Korean Journal of Remote Sensing (대한원격탐사학회지)

Korean Society of Remote Sensing (대한원격탐사학회)
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Development of a General Purpose Simulator for Evaluation of Vehicle LIDAR Sensors and its Application

차량용 라이다 센서의 평가를 위한 범용 시뮬레이터 개발 및 적용

  • Im, Ljunghyeok (Department of Geoinformatics, University of Seoul) ;
  • Choi, Kyongah (Department of Geoinformatics, University of Seoul) ;
  • Jeong, Jihee (Department of Geoinformatics, University of Seoul) ;
  • Lee, Impyeong (Department of Geoinformatics, University of Seoul)
  • 임륭혁 (서울시립대학교 공간정보공학과) ;
  • 최경아 (서울시립대학교 공간정보공학과) ;
  • 정지희 (서울시립대학교 공간정보공학과) ;
  • 이임평 (서울시립대학교 공간정보공학과)
  • Received : 2015.06.08
  • Accepted : 2015.06.24
  • Published : 2015.06.30
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Abstract

In the development of autonomous vehicles, the importance of LIDAR sensors becomes larger. For sensor selection or algorithm development, it is difficult to test expensive LIDAR sensors mounted on a vehicle under various driving environment. In this study, we developed a simulator that is generally applicable for various vehicle LIDAR sensors based on the generalized geometric modeling of the common processes associated with vehicle LIDAR sensors. By configuring this simulator with the specific sensors being widely used, we performed the data simulation and quality analysis. Also, we applied the simulation data to obstacle detection and evaluated the applicability of the selected sensor. The developed simulator enables various experiments and algorithm development in parallel with hardware implementation prior to the deployment and operation of a sensor.

자율 주행 자동차 개발에 있어서 라이다 센서의 중요성이 커지고 있다. 센서 선정이나 알고리즘 개발을 위해 고가의 라이다 센서를 차량에 탑재하여 다양한 주행 환경에 대해 시험하기에 어려움이 따른다. 이에 본 연구는 다양한 차량용 라이다 센서에 대한 일반화된 기하모델링을 통해 범용적으로 적용될 수 있는 차량용 라이다 시뮬레이터를 개발하였다. 개발된 시뮬레이터를 활용하여 많이 활용되고 있는 특정 센서에 대하여 데이터 시뮬레이션과 품질 검증을 수행하였다. 또한, 생성된 데이터를 장애물 탐지에 적용함으로써 선정된 센서의 활용 가능성을 평가하였다. 이처럼 개발된 시뮬레이터는 센서의 도입 및 운용에 앞서서 다양한 실험을 가능하게 하고, 하드웨어 구축과 병행하여 알고리즘 개발을 도모할 수 있다.

Keywords

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