Abstract
LiDAR sensors are needed for use in vehicular applications, particularly due to their good behavior in low-light environments, as they represent a possible solution for the safety systems of vehicles that have a long braking distance, such as trams. The testing of long-range LiDAR dynamic responses is very important for vehicle applications because of the presence of difficult operation conditions, such as different weather conditions or fake targets between the sensor and the tracked vehicle. The goal of the authors in this paper was to develop an experimental model for indoor testing, using a scaled vehicle that can measure the distances and the speeds relative to a fixed or a moving obstacle. This model, containing a LiDAR sensor, was developed to operate at variable speeds, at which the software functions were validated by repeated tests. Once the software procedures are validated, they can be applied on the full-scale model. The findings of this research include the validation of the frontal distance and relative speed measurement methodology, in addition to the validation of the independence of the measurements to the color of the obstacle and to the ambient light.
Highlights
Regarding the solutions that can be applied in the vehicle safety applications, as Autonomous Emergency Braking Systems (AEB), the LiDAR is highly recommended for long-range distance measurements [2]
The experimental model we designed for indoor tests has the basic schematic presented in Figure 6, and consists of a master control unit connected to a local computer that communicates by radio with two mobile trains with independent speed control
For every second of delayed braking when running at 50 km/h, the braking distance is extended by 14 m, increasing the possibility of a collision with another tram located to the front if the driver is unable to react in time
Summary
Determining the distance to an object, its size and shape is a practical consideration for many current technical applications, such as remote detection, the counting of objects on a conveyor belt, equipment used for printed circuit board manufacturing, topological map creation or electron microscopy. The literature [1] presents and analyzes the methods of determining distance using optical means. Regarding the solutions that can be applied in the vehicle safety applications, as Autonomous Emergency Braking Systems (AEB), the LiDAR is highly recommended for long-range distance measurements [2]. The authors of [3,4] propose various systems using neural networks or multiple LiDAR units to detect the presence of pedestrians
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