Abstract
The paper describes real world experiments conducted on Slovakia Ring. The main objective of these experiments is to analyze the influence of the relative speed between the ego and the target vehicle on the data provided by the sensors and the perception algorithms executed on these data. During the experiments, data obtained by camera, GNSS/IMU location sensor and lidar are analyzed. The results show that the relative speed has an influence on the environment perception by the sensors and has to be compensated for.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Galvani, M.: History and future of driver assistance. IEEE Instrument. Measure. Mag. 22(1), 11–16 (2019). https://doi.org/10.1109/MIM.2019.8633345
World Forum For Harmonization of Vehicle Regulations (WP.29). How it works - How to join it. Revised Fourth Edition, UNECE 2022. https://unece.org/sites/default/files/2022-07/ECE_TRANS_289_Rev.1_E_corrected.pdf. Cited February 2023
Kocić, J., Jovičić, N., Drndarević, V.: Sensors and Sensor Fusion in Autonomous Vehicles. In: 26th Telecommunications Forum (TELFOR). Belgrade, Serbia 2018, pp. 420–425 (2018). https://doi.org/10.1109/TELFOR.2018.8612054
Rieken, J., Maurer, M.: Sensor scan timing compensation in environment models for automated road vehicles. In: 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil, 2016, pp. 635–642. https://doi.org/10.1109/ITSC.2016.7795620
Renzler, T., Stolz, M., Schratter, M., Watzenig, D., Moving, I.A.F.F.: LiDARS: Correction of Distorted Point Clouds. In: IEEE International Instrumentation and Measurement Technology Conference (I2MTC). Dubrovnik, Croatia 2020, pp. 1–6 (2020). https://doi.org/10.1109/I2MTC43012.2020.9128372
Gröll, L., Kapp, A.: Effect of Fast Motion on Range Images Acquired by Lidar Scanners for Automotive Applications. IEEE Trans. Signal Process. 55(6), 2945–2953 (2007)
Robertson, S., Todt, J.: Circuit Licence Grade 2 and 3 Permanent Circuit, FIA - Federation Internationale de l’Automobile. https://slovakiaring.sk/assets/uploads/files/Let_Licence_Slovakiaring_2018-2021.pdf . Cited February 2023
Slovakia Ring at MapTiler/OpenStreetMap, https://www.maptiler.com/maps/#style=hybrid &mode=2d &position=14.82/48.04806/17.55818/-65.60. Cited February 2023
Hesai Technology, Pandar40P: 40-Channel Mechanical LiDAR. User Manual. https://web2019.blob.core.windows.net/uploads/Pandar40P_User_Manual_402-en-220410.pdf. Cited February 2023
Basler, A.G.: Basler Area Scan Camera acA1920-40gc - User Manual.https://docs.baslerweb.com/aca1920-40gc. Cited February 2023
NovAtel Inc. PwrPak7D Product Sheet. https://hexagondownloads.blob.core.windows.net/public/Novatel/assets/Documents/Papers/PwrPak7D-PS/PwrPak7D-PS.pdf Cited February 2023
Acknowledgements
The experiments were possible thanks to the cooperation of the Faculty of Informatics and Information Technologies at Slovak University of Technology in Bratislava, AGH University of Science and Technology in Kraków and Artificial Intelligence Department at Aptiv Technical Center in Kraków.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Bartosik, G. et al. (2023). The Influence of the Relative Vehicles Speed on the Environmental Perception-Tests on Slovakia Ring. In: Pawelczyk, M., Bismor, D., Ogonowski, S., Kacprzyk, J. (eds) Advanced, Contemporary Control. PCC 2023. Lecture Notes in Networks and Systems, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-031-35173-0_23
Download citation
DOI: https://doi.org/10.1007/978-3-031-35173-0_23
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-35172-3
Online ISBN: 978-3-031-35173-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)