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Analysis of Real World Sensor Behavior for Rising Fidelity of Physically Based Lidar Sensor Models

Rosenberger, Philipp ; Holder, Martin Friedrich ; Zirulnik, Marina ; Winner, Hermann
ed.: Rosenberger, Philipp (2018)
Analysis of Real World Sensor Behavior for Rising Fidelity of Physically Based Lidar Sensor Models.
2018 IEEE Intelligent Vehicles Symposium (IV). Changshu, Suzhou, China (26.6. - 30.06.2018)
doi: 10.1109/IVS.2018.8500511
Conference or Workshop Item, Primary publication

Abstract

Safety validation tests of automated driving (AD) use simulated environments and perception sensor models. To achieve the level of fidelity needed for safety approval, such sensor simulations can be physically based. For formulating requirements for sensor models to be used in such test frameworks, the extent to which they must include physical effects should be determined. One approach is to clarify their relevance for following processing steps like object detection or mapping. But at first, an analysis is needed to determine, which effects are relevant and if they can be implemented at all. In this work, we focus on one lidar sensor and analyze its observable real world sensor behavior to derive the possible effects, physically based lidar sensor models can include. Consequently, we describe environmental parameters that could be considered to influence physically based lidar sensor models. By investigating the specifications given by the manufacturer with own measurements, we show that some of them should be implemented in a dynamic manner. In conclusion, we enable to formulate detailed requirements for sensor models, as their actual possible fidelity is presented.

Item Type: Conference or Workshop Item
Erschienen: 2018
Editors: Rosenberger, Philipp
Creators: Rosenberger, Philipp ; Holder, Martin Friedrich ; Zirulnik, Marina ; Winner, Hermann
Type of entry: Primary publication
Title: Analysis of Real World Sensor Behavior for Rising Fidelity of Physically Based Lidar Sensor Models
Language: English
Date: 30 June 2018
Place of Publication: Darmstadt
Event Title: 2018 IEEE Intelligent Vehicles Symposium (IV)
Event Location: Changshu, Suzhou, China
Event Dates: 26.6. - 30.06.2018
DOI: 10.1109/IVS.2018.8500511
URL / URN: https://tuprints.ulb.tu-darmstadt.de/8877
Abstract:

Safety validation tests of automated driving (AD) use simulated environments and perception sensor models. To achieve the level of fidelity needed for safety approval, such sensor simulations can be physically based. For formulating requirements for sensor models to be used in such test frameworks, the extent to which they must include physical effects should be determined. One approach is to clarify their relevance for following processing steps like object detection or mapping. But at first, an analysis is needed to determine, which effects are relevant and if they can be implemented at all. In this work, we focus on one lidar sensor and analyze its observable real world sensor behavior to derive the possible effects, physically based lidar sensor models can include. Consequently, we describe environmental parameters that could be considered to influence physically based lidar sensor models. By investigating the specifications given by the manufacturer with own measurements, we show that some of them should be implemented in a dynamic manner. In conclusion, we enable to formulate detailed requirements for sensor models, as their actual possible fidelity is presented.

URN: urn:nbn:de:tuda-tuprints-88771
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Driver Assistance
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Safety
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Test Methods
Date Deposited: 11 Aug 2019 19:55
Last Modified: 08 Dec 2023 08:30
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