Comparison of Infrastructure- and Onboard Vehicle-Based Sensor Systems in Measuring Operational Safety Assessment (OSA) Metrics
Comparison of Infrastructure- and Onboard Vehicle-Based Sensor Systems in Measuring Operational Safety Assessment (OSA) Metrics
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DOI：
10.4271/2023-01-0858
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发表时间：
2023-04
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自动驾驶系统（ADS）操作车辆（AV）的操作安全性是一个日益关注的问题，随着AV作为原型进行测试和商业部署。安全评估系统的鲁棒性对于确定无人驾驶汽车与人类驾驶车辆相互作用时的操作安全性至关重要。在自动化移动研究所（IAM）探索运营安全评估（OSA）指标和基于基础设施的安全监控系统的早期工作的基础上，在这项工作中，我们将基于基础设施的光探测和测距（LIDAR）系统的性能与基于车载的LIDAR系统进行了比较，该系统在亚利桑那州国歌市的Marvila县交通部SMARTDrive测试平台进行测试。传感器模态位于基础设施和测试车辆上，包括激光雷达、摄像头、实时差分GPS和带摄像头的无人机。为LIDAR和摄像机创建定制的定位和跟踪算法。总共有26种不同的测试车辆在测试台交叉口导航的场景;对于这项工作，我们只考虑车辆跟随场景。从基于基础设施和车载传感器系统收集的LIDAR数据用于执行物体检测和多目标跟踪，以估计测试车辆的速度和位置信息，并使用这些值来计算OSA指标。这两个系统的性能比较涉及在计算主体车辆的位置和速度时的定位和跟踪误差，其中实时差分GPS数据用作速度比较的地面实况，并且来自无人机的跟踪结果用于OSA度量比较。
The operational safety of Automated Driving System (ADS)-Operated Vehicles (AVs) are a rising concern with the deployment of AVs as prototypes being tested and also in commercial deployment. The robustness of safety evaluation systems is essential in determining the operational safety of AVs as they interact with human-driven vehicles. Extending upon earlier works of the Institute of Automated Mobility (IAM) that have explored the Operational Safety Assessment (OSA) metrics and infrastructure-based safety monitoring systems, in this work, we compare the performance of an infrastructure-based Light Detection And Ranging (LIDAR) system to an onboard vehicle-based LIDAR system in testing at the Maricopa County Department of Transportation SMARTDrive testbed in Anthem, Arizona. The sensor modalities are located in infrastructure and onboard the test vehicles, including LIDAR, cameras, a real-time differential GPS, and a drone with a camera. Bespoke localization and tracking algorithms are created for the LIDAR and cameras. In total, there are 26 different scenarios of the test vehicles navigating the testbed intersection; for this work, we are only considering car following scenarios. The LIDAR data collected from the infrastructure-based and onboard vehicle-based sensors system are used to perform object detection and multi-target tracking to estimate the velocity and position information of the test vehicles and use these values to compute OSA metrics. The comparison of the performance of the two systems involves the localization and tracking errors in calculating the position and the velocity of the subject vehicle, with the real-time differential GPS data serving as ground truth for velocity comparison and tracking results from the drone for OSA metrics comparison.