DEVELOPMENT OF A LIDAR MODEL FOR THE ANALYSIS OF 
BORDERLINE CASES INCLUDING VEHICLE DYNAMICS IN A 
VIRTUAL CITY ENVIRONMENT IN REAL TIME

, Rene Degen; , Harry Ott; , Fabian Overath; , Ing. Christian Schyr; , Florian Klein; , Mats Leijon; , Margot Ruschitzka

doi:2023.24.4.955

International Journal of Automotive Technology > Volume 24(4); 2023 > Article

Connected Automated Vehicles and ITS, Vehicle Dynamics and Control, Vision and Sensors

International Journal of Automotive Technology 2023;24(4): 955-968.
doi: https://doi.org/10.1007/s12239-023-0078-6

DEVELOPMENT OF A LIDAR MODEL FOR THE ANALYSIS OF BORDERLINE CASES INCLUDING VEHICLE DYNAMICS IN A VIRTUAL CITY ENVIRONMENT IN REAL TIME

Rene Degen ^1,4, Harry Ott ^1,4, Fabian Overath ¹, Ing. Christian Schyr ², Florian Klein ³, Mats Leijon ⁴, Margot Ruschitzka ¹

¹Faculty of Automotive Systems and Production, CAD CAM Center Cologne, Cologne University of Applied Sciences
²AVL Deutschland GmbH, Advanced Solution Lab
³Hoersch und Hennrich Architekten GbR, HHVISION
⁴Department of Electrical Engineering, Uppsala University

Corresponding Author. Rene Degen , Email. rene.degen@th-koeln.de

ABSTRACT

Advanced driver assistance systems are an important step on the way towards the autonomous driving. However, there are new challenges in the release of increasingly complex systems. For the testing of those systems many test kilometers are necessary to represent sufficient diversity. Hence, the virtual testing of driver assistance systems brings new opportunities. In virtual environments, it is possible to run a much higher distance in a short time. Simultaneously, the . complexity of the environment and the test scenarios are individually adjustable. It is possible to test scenarios that are not feasible in a real environment due to a risk of injury. A big challenge is the physical correct implementation of real vehicles and their components into the Virtual Reality. To enable a realistic virtual testing the vehicles surrounding sensors need to be modeled adequately. Thus, this paper presents an approach for the implementation of a Lidar model into a Virtual Reality. A physical Lidar model is combined with a real-time capable vehicle dynamics model to investigate the influence of vehicle movements to the sensor measurements. The models are implemented into a highly realistic virtual city environment. Finally, a test campaign shows the influence of the Lidars physics and the vehicle dynamics on the detection results.

Key Words: Advanced driver assistance systems (ADAS), Autonomous mobility, Lidar simulation, Vehicle dynamics, Raytracing, Virtual environment, Sensor simulation