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Evaluation of the Reliability of a LiDAR Sensor Through a Geometric Model in Applications to Autonomous Driving

Abstract:

In recent years, there has been a drastic increase in research related to autonomous driving applications, getting autonomous vehicles to circulate and engage in vehicular traffic. However, there are still difficulties in achieving reliable autonomous driving. This is due to the unexpected actions of the entities involved in the autonomous vehicle’s journey, the lack of interaction of the vehicle with the environment, the reliability of the sensors in capturing the environment, among others. These problems have already caused several accidents involving autonomous vehicles. In order to overcome these drawbacks, researchers rely on 3D simulation software with modules dedicated to autonomous driving applications with the aim of shortening research times and especially the validation of dangerous scenarios. The research in this article proposes the simulation of a vehicle that performs automatic guidance while avoiding obstacles along its path. The proposal is to evaluate the reliability of the angle and distance of an obstacle detected by a LiDAR sensor. These two variables will also be obtained and compared by means of a geometric model that involves the additional implementation of a GPS sensor and a Compass sensor over the LiDAR sensor. Automatic vehicle guidance is achieved through the implementation of a Camera sensor that captures images that are processed to track the yellow line of the road. The results obtained can be used to plan methods and techniques for more accurate and reliable maps.