Performance Evaluation of MEMS-Based Automotive LiDAR Sensor and Its Simulation Model as per ASTM E3125-17 Standard
Arsalan Haider,
Yongjae Cho,
Marcell Pigniczki,
Michael H. Köhler,
Lukas Haas,
Ludwig Kastner,
Maximilian Fink,
Michael Schardt,
Yannik Cichy,
Shotaro Koyama,
Thomas Zeh,
Tim Poguntke,
Hideo Inoue,
Martin Jakobi,
Alexander W. Koch
Affiliations
Arsalan Haider
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Yongjae Cho
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Marcell Pigniczki
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Ludwig Kastner
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Maximilian Fink
Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany
Department of Vehicle System Engineering, Kanagawa Institute of Technology, Shimoogino 1030, Atsugi 243-0292, Kanagawa, Japan
Thomas Zeh
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Tim Poguntke
IFM—Institute for Advanced Driver Assistance Systems and Connected Mobility, Kempten University of Applied Sciences, Junkersstrasse 1A, 87734 Benningen, Germany
Hideo Inoue
Department of Vehicle System Engineering, Kanagawa Institute of Technology, Shimoogino 1030, Atsugi 243-0292, Kanagawa, Japan
Martin Jakobi
Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany
Alexander W. Koch
Institute for Measurement Systems and Sensor Technology, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany
Measurement performance evaluation of real and virtual automotive light detection and ranging (LiDAR) sensors is an active area of research. However, no commonly accepted automotive standards, metrics, or criteria exist to evaluate their measurement performance. ASTM International released the ASTM E3125-17 standard for the operational performance evaluation of 3D imaging systems commonly referred to as terrestrial laser scanners (TLS). This standard defines the specifications and static test procedures to evaluate the 3D imaging and point-to-point distance measurement performance of TLS. In this work, we have assessed the 3D imaging and point-to-point distance estimation performance of a commercial micro-electro-mechanical system (MEMS)-based automotive LiDAR sensor and its simulation model according to the test procedures defined in this standard. The static tests were performed in a laboratory environment. In addition, a subset of static tests was also performed at the proving ground in natural environmental conditions to determine the 3D imaging and point-to-point distance measurement performance of the real LiDAR sensor. In addition, real scenarios and environmental conditions were replicated in the virtual environment of a commercial software to verify the LiDAR model’s working performance. The evaluation results show that the LiDAR sensor and its simulation model under analysis pass all the tests specified in the ASTM E3125-17 standard. This standard helps to understand whether sensor measurement errors are due to internal or external influences. We have also shown that the 3D imaging and point-to-point distance estimation performance of LiDAR sensors significantly impacts the working performance of the object recognition algorithm. That is why this standard can be beneficial in validating automotive real and virtual LiDAR sensors, at least in the early stage of development. Furthermore, the simulation and real measurements show good agreement on the point cloud and object recognition levels.
