Time delay compensation for environmental sensors of high-level automated driving systems

Sungyoul Park; Beomjun Kim; Kyuwon Kim; Youngseop Son; Kyongsu Yi

doi:10.1109/IVS.2015.7225743

Time delay compensation for environmental sensors of high-level automated driving systems

Sungyoul Park, Beomjun Kim, Kyuwon Kim, Youngseop Son, Kyongsu Yi

Department of Data Science

Seoul National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents a time delay compensation algorithm for environmental sensors of automated driving systems. The time delay involved with the transmission of the measurements from the sensors to the processor cannot be negligible because it is responsible for estimation and control of the system. As the automotive environmental sensors such as laser scanner or radar perform measurements at a constant frequency, the measurement time latencies can be assumed to be constant. From this aspect, the constant time delay characteristics is analyzed via vehicle tests and compensated by forward estimation based coordinate transformation. The proposed compensation algorithm has been verified via test data based open loop simulation of Automated Driving Systems (ADS). It is shown that the proposed compensation enhances environment perception performance and driver's safety.

Original language	English
Title of host publication	IV 2015 - 2015 IEEE Intelligent Vehicles Symposium
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	555-560
Number of pages	6
ISBN (Electronic)	9781467372664
DOIs	https://doi.org/10.1109/IVS.2015.7225743
State	Published - 26 Aug 2015
Event	IEEE Intelligent Vehicles Symposium, IV 2015 - Seoul, Korea, Republic of Duration: 28 Jun 2015 → 1 Jul 2015

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings
Volume	2015-August

Conference

Conference	IEEE Intelligent Vehicles Symposium, IV 2015
Country/Territory	Korea, Republic of
City	Seoul
Period	28/06/15 → 1/07/15

Access to Document

10.1109/IVS.2015.7225743

Cite this

Park, S., Kim, B., Kim, K., Son, Y., & Yi, K. (2015). Time delay compensation for environmental sensors of high-level automated driving systems. In IV 2015 - 2015 IEEE Intelligent Vehicles Symposium (pp. 555-560). Article 7225743 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2015-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2015.7225743

@inproceedings{582a6c8495e4440592e4e30f866f1c83,

title = "Time delay compensation for environmental sensors of high-level automated driving systems",

abstract = "This paper presents a time delay compensation algorithm for environmental sensors of automated driving systems. The time delay involved with the transmission of the measurements from the sensors to the processor cannot be negligible because it is responsible for estimation and control of the system. As the automotive environmental sensors such as laser scanner or radar perform measurements at a constant frequency, the measurement time latencies can be assumed to be constant. From this aspect, the constant time delay characteristics is analyzed via vehicle tests and compensated by forward estimation based coordinate transformation. The proposed compensation algorithm has been verified via test data based open loop simulation of Automated Driving Systems (ADS). It is shown that the proposed compensation enhances environment perception performance and driver's safety.",

author = "Sungyoul Park and Beomjun Kim and Kyuwon Kim and Youngseop Son and Kyongsu Yi",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE Intelligent Vehicles Symposium, IV 2015 ; Conference date: 28-06-2015 Through 01-07-2015",

year = "2015",

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day = "26",

doi = "10.1109/IVS.2015.7225743",

language = "English",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

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Park, S, Kim, B, Kim, K, Son, Y & Yi, K 2015, Time delay compensation for environmental sensors of high-level automated driving systems. in IV 2015 - 2015 IEEE Intelligent Vehicles Symposium., 7225743, IEEE Intelligent Vehicles Symposium, Proceedings, vol. 2015-August, Institute of Electrical and Electronics Engineers Inc., pp. 555-560, IEEE Intelligent Vehicles Symposium, IV 2015, Seoul, Korea, Republic of, 28/06/15. https://doi.org/10.1109/IVS.2015.7225743

Time delay compensation for environmental sensors of high-level automated driving systems. / Park, Sungyoul; Kim, Beomjun; Kim, Kyuwon et al.
IV 2015 - 2015 IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc., 2015. p. 555-560 7225743 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2015-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Time delay compensation for environmental sensors of high-level automated driving systems

AU - Park, Sungyoul

AU - Kim, Beomjun

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AU - Son, Youngseop

AU - Yi, Kyongsu

PY - 2015/8/26

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N2 - This paper presents a time delay compensation algorithm for environmental sensors of automated driving systems. The time delay involved with the transmission of the measurements from the sensors to the processor cannot be negligible because it is responsible for estimation and control of the system. As the automotive environmental sensors such as laser scanner or radar perform measurements at a constant frequency, the measurement time latencies can be assumed to be constant. From this aspect, the constant time delay characteristics is analyzed via vehicle tests and compensated by forward estimation based coordinate transformation. The proposed compensation algorithm has been verified via test data based open loop simulation of Automated Driving Systems (ADS). It is shown that the proposed compensation enhances environment perception performance and driver's safety.

AB - This paper presents a time delay compensation algorithm for environmental sensors of automated driving systems. The time delay involved with the transmission of the measurements from the sensors to the processor cannot be negligible because it is responsible for estimation and control of the system. As the automotive environmental sensors such as laser scanner or radar perform measurements at a constant frequency, the measurement time latencies can be assumed to be constant. From this aspect, the constant time delay characteristics is analyzed via vehicle tests and compensated by forward estimation based coordinate transformation. The proposed compensation algorithm has been verified via test data based open loop simulation of Automated Driving Systems (ADS). It is shown that the proposed compensation enhances environment perception performance and driver's safety.

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M3 - Conference contribution

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T3 - IEEE Intelligent Vehicles Symposium, Proceedings

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BT - IV 2015 - 2015 IEEE Intelligent Vehicles Symposium

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE Intelligent Vehicles Symposium, IV 2015

Y2 - 28 June 2015 through 1 July 2015

ER -

Time delay compensation for environmental sensors of high-level automated driving systems

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