Methods and Models for Simulating Autonomous Vehicle Sensors
Methods and Models for Simulating Autonomous Vehicle Sensors
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DOI：
10.1109/tiv.2020.3003524
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发表时间：
2020-12-01
影响因子：
8.2
通讯作者：
Negrut, Dan
中科院分区：
文献类型：
--
作者：
Elmquist, Asher;Negrut, Dan
仿真可以是评估自主车辆性能的重要工具。在虚拟试验场中，可以创建具有挑战性和极不可能的场景，并且可以在没有安全问题和相对较少的成本的情况下测试新的控制算法。任何虚拟试验场的一个关键组成部分是传感器模拟;即，在模拟环境内产生真实传感器信息的能力。本文概述了几种模型和方法，通过仿真，GPS，IMU和激光雷达数据生成。虽然目前的模型可以解释一些传感器噪声，但仍有大量工作要做，以便产生逼真的模拟数据，并可用于在虚拟试验场中自信地测试和评估自主代理。
Simulation can be an important tool in evaluating autonomous vehicle performance. In a virtual proving ground, challenging and highly unlikely scenarios can be created and novel control algorithms can be tested with no safety concerns and relatively little cost. A critical component of any virtual proving ground is sensor simulation; i.e., the ability to produce realistic sensor information inside the simulated environment. This paper overviews several models and methods for generating, through simulation, GPS, IMU, and lidar data. While the current models can account for some sensor noise, significant work remains to be done in order to produce simulated data that is realistic and can be used to confidently test and evaluate autonomous agents in virtual proving grounds.