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Review
. 2019 Feb 5;19(3):648.
doi: 10.3390/s19030648.

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

Francisca Rosique  1 , Pedro J Navarro  2 , Carlos Fernández  3 , Antonio Padilla  4
Affiliations
Review

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

Francisca Rosique et al. Sensors (Basel). .

Abstract

This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.

Keywords: LiDAR; autonomous vehicle; model based design; perception system; simulator.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Typical autonomous vehicle system.
Figure 2
Figure 2
An overview of different spectra used for perception systems in autonomous vehicles.
Figure 3
Figure 3
(a) Ultrasonic car sensors from Bosch; (b) an assistance parking system from Audi.
Figure 4
Figure 4
Millimetre-wave RADAR CAR70 from Nanoradar: (a) Microarray radar antenna; (b) multi-lobe system.
Figure 5
Figure 5
Operating schemes: (a) Rotating 2D LiDAR, (b) rotating 3D LiDAR, (c) solid state 3D LiDAR.
Figure 6
Figure 6
Emitted signal (blue) and received signal (red).
Figure 7
Figure 7
Comparison of the features of the different sensors used in environment perception systems.
Figure 8
Figure 8
Typical software architecture of a simulator.
See this image and copyright information in PMC

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