Environmental Data Delivery for Automotive Simulations by Laser Scanning

Abstract

The development of autonomous vehicles nowadays is attractive, but a resource-intensive procedure. It requires huge time and money efforts. The different carmakers have therefore common struggles of involving cheaper, faster and accurate computer-based tools, among them the simulators. Automotive simulations expect reality information, where the recent data collection techniques have excellent contribution possibilities. Accordingly, the paper has a focus on the use of mobile laser scanning data in supporting automotive simulators. There was created a pilot site around the university campus, which is a road network with very diverse neighborhood. The data acquisition was conducted by a Leica Pegasus Two mobile mapping system. The achieved point clouds and imagery were submitted to extract road axes, road borders, but also lane borders and lane markings. By this evaluation, the OpenDRIVE representation was built, which is directly transferrable into various simulators. Based on the roads' geometric description, a standardized pavement surface model was created in OpenCRG format. CRG is a Curved Regular Grid, containing all surface height information and objects, but also anomalies. The 3D laser point clouds could easily be transformed into voxel models, then these models can be projected onto two vertical roadside grids (ribbons), which are practically an extension to the OpenCRG model. Adequate visualizations demonstrate the obtained results.

Creating an OpenDRIVE Model of the Campus of the Budapest University of Technology and Economics for Automotive Simulations

“…The trajectory computation was increased by involving the permanent station very close to the surveyed area. The achieved average absolute accuracy of the three obtained trajectories was 4.9 cm with 3.9, 1.8, and 1.3 cm in X, Y, and Z directions, respectively [14].…”

Topological Anomaly Detection in Automotive Simulator Maps

“…For example, mobile mapping technology collects proper data suitable to define roadway model elements specified by the standard ASAM OpenDRIVE format. (Barsi et al, 2019;Leica, n.d.;Riegl, n.d.) In this effort, not only the pure geometric content, but also the correctness of the element connections must be ensured. Without this, many simulators are unable to perform proper analysis, as vehicles can become stuck at the boundaries of incorrectly defined road segments.…”