TY - JOUR

T1 - Requirements for Automotive LiDAR Systems

AU - Dai, Zhuoqun

AU - Wolf, Alexander

AU - Ley, Peer Phillip

AU - Glück, Tobias

AU - Sundermeier, Max Caspar

AU - Lachmayer, Roland

N1 - Funding Information: This research was funded by the Deutsche Forschungsgemeinschaft (DFG) under Germany’s Excellence Strategy within the Cluster of Excellence PhoenixD (EXC 2122, Project ID 390833453). The publication of this article was funded by the Open Access Fund of Leibniz Universität Hannover. Acknowledgments: The authors would like to thank Yang Li for his valuable comments and con- structive suggestions to polish this paper to a high quality.

PY - 2022/10

Y1 - 2022/10

N2 - Light detection and ranging (LiDAR) are fundamental sensors that help driving tasks for autonomous driving at various levels. Commercially available systems come in different specialized design schemes and involve plenty of specifications. In the literature, there are insufficient representations of the technical requirements for LiDAR systems in the automotive context, such as range, detection quality, resolving power, field of view, and eye safety. For this reason, the requirements above require to be derived based on ADAS functions. The requirements for various key LiDAR metrics, including detection range, field of view, angular resolution, and laser safety, are analyzed in this paper. LiDAR systems are available with various radiation patterns that significantly impact on detection range. Therefore, the detection range under various radiation patterns is firstly investigated in this paper. Based on ADAS functions, the required detection range and field of view for LiDAR systems are examined, taking into account various travel speeds to avoid collision and the coverage of the entire lane width. Furthermore, the angular resolution limits are obtained utilizing the KITTI dataset and exemplary 3D detection algorithms. Finally, the maximum detection ranges for the different radiation patterns are compared under the consideration of derived requirements and laser safety.

AB - Light detection and ranging (LiDAR) are fundamental sensors that help driving tasks for autonomous driving at various levels. Commercially available systems come in different specialized design schemes and involve plenty of specifications. In the literature, there are insufficient representations of the technical requirements for LiDAR systems in the automotive context, such as range, detection quality, resolving power, field of view, and eye safety. For this reason, the requirements above require to be derived based on ADAS functions. The requirements for various key LiDAR metrics, including detection range, field of view, angular resolution, and laser safety, are analyzed in this paper. LiDAR systems are available with various radiation patterns that significantly impact on detection range. Therefore, the detection range under various radiation patterns is firstly investigated in this paper. Based on ADAS functions, the required detection range and field of view for LiDAR systems are examined, taking into account various travel speeds to avoid collision and the coverage of the entire lane width. Furthermore, the angular resolution limits are obtained utilizing the KITTI dataset and exemplary 3D detection algorithms. Finally, the maximum detection ranges for the different radiation patterns are compared under the consideration of derived requirements and laser safety.

KW - advanced driver assistance system

KW - autonomous driving

KW - laser safety

KW - laser scanning

KW - light detection and ranging (LiDAR)

KW - object detection

KW - PointPillars

KW - requirements

UR - http://www.scopus.com/inward/record.url?scp=85139886747&partnerID=8YFLogxK

U2 - 10.3390/s22197532

DO - 10.3390/s22197532

M3 - Article

C2 - 36236631

AN - SCOPUS:85139886747

VL - 22

JO - Sensors

JF - Sensors

SN - 1424-8220

IS - 19

M1 - 7532

ER -