Influence and analysis of atmospheric attenuation on the performance of virtual lidar

Abstract

The complexity of research and development process and the diversity of research methods of intelligent connected vehicles increase the difficulty of establishing, integrating and verifying of virtual simulation experiments. In order to solve the problem of how to quantify the impact of weather environment changes on the virtual lidar in the simulation experiment, this paper first uses the derivation of the lidar range model and the analysis of the influence of atmospheric attenuation on the lidar range. Then, with the help of the empirical model of the attenuation coefficient of rain, snow, and haze, the curve fitting method is used to simplify the influence relationship so that it can be applied to the virtual simulation software of autonomous driving. Finally, the scene verification and evaluation of the quantification method of the lidar in the virtual environment affected by weather changes are carried out. The results show that this method effectively improves the restoration degree of the virtual simulation sensor while ensuring the calculation efficiency.