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AV Perception - Coggle Diagram
AV Perception
self-sensing
uses sensors to measure current state of vehicle
wheel speed - measured by a Hall effect sensor (produces digital signal where its frequency is proportional to speed)
vehicle dynamic state - including yaw rate, longitudinal acceleration and lateral.
driver inputs - include throttle and brake pedal positions, turn signals, headlights, and steering wheel position.
brake pressure - measured by a diaphragm or silicon piezoelectric sensor at either master cylinder or for each wheel.
exhaust and engine variables - includes coolant temperatures, engine speed, O2 and NOx level, spark plug firing timing.
Inertial Measurement Unit (IMU)
measures and reports a body's acceleration, angular rate, and sometimes the orientation of the body by using accelerometers, gyroscopes, and sometimes magnetometers.
gyroscopes - measures rotational rate
magnetometer - measures direction, strength or relative charge of a magnetic field.
accelerometers - measures linear acceleration
IMUs are often integrated into Inertial Navigation Systems (INS) which utilizes raw data from accelerometers, gyroscopes, and magnetometer within the IMU to calculate the altitude, angular rate, linear velocity, and position relative to global reference frame.
surrounding-sensing
utilizes sensors to sense its surrounding
uses sensors to perceive road markings, road slope, traffic signs, weather conditions, the state (position, velocity, acceleration), of obstacles including other vehicles, and even state of the driver(drowsiness, fatigue)
Light Detection And Ranging (LiDAR)
measure distances by illuminating the target with laser light and measuring the reflection with a sensor.
uses radio waves to determine range, angle, or velocity of objects
popular active sensing technology for road used in sensing both near and far objects.
generally unaffected by ambient lighting or presence of rain, snow and fog
localisation
uses sensors to determine vehicle's global and local position
Global Navigation Satellite System (GNSS)
a system that uses satellites to determine location
information available from a receiver
absolute position
velocity and orientation
precise time and synchronized pulse per second
raw information that can be used for precise post-processing application