دورية أكاديمية
Development of High-Fidelity Automotive LiDAR Sensor Model with Standardized Interfaces.
| العنوان: | Development of High-Fidelity Automotive LiDAR Sensor Model with Standardized Interfaces. |
|---|---|
| المؤلفون: | Haider A; IFM-Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany.; Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany., Pigniczki M; Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany., Köhler MH; Blickfeld GmbH, Barthstr. 12, 80339 Munich, Germany., Fink M; Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany., Schardt M; Blickfeld GmbH, Barthstr. 12, 80339 Munich, Germany., Cichy Y; IPG Automotive GmbH, Bannwaldallee 60, 76185 Karlsruhe, Germany., Zeh T; IFM-Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany., Haas L; IFM-Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany., Poguntke T; IFM-Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany., Jakobi M; Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany., Koch AW; Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany. |
| المصدر: | Sensors (Basel, Switzerland) [Sensors (Basel)] 2022 Oct 05; Vol. 22 (19). Date of Electronic Publication: 2022 Oct 05. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: PubMed not MEDLINE; MEDLINE |
| أسماء مطبوعة: | Original Publication: Basel, Switzerland : MDPI, c2000- |
| مستخلص: | This work introduces a process to develop a tool-independent, high-fidelity, ray tracing-based light detection and ranging (LiDAR) model. This virtual LiDAR sensor includes accurate modeling of the scan pattern and a complete signal processing toolchain of a LiDAR sensor. It is developed as a functional mock-up unit (FMU) by using the standardized open simulation interface (OSI) 3.0.2, and functional mock-up interface (FMI) 2.0. Subsequently, it was integrated into two commercial software virtual environment frameworks to demonstrate its exchangeability. Furthermore, the accuracy of the LiDAR sensor model is validated by comparing the simulation and real measurement data on the time domain and on the point cloud level. The validation results show that the mean absolute percentage error (MAPE) of simulated and measured time domain signal amplitude is 1.7%. In addition, the MAPE of the number of points Npoints and mean intensity Imean values received from the virtual and real targets are 8.5% and 9.3%, respectively. To the author's knowledge, these are the smallest errors reported for the number of received points Npoints and mean intensity Imean values up until now. Moreover, the distance error derror is below the range accuracy of the actual LiDAR sensor, which is 2 cm for this use case. In addition, the proving ground measurement results are compared with the state-of-the-art LiDAR model provided by commercial software and the proposed LiDAR model to measure the presented model fidelity. The results show that the complete signal processing steps and imperfections of real LiDAR sensors need to be considered in the virtual LiDAR to obtain simulation results close to the actual sensor. Such considerable imperfections are optical losses, inherent detector effects, effects generated by the electrical amplification, and noise produced by the sunlight. |
| معلومات مُعتمدة: | 16ME0170 Federal Ministry of Education and Research of Germany |
| فهرسة مساهمة: | Keywords: CarMaker; advanced driver-assistance systems; automotive LiDAR sensor; co-simulation environment; functional mock-up interface; functional mock-up unit; open simulation interface; open standard; point clouds; proving ground; silicon photomultipliers detector; standardized interfaces; time domain signal |
| تواريخ الأحداث: | Date Created: 20221014 Latest Revision: 20221019 |
| رمز التحديث: | 20231215 |
| مُعرف محوري في PubMed: | PMC9572647 |
| DOI: | 10.3390/s22197556 |
| PMID: | 36236655 |
| قاعدة البيانات: | MEDLINE |
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