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Av Perception - Coggle Diagram
Av Perception
-
Self Sensing
Commonly available measurements on vehicles.
- Wheel speed, vehicle dynamic state
- Transmission gear
- Differential state
- Driver inputs
- Brake pressure
- Engine and exhaust variables
-
Localisation
GNSS Augmentation
- Method of improving a navigation system’s attributes
Real-Time Kinematic (RTK) GPS
Wide Area Augmentation System
European Geostationary Navigation Overlay Service
Multi-functional Satellite Augmentation System
Differential GPS
GPS-aided GEO augmented navigation (GAGAN)
INS
Dead Reckoning with IMU
- Enhances positioning when GNSS is weak
Global Navigation Satellite System (GNSS)
- System that uses satellites to determine location
- System:
GPS, GLONASS, Galileo, BeiDou
- Information:
Absolute position
velocity & orientation
Precise time & synchronised pulse per second
Raw information that can be used for precise post-processing applications
Surrounding-sensing
- Functions: Perceives road markings, slope, traffic signs, weather, obstacles, driver state
Sensor
- Light Detection And Ranging (LiDAR)
Measures distances using laser light
- Radio Detection And Ranging (RADAR)
Uses radio waves to determine the range, angle, or velocity of objects
- Ultrasonic sensor
measure distance of an object by sending a signal and receiving an echo
- Image processing sensor
Detects and conveys information used to make an image
AV Perception Challenges
- Poor Weather conditions, lighting variations, complex urban environments
- Drive without heavy reliance on pre-existing perception data
- Requires connection to vehicle technology for accuracy, certainty and reliability of perception
- Development of safety measures in case of faulty sensors/perception