The Journal of The Korea Institute of Intelligent Transport Systems (한국ITS학회 논문지)

The Korea Institute of Intelligent Transport Systems (한국ITS학회)
권호 표지
DOI QR코드

DOI QR Code

A Research on Autonomous Mobile LiDAR Performance between Lab and Field Environment

자율주행차량 모바일 LiDAR의 실내외 성능 비교 연구

  • Ji yoon Kim (Dept. of Highway & Transportation Research, KICT) ;
  • Bum jin Park (Dept. of Highway & Transportation Research, KICT) ;
  • Jisoo Kim (Dept. of Highway & Transportation Research, KICT)
  • 김지윤 (한국건설기술연구원 도로교통연구본부 ) ;
  • 박범진 (한국건설기술연구원 도로교통연구본부 ) ;
  • 김지수 (한국건설기술연구원 도로교통연구본부 )
  • Received : 2023.08.04
  • Accepted : 2023.08.18
  • Published : 2023.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

LiDAR plays a key role in autonomous vehicles, where it is used to detect the environment in place of the driver's eyes, and its role is expanding. In recent years, there has been a growing need to test the performance of LiDARs installed in autonomous vehicles. Many LiDAR performance tests have been conducted in simulated and indoor(lab) environments, but the number of tests in outdoor(field) and real-world road environments has been minimal. In this study, we compared LiDAR performance under the same conditions lab and field to determine the relationship between lab and field tests and to establish the characteristics and roles of each test environment. The experimental results showed that LiDAR detection performance varies depending on the lighting environment (direct sunlight, led) and the detected object. In particular, the effect of decreasing intensity due to increasing distance and rainfall is greater outdoors, suggesting that both lab and field experiments are necessary when testing LiDAR detection performance on objects. The results of this study are expected to be useful for organizations conducting research on the use of LiDAR sensors and facilities for LiDAR sensors.

자율주행차량에서 핵심적인 역할을 수행하는 LiDAR는 운전자의 눈을 대신하여 주변 환경을 검지하는 데 활용되며, 그 역할이 점차 확대되고 있다. 이에 따라 최근에는 자율주행차량에 장착된 LiDAR의 성능을 시험하는 요구가 높아지고 있다. 많은 LiDAR 성능 시험은 시뮬레이션 및 실내환경에서 수행되고 있어, 실외환경 및 실도로 환경에서의 시험은 미미한 상황이다. 이에 본 연구는 LiDAR 성능을 실내와 실외에서 동일한 조건으로 비교하여, 실내외 시험 간의 관계를 확인하고, 각각의 특징과 역할을 정립하고자 하였다. 실험결과 조광환경(직사광선, 실내) 및 검지물체에 따라 LiDAR 검지성능이 달라지는 것을 확인하였다. 특히, 거리증가와 강우량 증가에 따른 Intensity 감소 영향은 실외에서 보다 크게 나타남에 따라 물체에 대한 LiDAR 검지 성능 시험 시 실내외 실험이 모두 필요함을 제시하였다. 본 연구의 결과는 LiDAR 센서활용 연구 수행 기관 및 LiDAR 대응 시설물 연구 기관에서 유용하게 활용될 것으로 기대된다.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 21AMDP-C161924-01, 주관연구기관 과제명: 크라우드 소싱 기반의 디지털 도로교통 인프라 융합플랫폼 기술 개발 / 공동연구기관 과제명: 도로·교통 인프라 성능평가 방법론 개발 및 자율차 기반의 개발 인프라 검증)

References

  1. Beraldin, J. and Blais, F.(2010), Laser scanning technology: In Airborne and Terrestrial Laser Scanning, Whittles Publishing, pp.1-42.
  2. Chen, C., Fragonara, L. Z. and Tsourdos, A.(2021), "RoIFusion: 3D Object Detection From LiDAR and Vision", IEEE Access, vol. 9, pp.51710-51721. https://doi.org/10.1109/ACCESS.2021.3070379
  3. ETnews, https://www.etnews.com/20210122000133, 2023.06.22
  4. Goodin, C., Carruth, D., Doude, M. and Hudson, C.(2019), "Predicting the Influence of Rain on LiDAR in ADAS", Electronics, vol. 8, no. 1, p.89. doi: 10.3390/electronics8010089
  5. Heinzler, R., Schindler, P., Seekircher, J., Ritter W. and Stork, W.(2019), "Weather Influence and Classification with Automotive Lidar Sensors", 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, vol. 2019, pp.1527-1534. doi: 10.1109/IVS.2019.8814205
  6. Jeon, H. and Kim, J.(2021), "Analysis on Handicaps of Automated Vehicle and Their Causes using IPA and FGI", Journal of Korea Institute Intelligent Transportation System, vol. 20, no. 3, pp.34-46. https://doi.org/10.12815/kits.2021.20.3.34
  7. Kim, J. and Park, B.(2022), "A Research of Factors Affecting LiDAR's Detection on Road Signs: Focus on Shape and Height of Road Sign", Journal of Korea Institute Intelligent Transportation System, vol. 21, no. 4, pp.34-46. https://doi.org/10.12815/kits.2022.21.4.190
  8. Kim, J. and Park, B.(2022), "A Study of LiDAR's Detection Performance Degradation in Fog and Rain Climate", Journal of Korea Institute Intelligent Transportation System, vol. 21, no. 2, pp.101-115. https://doi.org/10.12815/kits.2022.21.2.101
  9. Kim, J., Kim, J. and Park, B.(2023), "A Research on Improving the Shape of Korean Road Signs to Enhance LiDAR Detection Performance", Journal of Korea Institute Intelligent Transportation System, vol. 22, no. 3, pp.160-174. https://doi.org/10.12815/kits.2023.22.3.160
  10. Kim, J., Park, B. and Kim, J.(2023), "Empirical Analysis of Autonomous Vehicle's LiDAR Detection Performance Degradation for Actual Road Driving in Rain and Fog", Sensors, vol. 23, no. 6, p.2972. doi: 10.3390/s23062972
  11. Kim, J., Park, B., Roh, C. and Kim, Y.(2021), "Performance of Mobile LiDAR in the Real Road Driving Conditions", Sensors, vol. 21, no. 22, p.7461. doi: 10.3390/s2201010
  12. Korea Institute of Civil Engineering and Building Technology(KICT)(2021), Improved Road Infrastructures to Strengthen Driving Safety of Automated Driving Car Final Report.
  13. Li, H., Bamminger, N., Magosi, Z. F., Feichtinger, C., Zhao, Y., Mihalj, T., Orucevic, F. and Eichberger, A.(2023), "The Effect of Rainfall and Illumination on Automotive Sensors Detection Performance", Sustainability, vol. 15, no. 9, p.7260, doi:10.3390/su15097260.
  14. Li, Y. and Ibanez-Guzman, J.(2020), "LiDAR for autonomous driving: The principles, challenges, and trends for automotive LiDAR and perception systems", IEEE Signal Processing Magazine, vol. 37, no. 4, pp.50-61. https://doi.org/10.1109/MSP.2020.2973615
  15. Montalban, K., Reymann, C., Atchuthan, D., Dupouy, P., Riviere, N. and Lacroix, S.(2021), "A Quantitative Analysis of Point Clouds from Automotive Lidars Exposed to Artificial Rain and Fog", Atmosphere, vol. 12, no. 6, p.738, doi.org/10.3390/atmos12060738.
  16. Park, B.(2022), "Method of improvements for autonomous vehicle road-traffic facilities using LiDAR", The Korea Institute of Intelligent Transportation Systems(KITS) International Conference Special Session B-5.
  17. Park, J., Cho, J., Lee, S., Bak, S. and Kim, Y.(2023), "An Automotive LiDAR Performance Test Method in Dynamic Driving Condition", Sensors, vol. 23, no. 6, p.3892. doi: 10.3390/s23083892
  18. Tang, L., Shi, Y., He, Q., Sadek, A. W. and Qiao, C.(2020), "Performance Test of Autonomous Vehicle LiDAR Sensors Under Different Weather Conditions", Transportation Research Record, vol. 2674, no. 1, pp.319-329. https://doi.org/10.1177/0361198120901681