Vehicle Tracking Control for Occluded Pre-Preceding Vehicles
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Solution Overview
Problem
Existing vehicle control systems struggle to accurately identify a pre-preceding vehicle covered by a preceding vehicle, leading to incorrect identification of heading direction, position, or track path, which can result in incorrect driving path settings for autonomous vehicles.
Innovation Solution
A vehicle control apparatus comprising a sensor, memory, and processor that determines the state and characteristics of a second external vehicle based on unreliable track information, adjusts virtual track information by correcting the track path, heading direction, or position of a virtual box corresponding to the second external vehicle, and outputs this information to ensure accurate tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If track information is used to identify a pre-preceding vehicle covered by a preceding vehicle, then the autonomous vehicle can detect external objects, but the identification accuracy of the pre-preceding vehicle's heading direction, position, or track path deteriorates
Solution Approach 1:
The patent introduces virtual box information as an intermediary element to represent the pre-preceding vehicle. Instead of directly tracking the obscured vehicle, the system creates a virtual representation that can be adjusted and optimized separately, allowing accurate tracking without direct line-of-sight detection
Solution Approach 2:
The system creates a virtual copy (virtual box) of the pre-preceding vehicle's track information. This copy can be adjusted independently from the actual vehicle, allowing the system to maintain accurate tracking data even when direct detection is unreliable or unavailable
2Measurement precision
If virtual track information is adjusted to improve pre-preceding vehicle identification, then the accuracy of autonomous vehicle navigation improves, but the complexity of the control system increases
Solution Approach 1:
The patent segments the tracking system into distinct components: actual sensor detection, virtual box creation, and virtual track information adjustment. This segmentation allows each component to be optimized independently, managing complexity while improving overall navigation accuracy
Solution Approach 2:
The system performs preliminary actions by pre-adjusting virtual track information based on expected vehicle behavior patterns. This preparation in advance reduces the need for complex real-time calculations, simplifying the control system while maintaining high navigation accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables accurate tracking and identification of a pre-preceding vehicle, improving the reliability of autonomous vehicle navigation by correcting for unreliable track information and adjusting virtual track information accordingly.
Implementation Method 1
The LiDAR may obtain a distance from the LiDAR to the object based on an interval between a time point when a laser is transmitted and a time point when the laser reflected from the object is received
Implementation Method 2
An autonomous vehicle or a vehicle in which a driving assistance device is activated may identify a surrounding environment by a sensor (e.g., light detection and ranging (LiDAR) sensor)
Data Source
AI summary
A vehicle control apparatus may comprise a sensor, memory, and processor. The processor may determine, from unreliable track information indicating a second vehicle ahead of a detected first vehicle, conditions such as the second vehicle's motion state, type, or initial heading direction. It then may adjust virtual track data accordingly, considering factors like a virtual track path, a virtual box orientation, or a virtual box position. The vehicle control apparatus may output signals indicating this adjusted data, guided by criteria such as the second vehicle's motion, alignment with a host vehicle, type, a number of stored pieces of virtual track information, a virtual track path length, a virtual box position, or lane changes of the host vehicle. The vehicle control apparatus may control, based on the signals, autonomous operation of the host vehicle.