
Solution Approach 2:
The patent introduces an intermediary component - the fusion determination device - that acts as a mediator between the multiple sensors and the fusion process. This intermediary verifies whether sensing results should be fused by checking correspondence of objects and evaluating fusion conditions, thereby controlling the fusion process to maintain accuracy while utilizing multiple data sources.
2Measurement precision
If sensing results are verified and fused only when conditions are met, then the accuracy of object detection is improved, but the complexity of the sensing system increases
Solution Approach 1:
The patent applies segmentation by dividing the sensing system into distinct functional modules: multiple sensing units (radar, LiDAR, cameras), a fusion determination device for verification, and a fusion processing device for data integration. This modular segmentation allows the system to implement complex verification and fusion logic while maintaining manageable system structure and enabling independent optimization of each module.
Solution Approach 2:
The fusion determination device serves as an intermediary that manages the complexity of verification and fusion decisions. By introducing this intermediate layer, the system can implement sophisticated fusion conditions (distance thresholds, angle thresholds, object correspondence checks) without making the overall system uncontrollably complex, as the intermediary encapsulates the decision-making logic.
3Reliability
If fusion conditions are strictly verified before fusing sensing results, then the reliability of fused data is improved, but the time required for processing increases
Solution Approach 1:
The patent applies partial action by implementing selective fusion verification - not all sensing results undergo the same level of verification. The fusion determination device evaluates fusion conditions (distance differences, angle differences, object correspondence) and only performs full verification when fusion is potentially valid. This partial verification approach maintains reliability by verifying when necessary while reducing processing time by skipping unnecessary verification steps.
4Reliability
If multiple sensors are used to fuse sensing results, then the reliability of object detection is improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The fusion determination device acts as an intermediary that simplifies the complexity of fusing multiple sensing results. It provides a unified verification framework that handles object correspondence checks, distance threshold evaluations, and angle threshold evaluations, thereby reducing the difficulty of integrating data from multiple sensors with different characteristics and coordinate systems.
Solution Approach 2:
The patent applies parameter changes by establishing specific fusion conditions including distance thresholds and angle thresholds. By defining these parameters, the system transforms the complex problem of multi-sensor fusion into a series of parameter-based comparisons, making the fusion process more manageable and systematic while improving reliability through consistent evaluation criteria.
Data Source
AI summary
A vehicle sensor fusion apparatus and a method thereof are provided. The vehicle sensor fusion apparatus includes a plurality of sensors that output point cloud-based sensing results, a fusion determination device that determines whether it is possible to fuse the sensing results based on the sensing results output from the plurality of sensors, and a sensing result fusion device that fuses and outputs the sensing results, when it is determined that it is possible to fuse the sensing results.