A Novel Approach to Light Detection and Ranging Sensor Placement for Autonomous Driving Vehicles Using Deep Deterministic Policy Gradient Algorithm

Abstract

<div>This article presents a novel approach to optimize the placement of light detection and ranging (LiDAR) sensors in autonomous driving vehicles using machine learning. As autonomous driving technology advances, LiDAR sensors play a crucial role in providing accurate collision data for environmental perception. The proposed method employs the deep deterministic policy gradient (DDPG) algorithm, which takes the vehicle’s surface geometry as input and generates optimized 3D sensor positions with predicted high visibility. Through extensive experiments on various vehicle shapes and a rectangular cuboid, the effectiveness and adaptability of the proposed method are demonstrated. Importantly, the trained network can efficiently evaluate new vehicle shapes without the need for re-optimization, representing a significant improvement over classical methods such as genetic algorithms. By leveraging machine learning techniques, this research streamlines the sensor placement optimization process, enhancing the perception capabilities of autonomous driving vehicles. The optimized sensor configurations obtained from the DDPG algorithm lead to safer and more reliable autonomous driving systems, contributing to the advancement and widespread adoption of autonomous driving technology.</div>