Parametric synthesis of modern systems for scanning the surrounding space of unmanned vehicles. quality functions

Abstract

One of the main components of autonomous vehicle is a scanner system, which scans the surrounding space and detects the elements of mapping information located around the vehicle. To prevent vehicle collision with dynamic obstacles that are moving around the frontal part of the vehicle, the ultrasound, Light Detection and Ranging (LIDAR), radar sensors and computer vision systems estimate the distance and speed of the obstacle. With these data available and the known speed of the vehicle the point of intersection of trajectories can be predicted. A mix of radio sensors working within a centimeter radius, close proximity and long infrared range allows the system to function at any time of the day and under various weather conditions. The LIDAR and radar are installed in front of the vehicle or on a rotating base, which is installed on the mast, which provides 360-degree rotation in the azimuthal (ho-rizontal) plane and the ability to change the angle to the horizontal plane. The mast can also be installed inside the vehicle. Due to constant external forces the mast deviates from the vertical position. The quality of the stabilization process is measured by the angle of deviation and the angular speed of the mast. The output signal obtained from the control system is limited and does not allow the scanning system to develop the excessive speed. The developed quality functions make it possible to synthesize the energy efficient scanning system for autonomous vehicles.