Localization of Autonomous Vehicle using 1D Automotive Radar Sensor

Localization of Autonomous Vehicle using 1D Automotive Radar Sensor: Car localization based on Radar and LIDAR Fusion

van Gaalen, Robin (TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Microwave Sensing, Signals & Systems)

Uysal, Faruk (mentor)

Delft University of Technology

2020-01-09

The overall purpose of this study is to establish novel methods of vehicle localization and mapping using a 1D linear automotive radar array in conjuncture with pre-existing lidar maps, and to test if the generated radar map can be made to be 3 dimensional. The reason for creating a novel localization method was to try and alleviate some of the weaknesses of existing localization techniques, such as GPS'(Global Positioning System) inability to localize in tunnels and other large structures, or lidar based positionings' low quality of service in certain weather conditions. The basic design of this study was to implement a SLAM(Simultaneous Localization And Mapping) system that co-registers radar data to radar data, and to then attempt to register radar data to lidar data, all taken from experiments with cars with these sensors driving around the TU Delft campus. After the execution of experiments, both on simulations and on real world data, it was established that it is in fact possible to localize the car by relating observed radar data to premade lidar maps, and to continually add to a cumulative map made with the radar data that can further aid the localization process. Furthermore, it can be observed that the radar map created using the 1D linear automotive array can be made to be 3D, though more experiments to establish the full potential of this capability are recommended.

SLAM
radar
lidar
NDT
Genetic Algorithm
DBS
MIMO radar

http://resolver.tudelft.nl/uuid:e6a7f14e-97ea-4b67-a6d4-b90eaa040f75

2021-02-01

Student theses

master thesis

© 2020 Robin van Gaalen