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Hafiz Muhammad LuqmanMS in Embedded SystemChemnitz University of TechnologyAutomotive Sensor System2nd. SemesterLIDAR SensorSeminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

12Overview What is LADARIdea of LIDAR

Working Principle of LIDARLIDAR Vs RADAR & SONAR

LIDAR in Autonomous Vehicles Autonomous Vehicles ApplicationsAdvantages

References Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

3What is LIDAR LIDAR (Light Detection And Ranging)/LADAR is sensor that is used to measure the distance from remote objects and to find other features of object.It is analogous to RADAR but using different of the electromagnetic spectrum.

Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

Idea of LIDARHumans perceive only passively e.g only receive radiationAnimals perceive actively like, Bats (ultrasonic sounds echolocation), Dolphins and Whales use the same technique

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5Glance on HistoryInvented in 1960s after the invention of LASER

Mainly used for high resolution maps

Used in Apollo 15 Mission to map the surface of Moon

Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

LIDAR WorkingHow LIDAR get information about remote objects ?

By comparing the:-Transit time of pulses to get back from object.Wavelengths of radiationAnd its angular position.

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Fundamental LIDAR Essential Parts(continue)1) Transmitter, Laser as source radiation ulravoilet 225 nm < < 400 nm and infrared radiation 0.7 m < < 12 m ), source must be coherent [single wavelength]

2) transmitter Optics:- expanding laser beam diameter.

3) Receiver optics ;- converge incoming radiation

4) Detector (photoelectric cell)

5) An electronic System for data acquisition, processing, evaluation, display and storage.7Optical components of LIDAR

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The LIDAR return signal and LIDAR Equation910LIDAR Vs RADAR & SONAR RADAR uses microwaves or radio waves SONAR use sound waves as light travels poorly in water

Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

LIDAR in Autonomous VehiclesLIDAR system determine distances to obstacles by using laser range finders.

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LIDAR in Autonomous CarVelodyne HDL-64E lidar system of Google Autonomous car used 64 lasers that offer 360 degree field

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BMW self driving car BMW330i

13Google Self driving Car

14Stanley by Standford Universitywon DARPA 2005 challengeUsing 5 Sick AG Lidar sensor

15Velodyne Lidar HDL-64E S264 fixed mounted laser

Laser head is rotating

Horizontal field of view: 360

Vertical field of view 26.8

Data sheet: http://velodynelidar.com/lidar/products/brochure/HDL-64E%20S2%20datasheet_2010_lowres.pdf16

LIDAR sensor Vs RADAR sensorLIDAR provide upto 120 meters range.

Detects Black Asphalt which has low reflectivity to a range of just 50m

LIDAR system costs range widely but are expected to decrease. Google paid about $70,000 for LIDAR system in one Vehicle.

The reflective of microwaves less than light. Works for metallic obstacles but flop for non-metallic like pedestrian.1718LIDAR ApplicationsAutonomous Vehicle(Toyota)SRL (Short Range LIDAR) Robotics(NEATO XV 11)AgricultureSeminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

19LIDAR ApplicationsArchaeologyLAW enforcement and MilitaryAirborne Laser Mine Detection System (ALMDS)

Geology and soil science

Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

20Advantages High accuracyFast acquisition and processingMinimum human dependanceWeather light independance Good penetration powerSeminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

21References[1] Laser Remote Sensing, By Claus Weitkamp, 2nd Edition 2005

[2] Introduction to Remote Sensing by James. B. Campbell 2002

[3] Advances in Environmental Remote Sensing by Qihao Weng 2011

[4] http://www.sparpointgroup.com/News/Velodyne-shows-HDL-32E-LiDAR-sensor-at-SPAR-2011/ (July 13, 2014)

[5] http://bombilee.blogspot.de/2010_12_01_archive.html (July 13, 2014)

[6] http://animals.howstuffworks.com/mammals/bat2.htm (July 6, 2014)

[7] http://www.autoweek.com/article/20140107/carnews/140109913 (July 14, 2013)

[8] RAND Corporation research report series. 2013

Seminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun

22ThanksSeminar Automotive SensorsChair for Measurement and Sensor TechnologyUniv.-Prof. Dr.-Ing. O. Kanoun