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W08: AV Perception - Coggle Diagram
W08: AV Perception
FAQ
Accuracy
The error between the true value and its measurement, which include noise levels and external interference rejection parameters
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Active VS Passive
Whether the sensor emits energy or radiation that illuminates the environment or relies on ambient conditions
Timescale
Quantities such as update rate of sensor output and the frequency bandwidth of the measurement output over time
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Surrounding-sensing
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Eg. Camera to provide road markings, LiDAR to detect obstacles
Uses sensors to perceive road markings, road slope, traffic signs, weather conditions, the state (position, velocity, acceleration, etc.)
Advantages
- Cheap
- Work normally in low visibility and low light conditions
Disadvantages
- Can only be used at low speed, for example during parking
- Shorter field of view and accuracy compared to LiDAR
Image processing sensor
Advantages
- Low-cost
- Implementation is almost entirely in software
Disadvantages
- Implemented as passive sensors, thus must cope with full range of ambient and uncontrolled conditions
- Requires a lot of processing power from the controller, which also increase heat generation
Self-sensing
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Eg. Hall effect sensor to measure vehicle velocity, Inertial Measurement Unit (IMU) to measure acceleration
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Localisation
Uses sensors to determine vehicle's global and local position
Eg. Global Positioning System to determine geographic location
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