A STUDY ON THE EFFECTIVENESS OF

SENSORS USED IN AVS FOR ROAD

SAFETY
2
PRESENTERS

MOHAMMAD SHAHRUKH HAMID

153 0373 625

NAILA NABILA ORCHY

153 0413 625

ROMANA YASMEEN
161 0843 025
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OUTLINE
1. INTRODUCTION TO AUTONOMOUS VEHICLES AND THEIR SENSORS
2. RADAR SYSTEM
3. CAMERA SYSTEM
4. LiDAR SYSTEM
5. FINDINGS
6. CONCLUSION
7. RECOMMENDATION
4

MOHAMMAD SHAHRUKH HAMID

PRESENTING:

1. INTRODUCTION TO AUTONOMOUS VEHICLES

2. INTRODUCTION TO THE LEVELS OF AUTOMATION
3. INTRODUCTION TO THE SENSORS IN AUTONOMOUS
VEHICLES
4. RADAR SYSTEM
5 INTRODUCTION TO AUTONOMOUS
VEHICLES

ROBOT CARS

SELF DRIVING CARS

FUTURE OF SUSTAINABLE
TRANSPORTATION SYSTEMS
 INTRODUCTION TO THE LEVELS OF AUTOMATION
6
Fallback
Execution of Monitoring of the
performance of System
Level Name steering and driving
‘dynamic driving capability
acceleration environment
task’
HUMAN DRIVER MONITORS THE DRIVING ENVIRONMENT

0 No automation Human driver Human driver Human driver n/a

Some
Human driver
1 Driver assistance Human driver Human driver driving
and system
modes

Some
2 Partial automation system Human driver Human driver driving
modes
 INTRODUCTION TO THE LEVELS OF AUTOMATION
7
(cont.)
Execution Fallback
Monitoring of
of steering performance of System
Level Name the driving
and ‘dynamic driving capability
environment
acceleration task’
AUTOMATED DRIVING SYSTEM – SYSTEM MONITORS THE DRIVING
ENVIRONMENT
System
Conditional
automation/ Some driving
3 System Human driver
semi- modes
automated
High System Some driving
4 System System
automation modes
Full All driving
5 System System System
automation modes
8 INTRODUCTION TO THE SENSORS USED IN AV

Figure 1: sensors of autonomous vehicles

9 RADAR SYSTEM
Works on the principle of a source transmitting
the radio wave, being reflected by a surface,
received and processed by a receiver system

Time taken for the radio wave to intercept gives

the distance from the obstacle and the car

The antenna doubles up as a radar receiver as

well as a transmitter

Radio waves have less absorption compared to

the light waves used in LiDAR when contacting
objects
Figure 2: Types of RADAR
 RADAR SYSTEM
10

• RADAR is touted to be an all-weather solution

• Long range radar systems can see really far
• It is relatively easier to measure velocity, distance
and position of the object using radio waves.
ADVANTAGES • It can easily differentiate between stationery and
OF RADAR moving objects
• RADAR can detect multiple objects
• 3-D image can be created by use of RADAR by
means of angle detection of the object and sensor
fusion with existing camera-based data.
 RADAR SYSTEM
11

• Difficult for short wavelengths to detect

small objects
SHORTCOMINGS • They have their limitations when it
of comes to recognizing and classifying
RADAR objects
• Interference from other radar system
causes accuracy problem .
12

NAILA NABILA ORCHY

PRESENTING:

1. CAMERA SYSTEM
2. LiDAR SENSORS
13 CAMERA SYSTEM

Commonplace on modern cars

Eye of the vehicle

Fits at all angles to maintain 360 views of the surrounding

Detect traffic lights, read road signs, keep track of other vehicles, look
out for pedestrian and obstacles
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CAMERA SYSTEM

• Rear view
• Surround view (x 4)
• Front view
UP TO 10 • Night front view
CAMERAS • In-car driver view
PER CAR • In-car passenger
view
• Hand motion
Figure 3: Camera Vision controller view
15 STEREO CAMERA

Two digital cameras work together

Images enable the depth perception

Surrounding area, providing information on position, distance

and speed of objects

Captures same scene from two different view points

16 STEREO CAMERA

Software then compares both the images to generate a 3D

image

Result becomes more precise when structured light is added

to the stereo solution

Light source projects geometric brightness patterns on to

the scene
17 TIME-OF-FLIGHT OF CAMERA

Effective in obtaining depth data and measuring distances

Provides two types of information on each pixel: the intensity

value and the distance

Equipped with an image chip with thousands of receiving

elements

This means high degree of details is captured in a single shot

 CAMERA SYSTEM
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ADVANTAGES DISADVANTAGES

Able to pick a lot from Adverse weather conditions

lane markings and road can hamper their 'vision'
signs
Difficult to produce a 3D
image using a 2D camera
Quite cheap
Cameras are vulnerable to
unauthorized access
 LiDAR SYSTEM
19

Measures the shape and contour of ground and

environment

Light emitted from a firing laser reflect off the

objects from the environment

Three basic methods are employed that follow

the same principles:
• Solid-state hybrid technology
• MEMS technology
• Mechanical mechanism technology
20 SOLID STATE HYBRID LiDAR

Combination of solid-state detector with a spinning system

Taking advantage of a 360 degree view in order to gather

data at a very fast speed

16 to 64 lasers scan the environment at 1.2M points per

second
21 SOLID STATE HYBRID LiDAR

Without the hybrid technical advance, this system would be

complicated and unmanageable

The data capability sets it apart from other sensor technologies

Making it the solution with the higher level requirements of

safety
22 SOLID STATE HYBRID LiDAR

• Abundant data for up-close, mid-range, and

far range viewing
Advantages • The LiDAR is not blinded by sunlight and
can “see,” perfectly at night
of Solid- • SH LiDAR is durable and reliable in all kinds
State Hybrid of weather
• It can “see” in 360 degrees
LiDAR • It “sees” in measurements, so it is highly
accurate and not confused by optical
illusions
23 LiDAR SYSTEM

Figure 4: LiDAR system

 ROAD MAP TO AUTOMATION
24
25

ROMANA YASMEEN

PRESENTING:

1. FINDINGS
2. CONCLUSION
3. RECOMMENDATION
26 FINDINGS

WHY •
•
To prevent road crashes and number of casualties
To reduce risks and hazards
AUTOMATION • To eliminate the element of human error in road crashes
•
IS NEEDED?
To support high risk groups
• To increase mobility

SO FAR • Much lower crash rates

ACHIEVED? • Small number of casualties
27 FINDINGS

• Test drives were in sunny clear weather

DEVELOPMENTS • Small scale vehicle travelled miles
• Assessed in uncomplicated roads
ARE STILL IN
• No assessment in high traffic volume
PREMITIVE • No assessments in extreme weather
PERIOD • Lacking in ‘Transition period’ behavior
assessment
28
ASSESSMENT OF SENSORS
(in terms of risks and hazards)
SEVERITY LEVEL DESCRIPTION
Severity Description
level
1 No loss of any kind
2 Minor property loss (low cost hardware parts)
3 Major property loss, damage to the environment
4 Loss of critical hardware, human injuries, major damage
to the environment
5 Catastrophic loss of life, loss of the entire AV system,
serious environment damage
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ASSESSMENT OF SENSORS
(in terms of risks and hazards)
CRASH SEVERITY DUE TO SENSOR FAULTS
Item Sub-item Fault condition/ hazard Severity level
Position encoder Fails to read position data 4
Short circuit 4
Electrical
LiDAR Overvoltage 4
Optical receiver Misalignment 3
Optical filter Damaged 3
Mirror Motor Malfunction (of either laser or LiDAR) 4
Camera Misalignment 3
Camera IR filter Missing 3
system Lens Damaged 3
Camera Improper Lighting 3
 IMPACT ANALYSIS OF SENSOR
30 MALFUNCTIONING ON PEDESTRIAN SAFETY
(Bayesian Belief Network Model Prediction)
% likelihood % Pedestrian Injury Likelihood

47.7

34.4 35
31 31.4

19.5
14.7 16.5
9.07 9.76

Failure type
 ASSESSMENT OF SENSORS BASED ON
31
PERFORMANCE
Performance aspect Human Automated Vehicles
eyes RADAR LiDAR Camera
Object detection Good Good Good Fair
Object classification Good Poor Fair Good
Distance estimation Fair Good Good Fair
Edge detection Good Poor Good Good
Lane tracking Good Poor Poor Good
Visibility range Good Good Fair Fair
Poor weather performance Fair Good Fair Poor
Dark or low illumination Poor Good Good Fair
performance
Ability to communicate with Poor n/a n/a n/a
other traffic or infrastructure
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CONCLUSION

Progress made in detection and recognition of pedestrian and

cyclists

Difficulties in lane detection and lane changing

Technologically not operational in adverse weather

conditions

Increased risks in transition period

33 RECOMMENDATION

Designing and planning ‘Safe and Sustainable’

Proper training of road users before AVs hitting the road

Development required for sensors used for perception to use

commercially

Connectivity with the infrastructure may increase safety

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