Environment Perception Related Measurements at ZalaZONE

October 14, 2021

In August, 2021 our team has performed various measurements in relation to environment perception and understanding at ZalaZONE proving ground (located near the city of Zalaegerszeg in Hungary) by relying on a distributed sensory network (composed of sensors of various types) deployed by our team.

The primary aim of the tests was to evaluate how the certain sensors perceive the environment (including static and dynamic objects) under various conditions (such as partial overlapping, various distances, variable visibility conditions, sensors deployed at different heights, various formations of vehicle groups, etc.). On top of that, an additional goal was to evaluate how the fusion based detection and tracking algorithms - developed by our team – perform on such collected raw sensory data.

Regarding the above-mentioned distributed sensory network, we have deployed two sensor stations equipped with different type of LiDARs, RADAR, camera, thermal vision camera and a GPS time source used for synchronization purposes. The setup can be followed in Fig.1. As one can see the test region is a motorway section, which is located at the ZalaZONE proving ground.

One of the stations was deployed on a bridge above the motorway at a height of about 5m while the other one on the motorway itself in order to test how the mounting height affects the performance of sensors and that of the detection algorithms. The extrinsics of all sensors have been estimated with respect to the UTM frame.

Regarding the algorithms to be evaluated, we have focused on raw fusion based vehicle detection algorithms - developed by our team - but also on the detector used by the RADAR itself (see Fig. 2). In order to evaluate the accuracy and reliability of detections, static as well as dynamic reference data are highly welcome.

During the tests all the participating vehicles were equipped with a high precision differential GPS system in order to offer reference data (position, heading, timestamp) for evaluation of the  perception algorithms (see Fig. 3). The collected data cover various scenarios executed with several vehicles during daytime as well as in the night. In addition to such generated dynamic reference data, static ones in form of a dense HD map of the motorway section is also available. This offers an elegant way for evaluating not only the sensors but also the performance of perception algorithms under various conditions, which may significantly contribute to their further improvement.

 

Fig. 1: Sensor stations equipped with a LiDAR, RADAR, Camera and GPS time source. Sensor station-A (left) placed on the ground and sensor station-B (right) mounted on the bridge crossing the motorway at ZalaZONE proving ground.

Fig. 2: The LiDAR pointcloud and RADAR detections acquired from station-B mounted on the bridge. The dGPS reference data of vehicles and the LiDAR pointcloud give a good basis to evaluate the accuracy of RADAR detections under different conditions.

Fig. 3: Ground-truth 3D bounding boxes (based on dGPS data) and the LiDAR pointcloud corresponding to a selected scenario. Such collected data is to be used to evaluate the performance of perception algorithms.
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3rd ZalaZONE Trilateral ONLINE Conference

Motto: “Increasing the intensity of cooperation”
16/10/2020

AGENDA

10:00 - 10:05

Welcome

Dr. Zsolt Szalay, Head of Research and Innovation ZalaZONE Automotive Proving Ground

10:05 - 10:15

Keynote OpeningBest Practices in International R&D Cooperation

Prof. Dr. Zoran Ren, Vice-Rector for Science and Research,Professor of Mechanical EngineeringUniversity of Maribor

10:15 - 11:15

Project review of bilateral Austrian-Hungarian cooperation

Fleet-based qualification of transnational road networks for autonomous driving

hub.connect

TestEPS

Central system architecturedevelopment for automated vehicle testing and operating related services




DI Dr. Veronika Putz, Linz Center of Mechatronics


DI Norbert Hainitz,Austrian Institute of Technology

Dipl.-Ing. JakobReckenzaun, Virtual Vehicle

Dr. Viktor Tihanyi, BudapestUniversity of Technology and Economics

11:15 - 11:25

Significance of research funding in promoting AT-HU-SLO trilateral cooperation

Mr. Andreas Blust, Federal Ministry for Climate Action, Environment, Energy, Mobility, Innovation and Technology

Dr. István Szabó, NRDI Office, Vice President for Science and International Affairs

11:25 - 11:35

Short intro/status report on the “state of play” in HU & SLO and AT

DI Martin Russ, Managing Director AustriaTech

11:35 - 12:00

Announcing of tender opportunities supporting Hungarian-Austrian bilateral cooperation

Mr. Michael Walch, Ms. Verena Eder, FFG –Austrian Research Promotion Agency

Ms. Szonja Csuzdi, Head of Department for International Affairs

Mr. Gergely Mészáros, EUREKA NPC, NRDI Office

11:35 - 12:00

Q & A
Closing remarks

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