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THE USE OF LIDAR TECHNOLOGY IN AUTONOMOUS CRUISE CONTROL SYSTEMS FOR AUTOMOBILES
Greg Jakubiec,(gjj6@pitt.edu, Vidic, 2:00), Brendan Mullinix, (bdm39@pitt.edu, 0012, Budny, 4:00)
Abstract- This paper is concerned with the topic of LiDAR, or Light Detection and Ranging technology, and its specific usage in autonomous or self-driving cruise control systems for automobiles. LiDAR is a high tech remote sensing technology that makes use of lasers to analyze and map various objects and landscapes. LiDAR works by emitting infrared, ultraviolet, or visible light at an object, and then measuring how quickly the light returns to the source, as well as measuring other disturbances in the laser as it returns to the LiDAR source. LiDAR technology is similar to radar and sonar technology, and is often called laser radar, although LiDAR is technically not a radar system; it relies on laser light instead of radio or microwaves, or sound waves like sonar. LiDAR, however, is able to provide much faster and more detailed, as well as higher resolution readings than radar systems. While LiDAR has a multitude of innovative and useful applications for society, we are particularly concerned with its use in remote sensing in autonomous automobiles. LiDAR allows automobiles to create extremely detailed, high definition maps of their surroundings in real time. Computer systems connected to the LiDAR systems then analyze this information to direct the car as safely and efficiently as possible, avoiding obstacles and collisions and obeying other regulations and rules. In this paper, we will explain how the electrical, as well as computer and mechanical, technology behind the operation and utilization of LiDAR systems work in autonomous automobiles, for driving and parking them. We will also detail and explain why autonomous cars with LiDAR systems will improve the quality of life of those who drive and use them, as well as society as a whole. We will also discuss the potential future of LiDAR technology and autonomous automobiles s well as research and explore the potential ethical complications of the use of autonomous automobiles Key Words - Grid-Based Processing, Laser, LiDAR, MultiLevel Fusion, Obstacle Maps, Radar, Road-Edge Detection. that interact with their surroundings and then bounce back to the recording device, the major differences being in the types of waves. Radar and sonar, however, both have large flaws that LiDAR does not, as we will explain in more detail later. To summarize for the time being, however, LiDAR provides a much more accurate map of the surrounding environment, and is able to scan much larger distance and ranges than radar systems. LiDAR was created to detect objects for collision avoidance, and mapping, and has a multitude of other applications in science and engineering, such as astronomy, geology, mapping at the atomic level, navigation, and urban planning. [1]. A major use of LiDAR technology is as a type of scanning and navigation system in autonomous automobiles, which greatly improves the accuracy and precision of the functions of these automobiles, making them safer and more efficient. FIGURE 1
Optical Scanners The optical scanner is the device that reads the incoming laser light, and measures the time of travel. As soon as the laser is shot out, the scanner starts detecting. When the light bounces back off an object it returns to the scanner. The device is then able to calculate how far away the object is using the equation: FIGURE 3 Distance=(Speed of light Time of flight)2 The Distance Equation used in LiDAR scanning [2].
A plane flies with an attached LiDAR device, scanning the ground for 3-D mapping [3].
Lasers The laser is the most important part of a LiDAR device, and one of the main advantages LiDAR has over radar technology. LiDAR utilizes high-energy, shorter-wavelength light, as opposed to lower energy and longer wavelength radio waves. This allows LiDAR to better reflect nonmetallic surfaces, such as humans [4]. This is partially due to the increased sensitivity of the higher energy waves, and partly due to the fact that having shorter wavelength
Positioning Systems A key part of creating a detailed map of the environment is knowing where the LiDAR device is actually located in the larger environment, on a global level. LiDAR alone is able to scan every aspect of its surroundings, but without a precise reading of its own location, accurate maps cannot be created. This is done by Global Positioning System (GPS). GPS is a satellite-based navigation system [6], created by the US government. The GPS satellites send information about their location, in relation to the GPS device, and the position on the ground is then calculated. GPS systems allow the LIDAR system to keep track of its exact location at all times. This enables it to create highly detailed images of the correct location, and connect these scanned images to a broader geographic location.
WHY LIDAR?
Urban planning Now that we know how LiDAR works, the main question is: why is it better than already existing technology such as radar and sonar? Radar and sonar had both been around for decades before LiDAR gained popularity. The major problems with sonar are relatively straightforward. First of all, sonar makes use of sound waves as opposed to radio or light waves, which travel much slower, as the speed of light is magnitudes faster than that of sound. Light travels at approximately 29980000 m/s, while sound only travels at approximately 343 m/s (in air at room temperature) [7]. This leads to a much lower frequency of measurements being taken, and therefore a much lower degree of accuracy. Radar, although much more accurate than sonar, still falls short of LiDAR in many aspects. A major difference between the two is the way radar detects objects. The radar device sends out radio waves that bounce off objects and return to the receiver. Radio waves are the largest in the electromagnetic spectrum, ranging from 1cm to 1000m. They are also silent, invisible, and easily detectable. The radar set measures the time it takes for the echo to arrive, and also measures the Doppler Effect which allows radar to directly measure velocities (this is one of the few advantages radar does have over LiDAR) [8]. The problem with radar, however, is that there are many more opportunities for interference. When used on the ground the returning echo could be from any object such as trees, people, and animals, not just cars. This would be useful, but the many returning radio waves make it difficult to differentiate between objects. Some have found a way LiDAR is used to create Digital Surface Models [1] of the surface of the planet. Digital surface models are used in conjunction with city planners to create models of the proposed area.
Navigation LiDAR is becoming more and more popular as a guidance system for autonomous vehicles [1]. Because LiDAR uses high-speed pulses of laser light, data is provided in real-time [1]. This is the most attractive feature of LiDAR when used in autonomous vehicles. The real-time data feedback allows collision detection, and navigation like no other device.
Military and law enforcement One of the most well-known uses of LiDAR is in Police speed scanners. It has started to replace radar traffic guns because it has more accuracy, and does not face the same interference problems. LiDAR is also being used in the autonomy of robots and UAV drones for the military.
LIDAR IN AUTOMOBILES
The direct application of LiDAR systems that we are most concerned with is its use in self-driving automobiles. Autonomous cars that utilize LiDAR generally have multiple LiDAR devices onboard, in addition to various other important devices used to sense their surroundings, such as radar, cameras and video systems. They also carry complex computer processing systems that analyze the data. It should be noted that LiDAR cant effectively navigate an autonomous car by itself. It must work in conjunction with various other devices, such as cameras and radar systems, as well as advanced computer hardware and software. There have been multiple specific methods of analyzing and utilizing the LiDAR data that have been experimented with, although the majority of them are heavily based on the concept of grid based processing (which will itself later be explained in much greater detail), in order to map environments in real time. FIGURE 4
LiDAR and Radar Integration In addition to LiDAR, many cars also have radar systems onboard. Although LiDAR can take measurements across larger ranges and distances, as well as operate much better in inclement weather, radar is able to provide the vehicle with more detailed information, due to the Doppler Effect. LiDAR technology is our main focus, although radar does have its place in autonomous cars as well, and is not to be forgotten. The most efficient autonomous car should utilize both [5]. When used to operate automobiles, LiDAR and traditional radar both serve their respective purposes. In order for a LiDAR machine to measure velocity, for instance, it must take different distance measurements at different times, and use them to compute the velocity of the object being tracked. This leads to a relatively inaccurate value of velocity, which in turn leads to an inaccurate value of acceleration. Radar, however, makes use of the Doppler Effect, which allows systems to measure the disturbances in the frequency of the return signal, which correspond directly to velocity of the point being measured. [5] Although LiDAR may not provide as accurate velocity information as radar systems, it does operate at much larger ranges and fields of view. This is essential to a vehicle moving through curves and around corners at high speeds [5]. The most efficient autonomous navigation system is one that utilizes both LiDAR and radar in harmony, covering the weaknesses and exploiting the strengths of both systems. Below is a diagram of one example of an autonomous car systems utilizing multiple types of sensing technology to navigate.
Grid Based Processing There have been multiple methods of analyzing and utilizing the LiDAR data that have been experimented with, although the majority of them are heavily based on the concept of grid based processing. Grid based processing is a general technique used in autonomous cars to map their environments. The basic idea of this type of data processing is that very small amounts of data are each stored in very specific locations, corresponding to their actual physical locations, within a gigantic grid. This allows the system to quickly and efficiently locate and analyze whatever specific data may be relevant at the current moment, and then update all of it in real time. The environment around the car is divided up into small sections of grid within the computing system. The LiDAR and radar systems then collect data about each piece of this grid, returning it to the analysis software. Using the response from the different systems, a probability is determined for a specific grid square to be occupied, and assigned to that spot. With each of these small grid spaces being extremely small, a large grid environment is formed [9]. Conclusions can then be made by the computer regarding the shapes and textures of objects by analyzing the similarities and differences of clusters of grid squares to each other, and subsequently what types of objects they are most likely to be. This information is then used to navigate the car effectively throughout this constantly changing grid.
Road Tracking A major aspect of the creation of an autonomous automobile system is the method that the car uses to follow roads and stay within its lane. There are a few different methods of programming and designing an autonomous car to track and follow roads safely and efficiently. It is worth noting that this function is independent of the avoiding of unexpected obstacles, as well as other cars. This exists simply to allow the car to follow the road it is driving on. A major idea in the past has been the use of preprogrammed maps within the system, so that the car knows where the road is and where it isnt. This, however, is flawed and likely not efficient enough to allow autonomous cars to drive alongside passenger cars on its own, due to the simple fact that roads change. A built-in map, no matter how often it is updated, would simply not be able to detect all potential obstacles that a car may encounter, such as construction work, uninhabited areas where the cars map may not include, detours due to accidents, emergency situations, etc. For this reason, realtime sensing is now being more heavily integrated into these systems to provide a much safer and more effective road navigation system for these cars. These sensing systems work by using multiple onboard LiDAR machines. The data from these machines is then processed using grid based processing to map an environment, and is then further analyzed by a specific aspect of the computing system. This task is divided into two major functions: obstacle maps, and road edge detection. Obstacle maps serve the purpose of sensing obstacles around the car, such as curbs and railings, and sensing the changes in general texture of the ground. Once an obstacle map is formed, road edge detection is utilized on the map and the location, size and texture of the road its driving on. Obstacle mapping is done by the detection and analysis of various objects near the automobile through utilization of grid based processing. Each objects grid -based return signal is processed by the computer system using multiple algorithms and then assigned a level of urgency, from unseen, to lethal. If two or more of these algorithms disagree, the worst of the two is taken. A map is then made of the area around the car that can be analyzed in road edge detection.
FIGURE 5
Obstacle map representation of the space around a vehicle, with the reddest dots representing the most lethal obstacles [10] Road edge detection is performed based on the idea that the area directly outside of the road boundaries are less smooth, as well as slightly higher in the air, and likely containing more obstacles of specific types (i.e. less other moving cars, more trees and poles). Complex algorithmic analysis is performed based on these main assumptions and the location of the road itself is estimated in a manner similar a very complex data regression. The car can then safely navigate within the strict boundaries of the road [10].
Velocity Planning A crucial part of safe driving is the maintaining of an appropriate speed and the altering of that speed as is necessary, including starting and stopping. An autonomous driving system must do this correctly and safely in order to function on the road without endangering human life. Although human drivers tend to make decisions about speeding up and slowing down their vehicle almost instinctively, the adjustment of velocity must be carefully analyzed and planned when programming an autonomous car. The car must constantly adjust its velocity based on obstacles in its path, curvature of the road, street signs and traffic lights, and all of this is done through meticulous calculations by a computer [5]. In general the necessary acceleration or deceleration rate is calculated based on LiDAR measurements of distance and radar measurements of velocity of obstacles. One general example of this calculation is the usage of the derived kinematic equation:
This equation represents the relationship between initial and final velocities, distance, and acceleration, during constant acceleration [7]. Vf is the final velocity of the object that we are trying to achieve, Vo is the initial velocity of the object, a is the acceleration needed, and d is the distance the car is able to go before stopping. This equation can be solved for acceleration to give: FIGURE 7
This is a simple algebraic manipulation of fig. 6 [7]. This acceleration is generally caused by applying a force to some part of the car, calculated mainly using newtons second law of motion, , [7]. This means that the speed can be altered in real time by applying forces within the car, just like it is with a human driver, although much more exactly. The simplest situation to adjust a cars velocity for is a static obstacle within its path. In order to do this, the above equation can be used, except with zero taken for the final velocity. However, not all obstacles are stationary. Many, such as other cars on the road, are also moving. The same general relationships are used to calculate the following distance that the self-driving car should maintain behind the car in front of it, as well as how it should react to other cars on either side of it when changing lanes or swerving in the case of an emergency. As a general rule, the car must maintain a velocity slower than or equal to that of the car in front of them, which can be measured using LiDAR and radar [5]. Similar, more complex physical relationships are used to calculate the velocity the car must maintain when driving around curves. An autonomous vehicle must also alter its velocity based on other aspects of its surroundings, such as terrain, weather, and obeying traffic signals and signs. All of these things can be sensed using LiDAR, radar, GPS, the onboard camera system, or some combination of them, and then responded to by a pre-programmed algorithm within the cars computer system, in a fashion related to the one described above. All of this is done within a fraction of a second by a computer system connected to a LiDAR machine, using the exact mathematic relationships between distance, velocity, acceleration force, and other basic principles of physics. This method of altering a cars motion is much faster and
Pre-Crash Systems One important part of autonomous, as well as semiautonomous vehicle systems is pre-crash systems. These are systems that are implemented in the event of an impending crash to minimize the damage caused, and therefore help make these cars safer, for passengers that may ride in them, as well as decreasing the likelihood of accidents between non-passenger cars. These are already being used in user driven cars that are currently on the road in order to minimize injuries and fatalities to the passengers. Basically, the vehicle sense when an emergency is about to occur through LiDAR and radar and activates an emergency reaction sequence. The vehicle will then automatically react by tightening seatbelts, adjusting head restraints, and deploying airbags early, in order to protect all onboard passengers. It will also activate emergency steering and braking, as fast as physically possible, to avoid oncoming collisions, and set off emergency signals [9]. This is one major aspect of what makes self-driving cars safer than human driven cars. Humans will often panic during emergency situations, whereas autonomous cars can
REFERENCES
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ACKNOWLEDGMENTS
We would like to thank our co-chair, Traci Smith, for helping us write and revise our paper and pointing us in the right direction. We also would like to thank Red Bull, for helping us to stay awake for the long hours required to write this paper.
ADDITIONAL SOURCES
Chan Wei Hsu, Tsung Hua Hsu, Chun Hsiung Chen and Yung Yuan Kuo. (2010). A Path Planning Achievement of Car Following in Motion Control via LiDAR Sensing.