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AV Perception - Coggle Diagram
AV Perception
Surrounding sensing
Uses sensors that detects
road markings
road slope
traffic signs
weather conditions
other vehicles
light detection and ranging (LiDAR)
measures distances
Differences in laser return times
Radio Detection And Ranging (RADAR)
uses radio waves to determine
range
angle
velocity
senses both near and far obstacles
unaffected by ambient lighting , presence of rain
applications
lane change
crash detection
cruise control
crash avoidance
image processing sensor
detects information to generate image
mostly used in automated vehicle research
disadvantages
implement as passive sensors
requires lots of processing power that also generates heat
advantages
low-cost
implementation entirely in software
Self-sensing
measurements on vehicle using sensor
Wheel speed
Vehicle dynamic state
Transmission gear and differential
Driver inputs
Brake Pressure
Engine and exhaust variables
Inertial Measurement Unit (IMU)
Measures body acceleration
Accelerometer
measures linear acceleration
Piezoelectric
Microelectro-mechanical systems
Magnetometer
Measures direction
vector magnetometers
common types
Fluxgate magnetometer
Hall effect
Magnetoresistive
Localisation
Global Navigation Satellite System (GNSS)
uses satellites to determine location
use time signal transmitted along line of sight
information received
position
velocity
precise time
Raw Information
common types
Global Positioning System (GPS)
Globalnaya Navigatsionnaya Sputnikovaya Sistema (GLONASS)
Galileo
BeiDou Navigation Satellite System (BDS)