An Automotive LiDAR Performance Test Method in Dynamic Driving Conditions

Park, Jewoo; Cho, Jihyuk; Lee, Seung-Joo; Bak, Seokhwan; Kim, Yonghwi

doi:10.3390/s23083892

Cited by 12 publications

(5 citation statements)

References 33 publications

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“…LiDAR (Light Detection and Ranging) is a widely selected tool for this task since it is a proximity sensor technology that uses scattered light to find the distance and information about an object from the intended target. LiDAR uses laser pulses, similar to radar technology, which uses radio waves to determine the distance to the object by measuring the time between transmission and detection of the transmitted signal [7].…”

Section: Introductionmentioning

confidence: 99%

Microlidar Application for Object Detector to Support The Navigation System in Self-Driving Vehicle

Rifai,

Ratnoto,

Subari

2024

INFORMAL

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The ability to detect and measure the distance of potential obstacles is importance for navigation system in self-driving vehicles. The measurement process needs to be fast and accurate since the controller requires real-time data to make quick decisions and respond to any potential disturbances on the vehicle's track. This research aims to develop Microlidar for detection system that can accurately measure the distance of a potential obstacle object. The Microlidar utilize Lidar Lite V3 proximity sensor which have range measurement specification of up to 40 meter. Microlidar rapidly rotate 360 degrees by using a stepper motor while in the same time continuously measure the real-time distance. The measurement data are sent to a microcontroller through I2C, and the Processing software plot the 2D image which work like radar visualization. The system is assessed for ranging the various distance object in static and dynamic measurement mode. The results show that the Microlidar has a good level of accuracy with an average error value at the distance of 300 cm is 4.99 cm or 1.7% while the average error value at the distance of 1000 cm is 15.69 cm or 1.6% obtained from 100 data sets collected. The communication from the sensor to Arduino requires a minimum baud rate of 115200 bits/second to minimize data loss and ensure that the measured distance can be processed in real time by the microcontroller. Real-time data with high speed is essential since it will be used on the vehicle in order to quickly decide whether there is a barrier or not on the vehicle’s track. The sensor analysis distance expected from this research could be used as a reference to support the navigation system performance of self-driving vehicles.

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Section: Introductionmentioning

confidence: 99%

Microlidar Application for Object Detector to Support The Navigation System in Self-Driving Vehicle

Rifai,

Ratnoto,

Subari

2024

INFORMAL

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“…Consequently, the research topic of moving-target detection and tracking has attracted much attention. Previous studies about moving-target detection and tracking can be divided into different methods according to the applied sensors, e.g., lidar-, sonar-, somatosensory-, and visual-based methods [ 5 , 6 ]. The lidar-based method is mainly used for indoor applications, and a certain number of reflective plates need to be installed in the environment.…”

Section: Introductionmentioning

confidence: 99%

A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera

Wang

et al. 2023

Sensors

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This paper focuses on moving-target detection and tracking in a three-dimensional (3D) space, and proposes a visual target tracking system only using a two-dimensional (2D) camera. To quickly detect moving targets, an improved optical flow method with detailed modifications in the pyramid, warping, and cost volume network (PWC-Net) is applied. Meanwhile, a clustering algorithm is used to accurately extract the moving target from a noisy background. Then, the target position is estimated using a proposed geometrical pinhole imaging algorithm and cubature Kalman filter (CKF). Specifically, the camera’s installation position and inner parameters are applied to calculate the azimuth, elevation angles, and depth of the target while only using 2D measurements. The proposed geometrical solution has a simple structure and fast computational speed. Different simulations and experiments verify the effectiveness of the proposed method.

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“…The three-dimensional LIDAR system can be used to obtain the range and threedimensional image of the target, so it is widely used in space target detection, landscape mapping, underwater target detection, unmanned car driving, and other fields [1]. LIDARs that use focal plane arrays and array detectors can achieve excellent 3D imaging performance, but using these advanced detectors is too costly [2].…”

Section: Introductionmentioning

confidence: 99%

Range-Gated LIDAR Utilizing a LiNbO3 (LN) Crystal as an Optical Switch

Luan

Guo

et al. 2023

Photonics

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In this paper, a range-gated LIDAR system utilizing an LN crystal as the electro-optical switch and a SCMOS (scientific complementary metal oxide semiconductor) imaging device is designed. To achieve range-gated operations, we utilize two polarizers and an LN (LiNbO3) crystal to form an electro-optical switch. The optical switch is realized by applying a pulse voltage at both ends of the crystal due to the crystal’s conoscopic interference effect and electro-optical effect. The advantage of this system is that low-bandwidth detectors, such as a CMOS and a CCD (charge-coupled device), can be used to replace conventional high-bandwidth detectors, such as an ICCD (intensified charge-coupled device), and it displays better imaging performance under specific conditions at the same time. However, after using an electro-optical crystal as an optical switch, a new inhomogeneity error will be introduced due to the conoscopic interference effect of the electro-optical crystal, resulting in a range error for the LIDAR system. To reduce the influence of inhomogeneity error on the system, this paper analyzes the sources of inhomogeneity error caused by the electro-optical crystal and calculates the crystal’s inhomogeneity mathematical expression. A compensation method is proposed based on the above inhomogeneity mathematical expression. An experimental LIDAR system is constructed in this paper to verify the validity of the compensation method. The experimental results of the range-gated LIDAR system show that in a specific field of view (2.6 mrad), the LIDAR system has good imaging performance; its ranging standard deviation is 3.86 cm and further decreases to 2.86 cm after compensation, which verifies the accuracy of the compensation method.

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An Automotive LiDAR Performance Test Method in Dynamic Driving Conditions

Cited by 12 publications

References 33 publications

Microlidar Application for Object Detector to Support The Navigation System in Self-Driving Vehicle

Microlidar Application for Object Detector to Support The Navigation System in Self-Driving Vehicle

A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera

Range-Gated LIDAR Utilizing a LiNbO3 (LN) Crystal as an Optical Switch

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