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.

中文翻译：

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激光雷达控制的无人驾驶汽车道路扫描系统的研究

摘要

在本文中，我们分析了在无人驾驶车辆上使用两光束激光测距系统（通常称为激光雷达）以确保交通安全的问题以及解决方法。提出了一种具有成本效益的方式来实现具有对路面的受控（自适应）扫描的激光雷达系统。开发了用于处理信息并控制激光束倾斜角度的算法，以便在具有特定纵向轮廓的路面特定距离处进行探测。提出并证实了一种用于估计在道路的受控扫描过程中接近其他车辆的速度的测量概率的方法。对系统进行了仿真，该系统的充分性是基于使用真实激光雷达进行的现场实验的结果。使用建模方法和统计数据处理，测量接近物体的速度的概率与该速度的相关性，从而获得花费在测量上的时间。这种依赖性表明在无人驾驶车辆中使用双光束引导扫描的有效性。