01583nas a2200241 4500008004100000245006200041210005800103260003400161520086600195653002401061653000701085653000801092653001001100653002201110653001101132653000801143100002001151700002201171700001901193700002101212700002301233856008501256 2018 eng d00a{A LiDAR Error Model for Cooperative Driving Simulations}0 aLiDAR Error Model for Cooperative Driving Simulations aTaipei, TaiwanbIEEEc12/20183 a
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.
10aautonomous vehicles10aAV10aCAV10aLiDAR10aself-driving cars10asensor10aVNC1 aSegata, Michele1 aCigno, Renato, Lo1 aBhadani, Rahul1 aBunting, Matthew1 aSprinkle, Jonathan uhttp://csl.arizona.edu/content/lidar-error-model-cooperative-driving-simulations