Abstract
In this paper, we analyze the problems of using two-beam laser-ranging systems (often called lidars) on unmanned vehicles to ensure traffic safety and ways to solve them. A cost-effective way to implement a lidar system with controlled (adaptive) scanning of the road surface is proposed. Algorithms for processing information and controlling the inclination angle of laser beams for sounding at a specified distance of the road surface with a complex longitudinal profile are developed. A method for estimating the probability of measuring the speed at which other vehicles are approached in the process of the controlled scanning of the road is proposed and substantiated. The system, the adequacy of which is based on the results of the conducted field experiments with a real lidar, is simulated. Using the modeling methods and statistical data processing, the dependence of the probability of measuring the speed at which objects are approached on the value of this speed and the time spent on measurements is obtained. This dependence indicates the effectiveness of the use of dual-beam guided scanning in unmanned vehicles.
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