This paper proposes a real-time simulation approach to investigate the impacts of precipitation on a LiDAR sensor, which is a crucial component in a LiDAR-based automated driving system that can be experimented with in hardware-in-the-loop testbenches. One of the challenges with such an approach is to simulate the realistic spatial distribution of precipitation in real-time since precipitation is a highly intricate physical phenomenon. Our approach addresses this challenge by incorporating measured LiDAR precipitation reflections into the simulated point cloud of LiDAR. Our model also simulates the mirror reflection from the wet road surface, which improves the model accuracy. The results of our study demonstrated that this integrated approach is capable of providing both real-time computation and realistic representation of the impacts of precipitation on LiDAR functionality.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Real-Time Simulation of Precipitation Effects on LiDAR


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Huang, Wei (Herausgeber:in) / Ahmadian, Mehdi (Herausgeber:in) / Chen, Haopeng (Autor:in) / Müler, Steffen (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023



    Erscheinungsdatum :

    13.10.2024


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Research progress of real-time sensing LiDAR

    Zhu, Jingguo / Li, Feng / Liu, Ruqing et al. | SPIE | 2021


    LIDAR simulation

    Ellingson, R. / McIlrath, T. / Schwemmer, G. | Tema Archiv | 1976


    3D LiDAR Aided GNSS Real-time Kinematic Positioning

    Wen, Weisong / Hsu, Li-Ta | British Library Conference Proceedings | 2021


    REAL-TIME 3D LIDAR FLOW FOR AUTONOMOUS VEHICLES

    Baur, Stefan A. / Moosmann, Frank / Wirges, Sascha et al. | British Library Conference Proceedings | 2019