Laser scanner (scanning lidar) sensors are suitable devices for today's vehicle environment recognition tasks in ADAS applications. There are a few companies offering such systems for automotive applications, like IBEO-AS in Europe as well as DENSO in Japan. Both sell multilayer sensors which are able to perceive its environment in 3 dimensions. The IBEO system is widely used in European research projects while the DENSO sensor is already integrated in commercial ADAS systems in Japan. One practical problem what researchers and engineers are facing is the disadvantageous influence of the vehicles dynamics on the laser measurements. The problem introduced in this situation appears as false measurements generated by the road surface or as a wrong estimated height of obstacles in the vehicles environment. The paper describes a practical approach using the lidar itself as a sensor for the vehicles pitch angle and to recalculate a correcting factor for the lidar measurements. The approach particularly takes now advantage of the multilayer capability of the laser scanner where 3 laser beams are generating independent measurements of the road surface. Assuming a flat surface of the road up to a distance of e.g. 20 m the single lidar layers can be described as planes in the 3D space intersecting with the road surface. Here measurements are generated which can be approximated as lines lateral to the vehicles longitudinal axis. A robust fitting algorithm is used in combination with a state estimation filter to track the vehicles dynamics over time.
LIDAR based vehicle pitch estimation
LIDAR gestützte Fahrzeug-Neigungswinkel-Bestimmung
2009
5 Seiten, 7 Bilder, 8 Quellen
Conference paper
Storage medium
English
Lidar based vehicle pitch estimation
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