Rotating Prism LiDAR Simulation Under Weather Attenuation
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Solution Overview
Problem
There is a lack of effective simulation test methods for the working performance of rotating prism Lidar in autonomous vehicles due to its complex structure, which hinders the evaluation of its performance and integration into autonomous vehicles.
Innovation Solution
A simulation test method is developed for rotating prism Lidar, involving obtaining a scanning trajectory model, determining an attenuation coefficient based on weather conditions, and performing a simulation test using an echo signal model to replicate the Lidar's working process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rotating prism Lidar is used in autonomous vehicles, then measurement capability is improved, but device complexity increases
Solution Approach 1:
The patent creates a virtual simulation model of the rotating prism Lidar system, copying its scanning trajectory and signal propagation characteristics without physically building the complex hardware. This allows evaluation of measurement capability through software simulation rather than physical testing, effectively managing the complexity barrier.
Solution Approach 2:
The patent replaces the mechanical rotating prism system with a computational model that calculates scanning trajectories and signal attenuation mathematically. This substitution eliminates the need for physical mechanical components while preserving the essential measurement functionality for evaluation purposes.
2Ease of operation
If simulation test is performed without weather attenuation modeling, then test simplicity is improved, but measurement precision deteriorates
Solution Approach 1:
The patent introduces weather attenuation parameters (βatm, Csnow, V, λμm, R) into the simulation model to accurately represent different environmental conditions. By changing these parameters, the simulation can adapt to various weather scenarios while maintaining mathematical rigor, thus improving accuracy without excessive complexity.
Solution Approach 2:
The patent applies different attenuation models for different weather conditions (clear atmosphere, rain, snow, fog) rather than using a single universal model. This allows the simulation to maintain high precision for specific local conditions while keeping the overall framework simple and manageable.
3Measurement precision
If complex rotating prism Lidar structure is simulated, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent divides the complex rotating prism Lidar system into separable functional modules: the scanning trajectory generation module, the signal attenuation module, and the echo signal reconstruction module. This segmentation allows each module to be developed and tested independently, reducing the overall complexity of the simulation model while maintaining comprehensive evaluation capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method enhances the accuracy and reliability of virtual simulation tests by accurately simulating the Lidar's performance under various weather conditions, ensuring the simulation results closely resemble actual sensor behavior.
Implementation Method 1
acquiring an attenuation coefficient of the Lidar signal propagating in a preset weather environment
Implementation Method 2
Ω1 is a rotating speed of a pair of synchronous prisms, and δ1 is a laser beam deflection angle caused by one synchronous prism of the pair of the synchronous prisms
Implementation Method 3
determining an echo signal model of the Lidar signal in the preset weather environment according to the attenuation coefficient
Data Source
AI summary
A simulation test method based on a rotating prism Lidar and a device thereof are provided. The simulation test method based on the rotating prism Lidar includes: obtaining a scanning trajectory model of a Lidar signal on an imaging plane, and the Lidar signal is emitted by a rotating prism Lidar; acquiring an attenuation coefficient of the Lidar signal propagating in a preset weather environment, and determining an echo signal model of the Lidar signal in the preset weather environment according to the attenuation coefficient; performing a simulation test on the rotating prism Lidar based on the scanning trajectory model and the echo signal model, and achieving the simulation test on a working process of the rotating prism Lidar.