United States Department of Transportation
i
Investigation of AV Operational Issues Using Simulation Equipment
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2023-12-01
[PDF-3.43 MB]
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Edition:Final report, Jan 2019 – Aug 2022
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Abstract:To help mitigate road fatalities due to human error, transportation stakeholders are turning to advanced driver assistance systems and autonomous vehicle (AV) development. However, the stakeholders continue to seek assurance of the safety performance of this new technology. This is often done using simulation testing of AV sensors and other platforms for simulation (microsimulation of AV movements, AV testing in a cab driving simulator, at AV test tracks, AV-dedicated road networks and in-service roads). Simulation is particularly important for the perception module of AV systems. Perception is a key module that typically uses light detection and ranging (LIDAR) sensors and enables efficient obstacle detection and environment mapping. To address this research need, this report reviews the various sensor technologies and explores their merits and limitations. This study focuses on sensor testing for AV operations using CARLA simulation. Extensive research on the use of LIDAR for autonomous driving has been documented in the literature, and researchers and practitioners have advocated for continued investigation of LIDAR placement alternatives.
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