Indiana University-Purdue University Indianapolis (IUPUI) / Advancement in modern technology has brought with it an advent of increased interest
in self-driving. The rapid growth in interest has caused a surge in the development of autonomous
vehicles which in turn brought with itself a few challenges. To overcome these
new challenges, automotive companies are forced to invest heavily in the research and development
of autonomous vehicles. To overcome this challenge, simulations are a great tool
in any arsenal that’s inclined towards making progress towards a self-driving autonomous
future. There is a massive growth in the amount of computing power in today’s world
and with the help of the same computing power, simulations will help test and simulate
scenarios to have real time results. However, the challenge does not end here, there is a
much bigger hurdle caused by the growing complexities of modelling a complete simulation
environment. This thesis focuses on providing a solution for modelling a RADAR sensor
for a simulation environment. This research presents a RADAR modeling technique suitable
for autonomous vehicle simulation environment using open-source utilities. This study
proposes to customize an onboard LiDAR model to the specification of a desired RADAR
field of view, resolution, and range and then utilizes a density-based clustering algorithm
to generate the RADAR output on an open-source graphical engine such as Unreal Engine
(UE). High fidelity RADAR models have recently been developed for proprietary simulation
platforms such as MATLAB under its automated driving toolbox. However, open-source
RADAR models for open-source simulation platform such as UE are not available. This
research focuses on developing a RADAR model on UE using blueprint visual scripting for
off-road vehicles. The model discussed in the thesis uses 3D pointcloud data generated from
the simulation environment and then clipping the data according to the FOV of the RADAR
specification, it clusters the points generated from an object using DBSCAN. The model gives
the distance and azimuth to the object from the RADAR sensor in 2D. This model offers
the developers a base to build upon and help them develop and test autonomous control
algorithms requiring RADAR sensor data. Preliminary simulation results show promise for
the proposed RADAR model.
| Identifer | oai:union.ndltd.org:IUPUI/oai:scholarworks.iupui.edu:1805/29174 |
| Date | 05 1900 |
| Creators | Kesury, Tayabali Akhtar |
| Contributors | Anwar, Sohel, Tovar, Andres, Li, Lingxi |
| Source Sets | Indiana University-Purdue University Indianapolis |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Rights | Attribution-NoDerivatives 4.0 International, http://creativecommons.org/licenses/by-nd/4.0/ |
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