Abstract
Autonomous driving can make traffic safer by reducing human errors. Different sensor types in autonomous vehicles could introduce additional technical failures. We offer a target simulator testing LiDAR systems under automotive conditions. Therefore, data are projected over-the-air by laser signals on the LiDAR detector. This work presents a concept of a LiDAR target simulator with regards to LiDAR systems using the direct time-of-flight principle. We develope design considerations for a screen discussing undesired screen reflections, a curved screen form and the positioning of light sources on this screen. As one main solution, we introduce a concept of an antireflective screen. For the scenario simulation, we derive a model delivering the required optical power representing a simulated target, which is combined with the simulated time-of-flight. Considering no prior knowledge of the LiDAR system under test, we discuss the required calibration data and timing resolution. Thereby, we suggest an optimized time-of-flight concept requiring only one optical trigger to determine the LiDAR measurement start. All requirements are supported by calculated example parameters based on real LiDAR systems. Altogether, we discuss main challenges and possible solutions of our LiDAR target simulator, which will allow a safer and more efficient development of LiDAR systems.
Highlights
A LTHOUGH one feels very safe about driving, a frequent reason for death is human error in traffic
We propose the LiDAR target simulator (LTS) as a curved screen placed in front of the light detection and ranging (LiDAR) system containing at least one optical trigger and multiple LTS sources (Fig. 4)
As the circle of confusion (CoC) must lie within one pixel, pixels are limited by their smallest dimension, which is the horizontal pixel pitch in most cases because the use of LiDAR systems for autonomous driving often requires a larger horizontal FoV than vertical FoV
Summary
A LTHOUGH one feels very safe about driving, a frequent reason for death is human error in traffic. Many development and testing procedures exist to validate autonomous sensors like model-in-the-loop (MiL), fault tree analysis (FTA) or Failure Modes Effects and Diagnostic Analysis (FMEDA), software-in-the-loop (SiL), processor-in-the-loop (PiL), hardware-in-the-loop (HiL) for single components and road tests on testing roads or even in real traffic (Fig. 1). To complete these methods, a target simulator is considered for the device-under-test (DUT). The LTS takes measurements or theoretically defined scenarios and projects the data on the sensor by laser signals This testing procedure is called overthe-air (OTA) stimulation. The validation of the distance measurements proves the velocity measurements as well
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