A LiDAR Error Model for Cooperative Driving Simulations

Michele Segata; Renato Lo Cigno; Rahul Kumar Bhadani; Matthew Bunting; Jonathan Sprinkle

doi:10.1109/VNC.2018.8628408

A LiDAR Error Model for Cooperative Driving Simulations

Michele Segata, Renato Lo Cigno, Rahul Kumar Bhadani, Matthew Bunting, Jonathan Sprinkle

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Scopus citations

Abstract

Cooperative driving and vehicular network simulations have done huge steps toward high realism. They have become essential tools for performance evaluation of any kind of vehicular networking application. Yet, cooperative vehicular applications will not be built on top of wireless networking alone, but rather fusing together different data sources including sensors like radars, LiDARs, or cameras. So far, these sensors have been assumed to be ideal, i.e., without any measurement error. This paper analyzes a set of estimated distance traces obtained with a LiDAR sensor and develops a stochastic error model that can be used in cooperative driving simulations. After implementing the model within the Plexe simulation framework, we show the impact of the model on a set of cooperative driving control algorithms.

Original language	English (US)
Title of host publication	2018 IEEE Vehicular Networking Conference, VNC 2018
Editors	Onur Altintas, Hsin-Mu Tsai, Kate Lin, Mate Boban, Chih-Yu Wang, Taylan Sahin
Publisher	IEEE Computer Society
ISBN (Electronic)	9781538694282
DOIs	https://doi.org/10.1109/VNC.2018.8628408
State	Published - Jul 2 2018
Event	2018 IEEE Vehicular Networking Conference, VNC 2018 - Taipei, Taiwan, Province of China Duration: Dec 5 2018 → Dec 7 2018

Publication series

Name	IEEE Vehicular Networking Conference, VNC
Volume	2018-December
ISSN (Print)	2157-9857
ISSN (Electronic)	2157-9865

Conference

Conference	2018 IEEE Vehicular Networking Conference, VNC 2018
Country/Territory	Taiwan, Province of China
City	Taipei
Period	12/5/18 → 12/7/18

ASJC Scopus subject areas

Computer Networks and Communications
Automotive Engineering
Control and Systems Engineering
Electrical and Electronic Engineering
Transportation

Access to Document

10.1109/VNC.2018.8628408

Cite this

Segata, M., Cigno, R. L., Bhadani, R. K., Bunting, M., & Sprinkle, J. (2018). A LiDAR Error Model for Cooperative Driving Simulations. In O. Altintas, H.-M. Tsai, K. Lin, M. Boban, C.-Y. Wang, & T. Sahin (Eds.), 2018 IEEE Vehicular Networking Conference, VNC 2018 Article 8628408 (IEEE Vehicular Networking Conference, VNC; Vol. 2018-December). IEEE Computer Society. https://doi.org/10.1109/VNC.2018.8628408

A LiDAR Error Model for Cooperative Driving Simulations. / Segata, Michele; Cigno, Renato Lo; Bhadani, Rahul Kumar et al.
2018 IEEE Vehicular Networking Conference, VNC 2018. ed. / Onur Altintas; Hsin-Mu Tsai; Kate Lin; Mate Boban; Chih-Yu Wang; Taylan Sahin. IEEE Computer Society, 2018. 8628408 (IEEE Vehicular Networking Conference, VNC; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Segata, M, Cigno, RL, Bhadani, RK, Bunting, M & Sprinkle, J 2018, A LiDAR Error Model for Cooperative Driving Simulations. in O Altintas, H-M Tsai, K Lin, M Boban, C-Y Wang & T Sahin (eds), 2018 IEEE Vehicular Networking Conference, VNC 2018., 8628408, IEEE Vehicular Networking Conference, VNC, vol. 2018-December, IEEE Computer Society, 2018 IEEE Vehicular Networking Conference, VNC 2018, Taipei, Taiwan, Province of China, 12/5/18. https://doi.org/10.1109/VNC.2018.8628408

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abstract = "Cooperative driving and vehicular network simulations have done huge steps toward high realism. They have become essential tools for performance evaluation of any kind of vehicular networking application. Yet, cooperative vehicular applications will not be built on top of wireless networking alone, but rather fusing together different data sources including sensors like radars, LiDARs, or cameras. So far, these sensors have been assumed to be ideal, i.e., without any measurement error. This paper analyzes a set of estimated distance traces obtained with a LiDAR sensor and develops a stochastic error model that can be used in cooperative driving simulations. After implementing the model within the Plexe simulation framework, we show the impact of the model on a set of cooperative driving control algorithms.",

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AB - Cooperative driving and vehicular network simulations have done huge steps toward high realism. They have become essential tools for performance evaluation of any kind of vehicular networking application. Yet, cooperative vehicular applications will not be built on top of wireless networking alone, but rather fusing together different data sources including sensors like radars, LiDARs, or cameras. So far, these sensors have been assumed to be ideal, i.e., without any measurement error. This paper analyzes a set of estimated distance traces obtained with a LiDAR sensor and develops a stochastic error model that can be used in cooperative driving simulations. After implementing the model within the Plexe simulation framework, we show the impact of the model on a set of cooperative driving control algorithms.

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A LiDAR Error Model for Cooperative Driving Simulations

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