Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219134
G. Bandini, A. Buffi, G. Caposciutti, M. Marracci, B. Tellini
The battery management has become a pressing issue due to the growing demand for renewable energy and the need for sustainable energy management. Knowledge of the product health status, certified by a recognized digital passport, can enable responsible customer choice of the product and its circulation in the free market. This paper introduces a digital battery passport system that leverages Ultra-High-Frequency (UHF) Radio Frequency Identification (RFID) technology to enable circularity and sustainability in battery management. The system allows for reading/writing of essential parameters, some of which may be the State of Charge, the State of Health, the temperature, and in general information about the history of battery use itself. Our study discusses the feasibility and potential benefits of the proposed system, by including improved battery traceability, reduced waste, and increased resource efficiency. We provide a proof of concept of the proposed system and discuss implications of its implementation for sustainable energy management.
{"title":"An RFID System Enabling Battery Lifecycle Traceability","authors":"G. Bandini, A. Buffi, G. Caposciutti, M. Marracci, B. Tellini","doi":"10.1109/MetroAutomotive57488.2023.10219134","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219134","url":null,"abstract":"The battery management has become a pressing issue due to the growing demand for renewable energy and the need for sustainable energy management. Knowledge of the product health status, certified by a recognized digital passport, can enable responsible customer choice of the product and its circulation in the free market. This paper introduces a digital battery passport system that leverages Ultra-High-Frequency (UHF) Radio Frequency Identification (RFID) technology to enable circularity and sustainability in battery management. The system allows for reading/writing of essential parameters, some of which may be the State of Charge, the State of Health, the temperature, and in general information about the history of battery use itself. Our study discusses the feasibility and potential benefits of the proposed system, by including improved battery traceability, reduced waste, and increased resource efficiency. We provide a proof of concept of the proposed system and discuss implications of its implementation for sustainable energy management.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132697277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219127
Andrea Forte
The global warming problems that led to the Green Deal 2050 targets predict a decrease in greenhouse gases of 55% by 2030 and zero-CO2 emissions of the new registration in 2035, with the aim of reaching 2050 to 100% of the new circulating fleet to zero tailpipe emission. However, in 2050, it is expected that more than 20% of cars and vans and more than 50% of heavier vehicles will continue to emit pollutants from the tailpipe. Therefore, in addition to the Green Deal, with the Euro 7 the aim is to reduce these emissions by 2025. EU will become the first region in the world to propose limits on non-exhaust emissions, starting by particle emissions from brakes and then from tyres, therefore also electric vehicles will be measured for the first time in terms of pollutants. This article examines the latest Euro 7 requirements based on the most recent proposal by the European Commission (10.11.2022) [1] and the new measurements that will be required. The impact on light-duty car manufacturers and stakeholders is also discussed.
{"title":"Review of the last draft requirements of the Euro 7 emissions standard and their impact on light-duty car manufacturers","authors":"Andrea Forte","doi":"10.1109/MetroAutomotive57488.2023.10219127","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219127","url":null,"abstract":"The global warming problems that led to the Green Deal 2050 targets predict a decrease in greenhouse gases of 55% by 2030 and zero-CO2 emissions of the new registration in 2035, with the aim of reaching 2050 to 100% of the new circulating fleet to zero tailpipe emission. However, in 2050, it is expected that more than 20% of cars and vans and more than 50% of heavier vehicles will continue to emit pollutants from the tailpipe. Therefore, in addition to the Green Deal, with the Euro 7 the aim is to reduce these emissions by 2025. EU will become the first region in the world to propose limits on non-exhaust emissions, starting by particle emissions from brakes and then from tyres, therefore also electric vehicles will be measured for the first time in terms of pollutants. This article examines the latest Euro 7 requirements based on the most recent proposal by the European Commission (10.11.2022) [1] and the new measurements that will be required. The impact on light-duty car manufacturers and stakeholders is also discussed.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134150711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219133
Luca Caiaffa, F. Maran, S. Peron, M. Bruschetta
Motorcycle safety systems rely on accurate state estimation of vehicle quantities. Systems like Traction Control (TC), Anti-lock braking system (ABS) and anti-wheelie (AW) are based on knowledge of vehicle states related to both longitudinal and lateral dynamics. In particular, cornering ABS and cornering TC relies on combined longitudinal and lateral dynamics. In this paper an accurate state and parameters estimator is presented, that can be used with standard sensor sets in commercial motorcycles. The estimator is based on a complex motorcycle dynamical model, with measurements coming from Inertial Measurement Unit (IMU) and wheel encoders. The estimator is based on an Unscented Kalman Filter and is tested in a realistic simulative scenario, under noisy sensors, model mismatches, and unknown initial conditions. The estimator is compared at the end with a simplified version.
{"title":"Motorcycle longitudinal and lateral state estimation via Kalman filtering","authors":"Luca Caiaffa, F. Maran, S. Peron, M. Bruschetta","doi":"10.1109/MetroAutomotive57488.2023.10219133","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219133","url":null,"abstract":"Motorcycle safety systems rely on accurate state estimation of vehicle quantities. Systems like Traction Control (TC), Anti-lock braking system (ABS) and anti-wheelie (AW) are based on knowledge of vehicle states related to both longitudinal and lateral dynamics. In particular, cornering ABS and cornering TC relies on combined longitudinal and lateral dynamics. In this paper an accurate state and parameters estimator is presented, that can be used with standard sensor sets in commercial motorcycles. The estimator is based on a complex motorcycle dynamical model, with measurements coming from Inertial Measurement Unit (IMU) and wheel encoders. The estimator is based on an Unscented Kalman Filter and is tested in a realistic simulative scenario, under noisy sensors, model mismatches, and unknown initial conditions. The estimator is compared at the end with a simplified version.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132487209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219108
Federico Gioachini, Roberto Mariconti, I. Kitsopanidis, H. Philipp, Marco Iorfino
To meet the current and future particulate matter emission standards for gasoline engines is technically challenging even with sophisticated exhaust after-treatment devices. This publication investigates the formation of particulates within the engine using optical diagnostics and fast exhaust gas sampling techniques. In particular, it focuses on the contribution of engine oil to the particulate formation and its concentration in the engine exhaust. The study demonstrates strong correlation between particulates and oil consumption in steady state conditions, at load and thermal transients but also during the official European emission certification cycle.
{"title":"Study of Particulate Matter Formation at High-Performance Engines Using In-Cylinder Optical and Fast Exhaust Gas Sampling Techniques","authors":"Federico Gioachini, Roberto Mariconti, I. Kitsopanidis, H. Philipp, Marco Iorfino","doi":"10.1109/MetroAutomotive57488.2023.10219108","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219108","url":null,"abstract":"To meet the current and future particulate matter emission standards for gasoline engines is technically challenging even with sophisticated exhaust after-treatment devices. This publication investigates the formation of particulates within the engine using optical diagnostics and fast exhaust gas sampling techniques. In particular, it focuses on the contribution of engine oil to the particulate formation and its concentration in the engine exhaust. The study demonstrates strong correlation between particulates and oil consumption in steady state conditions, at load and thermal transients but also during the official European emission certification cycle.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116267990","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/metroautomotive57488.2023.10219126
{"title":"MetroAutomotive 2023 Cover Page","authors":"","doi":"10.1109/metroautomotive57488.2023.10219126","DOIUrl":"https://doi.org/10.1109/metroautomotive57488.2023.10219126","url":null,"abstract":"","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126400093","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219130
Xiaomin Shen, J. Shao, Xin Zhang, Cunbin Zhao, Kai Wang, Lei Luo, Bing Ouyang
The millimeter wave radar test system has been widely used to test the performance of vehicle radar, but the test system has transmission loss caused by the radio frequency cables and the free space, and is required to calibrate the transmission loss of the millimeter-wave radar test system regularly to ensure accuracy and reliability of the radar performance measurement. An automatic calibration method for transmission loss of millimeter wave radar test system is proposed based on the combination of antenna substitution method and virtual instrument control technology in this paper. A calibration system is established based on LabVIEW to verify the proposed automatic calibration method. The frequency range of the calibration system is up to (76 ~ 81) GHz, and the frequency space is up to 10MHz. The calibration results show that the automatic calibration method saves 73 % of the test time-consuming compared with the traditional manual calibration method, which can satisfy the calibration requirements of MMW-RTS with the full frequency range of vehicle MMW radar, and verify that the automatic transmission loss calibration method based on the combination of antenna substitution method and virtual instrument control is a reasonable, feasible, efficient calibration method.
{"title":"Research on Automatic Calibration Method of Transmission Loss for Millimeter-Wave Radar Testing System in Intelligent Vehicle","authors":"Xiaomin Shen, J. Shao, Xin Zhang, Cunbin Zhao, Kai Wang, Lei Luo, Bing Ouyang","doi":"10.1109/MetroAutomotive57488.2023.10219130","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219130","url":null,"abstract":"The millimeter wave radar test system has been widely used to test the performance of vehicle radar, but the test system has transmission loss caused by the radio frequency cables and the free space, and is required to calibrate the transmission loss of the millimeter-wave radar test system regularly to ensure accuracy and reliability of the radar performance measurement. An automatic calibration method for transmission loss of millimeter wave radar test system is proposed based on the combination of antenna substitution method and virtual instrument control technology in this paper. A calibration system is established based on LabVIEW to verify the proposed automatic calibration method. The frequency range of the calibration system is up to (76 ~ 81) GHz, and the frequency space is up to 10MHz. The calibration results show that the automatic calibration method saves 73 % of the test time-consuming compared with the traditional manual calibration method, which can satisfy the calibration requirements of MMW-RTS with the full frequency range of vehicle MMW radar, and verify that the automatic transmission loss calibration method based on the combination of antenna substitution method and virtual instrument control is a reasonable, feasible, efficient calibration method.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115196722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219115
C. Tordela, S. Strano, M. Terzo, Raffaele Marotta
In the automotive industry, instrumented tires, called smart tires, are widely employed for identifying tire-road contact forces functional for monitoring the operative conditions of vehicles. Recently, the coupling between smart tire technology with artificial intelligence techniques is made due to the possibility of exploiting data obtained from intelligent tires for training Neural Networks able to identify variables functional for vehicle monitoring and control purposes. A supervised learning approach is presented in this paper for estimating in-plane tire-road interactions starting from measurements of the circumferential strain of the tire tread band. Two feedforward Neural Networks are trained by employing synthetic strain data generated through the well-known Flexible Ring Tire Model, avoiding expensive experimental tests for collecting strain data. The results obtained through the trained Neural Networks regarding vertical and longitudinal tire-road forces are compared with the simulated ones related to the Flexible Ring Tire Model, considering three different profiles of the circumferential strains. The proposed approach demonstrates its suitability as a monitoring tool in the automotive field by estimating tire-road forces in real-time at each wheel revolution.
{"title":"A strain-based estimation of tire-road forces through a supervised learning approach","authors":"C. Tordela, S. Strano, M. Terzo, Raffaele Marotta","doi":"10.1109/MetroAutomotive57488.2023.10219115","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219115","url":null,"abstract":"In the automotive industry, instrumented tires, called smart tires, are widely employed for identifying tire-road contact forces functional for monitoring the operative conditions of vehicles. Recently, the coupling between smart tire technology with artificial intelligence techniques is made due to the possibility of exploiting data obtained from intelligent tires for training Neural Networks able to identify variables functional for vehicle monitoring and control purposes. A supervised learning approach is presented in this paper for estimating in-plane tire-road interactions starting from measurements of the circumferential strain of the tire tread band. Two feedforward Neural Networks are trained by employing synthetic strain data generated through the well-known Flexible Ring Tire Model, avoiding expensive experimental tests for collecting strain data. The results obtained through the trained Neural Networks regarding vertical and longitudinal tire-road forces are compared with the simulated ones related to the Flexible Ring Tire Model, considering three different profiles of the circumferential strains. The proposed approach demonstrates its suitability as a monitoring tool in the automotive field by estimating tire-road forces in real-time at each wheel revolution.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"112 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114100469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219094
J. Sobotka, Viktor Adler, Jirí Novák
Simulation of an artificial target is essential for developing and evaluating systems based on radar sensors. The simulation usually covers three fundamental principles. Signal delaying to simulate the target in a certain distance. Frequency shifting to give the target a speed according to the Doppler phenomenon. Moreover, adjusting signal magnitude to mimic the Radar cross-section (RCS) of the simulated object. For digital Radar Target Simulation, the tiniest step in signal delaying is determined by the clock period. This paper presents an idea of how to implement sub-clock period signal delaying to increase delay resolution. The idea is evaluated on FPGA based target simulator.
{"title":"Sub-clock Digital Delay for Radar Target Simulation","authors":"J. Sobotka, Viktor Adler, Jirí Novák","doi":"10.1109/MetroAutomotive57488.2023.10219094","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219094","url":null,"abstract":"Simulation of an artificial target is essential for developing and evaluating systems based on radar sensors. The simulation usually covers three fundamental principles. Signal delaying to simulate the target in a certain distance. Frequency shifting to give the target a speed according to the Doppler phenomenon. Moreover, adjusting signal magnitude to mimic the Radar cross-section (RCS) of the simulated object. For digital Radar Target Simulation, the tiniest step in signal delaying is determined by the clock period. This paper presents an idea of how to implement sub-clock period signal delaying to increase delay resolution. The idea is evaluated on FPGA based target simulator.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124996329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219112
Domenico Di Grazia, F. Pisoni, Salvatore Crasta, A. Napolitano, D. Darsena, Simone Ardiero
Global Navigation Satellite System (GNSS) receiver evolution moves through the paths of interoperability among different satellite systems and the support of modern composite signals. To improve the receiver accuracy, the tracking sensitivity, and the resilience versus jamming, modern signals have introduced dual (pilot plus data) components. Pilot signals design on L1 carrier for GPS, BeiDou (phase 3), and Quasi-Zenith Satellite System (QZSS) are implemented by tiered codes, with a very long Secondary Code (SC), which can be difficult to acquire. This article will analyze and validate an efficient algorithm for secondary code phase estimation, with the objectives to minimize the total dwell time and to limit the processing complexity. Details will be provided about the performance tradeoff versus other classic algorithms, based on the exhaustive construction of power histograms, for all the SC phases. A method for fast reacquisition of the SC phase, based on time propagation, will be also illustrated to extend the practical usability of the estimator under difficult conditions, characterized by obscurations and signal impairments, typical of automotive scenarios.
{"title":"Long GNSS Secondary Codes Acquisition by Characteristic Length Method","authors":"Domenico Di Grazia, F. Pisoni, Salvatore Crasta, A. Napolitano, D. Darsena, Simone Ardiero","doi":"10.1109/MetroAutomotive57488.2023.10219112","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219112","url":null,"abstract":"Global Navigation Satellite System (GNSS) receiver evolution moves through the paths of interoperability among different satellite systems and the support of modern composite signals. To improve the receiver accuracy, the tracking sensitivity, and the resilience versus jamming, modern signals have introduced dual (pilot plus data) components. Pilot signals design on L1 carrier for GPS, BeiDou (phase 3), and Quasi-Zenith Satellite System (QZSS) are implemented by tiered codes, with a very long Secondary Code (SC), which can be difficult to acquire. This article will analyze and validate an efficient algorithm for secondary code phase estimation, with the objectives to minimize the total dwell time and to limit the processing complexity. Details will be provided about the performance tradeoff versus other classic algorithms, based on the exhaustive construction of power histograms, for all the SC phases. A method for fast reacquisition of the SC phase, based on time propagation, will be also illustrated to extend the practical usability of the estimator under difficult conditions, characterized by obscurations and signal impairments, typical of automotive scenarios.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134643967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-28DOI: 10.1109/MetroAutomotive57488.2023.10219097
Davide Cassanelli, S. Cattini, Lorenzo Medici, L. Ferrari, L. Rovati
Nowadays, most of the LiDARs used in the automotive sector are in scanning technology. Such implies that the acquisition of the surrounding environment takes place sequentially. If there is relative motion between the vehicle — the LiDAR — and the surrounding environment, the acquired 3D image is distorted. Theoretically, knowing the scanning frequency and the displacement vectors, such a distortion could be compensated. Nonetheless, as experienced by anyone who has analyzed point clouds (PCs) acquired from moving LiDARs, the distortion observed is often more severe and seemingly unpredictable than expected from the LiDAR scanning frequency and the displacement vectors. Thus, the in-motion performance analysis of LiDARs is significant for automotive applications. In-motion characterization and comparison are challenging. In this paper, we present a testbed for repeatable LiDAR in-motion characterization. The proposed test setup is composed of a track and a cart moving along it, at which the LiDAR is fixed. Since the cart speed is known and the surrounding environment is controlled, it is possible to estimate all the deformations introduced by the relative motion. The experimental examples obtained by analyzing a commercial LiDAR, the VLP 16 by Velodyne, demonstrate how the deformations obtained can be more significant than expected from a simple geometric analysis based on relative motion.
{"title":"A Simple Setup for the Experimental Verification of Measurement Artifacts Introduced by 3D-LiDAR in in-motion Acquisitions","authors":"Davide Cassanelli, S. Cattini, Lorenzo Medici, L. Ferrari, L. Rovati","doi":"10.1109/MetroAutomotive57488.2023.10219097","DOIUrl":"https://doi.org/10.1109/MetroAutomotive57488.2023.10219097","url":null,"abstract":"Nowadays, most of the LiDARs used in the automotive sector are in scanning technology. Such implies that the acquisition of the surrounding environment takes place sequentially. If there is relative motion between the vehicle — the LiDAR — and the surrounding environment, the acquired 3D image is distorted. Theoretically, knowing the scanning frequency and the displacement vectors, such a distortion could be compensated. Nonetheless, as experienced by anyone who has analyzed point clouds (PCs) acquired from moving LiDARs, the distortion observed is often more severe and seemingly unpredictable than expected from the LiDAR scanning frequency and the displacement vectors. Thus, the in-motion performance analysis of LiDARs is significant for automotive applications. In-motion characterization and comparison are challenging. In this paper, we present a testbed for repeatable LiDAR in-motion characterization. The proposed test setup is composed of a track and a cart moving along it, at which the LiDAR is fixed. Since the cart speed is known and the surrounding environment is controlled, it is possible to estimate all the deformations introduced by the relative motion. The experimental examples obtained by analyzing a commercial LiDAR, the VLP 16 by Velodyne, demonstrate how the deformations obtained can be more significant than expected from a simple geometric analysis based on relative motion.","PeriodicalId":115847,"journal":{"name":"2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131487253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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