Technical Paper
Infrastructure-Based LiDAR Monitoring for Assessing Automated Driving Safety
2022-03-29
2022-01-0081
Building on earlier work from the IAM in creating an infrastructure- based sensor system to evaluate OSA metrics in real- world scenarios, this paper presents an approach for real-time localization and velocity estimation for AVs using a network of LiDAR sensors. The LiDAR data are captured by a network of three Luminar LiDAR sensors at an intersection in Anthem, AZ, while camera data are collected from the same intersection. ...The accuracy of both the localization and velocity estimation using LiDAR is assessed by comparing the LiDAR estimated state vectors against the differential GPS position and velocity measurements from a test vehicle passing through the intersection, as well as against a camera-based algorithm applied on drone video footage It is shown that the proposed method, taking advantage of simultaneous data capture from multiple LiDAR sensors, offers great potential for fast, accurate operational safety assessment of AV’s with an average localization error of only 10 cm observed between LiDAR and real-time differential GPS position data, when tracking a vehicle over 170 meters of roadway. ...Additional sensor modalities such as Light Detecting and Ranging (LiDAR) sensors allow for a wider range of scenarios to be accommodated and may also provide improved measurements of the Operational Safety Assessment (OSA) metrics previously introduced by the Institute of Automated Mobility (IAM).