Development of a lidar model for the analysis of borderline cases including vehicle dynamics in a virtual city environment in real time

• Advanced driver assistance systems are an important step on the way towards the autonomous driving.However, there are new challenges in the release of increasingly complex systems. For the testing of those systemsmany test kilometers are necessary to represent sufficient diversity. Hence, the virtual testing of driver assistancesystems brings new opportunities. In virtual environments, it is possible to run a much higher distance in a short time.Simultaneously, the complexity of the environment and the test scenarios are individually adjustable. It is possible totest scenarios that are not feasible in a real environment due to a risk of injury. A big challenge is the physical correctimplementation of real vehicles and their components into the Virtual Reality. To enable a realistic virtual testing thevehicles surrounding sensors need to be modeled adequately. Thus, this paper presents an approach for theimplementation of a Lidar model into a Virtual Reality. A physical Lidar model is combined with a real-time capablevehicle dynamics model to investigate the influence of vehicle movements to the sensor measurements. The modelsare implemented into a highly realistic virtual city environment. Finally, a test campaign shows the influence of theLidars physics and the vehicle dynamics on the detection results.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Advanced Driver Assistance Systems (ADAS)

Autonomous Mobility

Lidar Simulation

Vehicle Dynamics

Raytracing

Virtual Environment

Sensor Simulation

Publikations- och innehållstyp

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