Modelling of LIDAR sensor disturbances by solid airborne particles

This paper aims to introduce a method for simulating with a real time performance the automotive LIDAR disturbance by dust clouds caused by natural phenomena, mechanical or man-made processes like a traveling vehicle. In this study, we are interested to study the interaction of an automotive LIDAR sensor with a dust cloud composed of solid particles. The main objective of this study is to provide a simulation model to industry and research laboratories that help to study LIDAR performance in a dust-sand environment with the capability to reproduce the encountered problems in degraded conditions and the ability to parameterize the degradation model. Based on industrial projects with a passenger's vehicles and truck manufacturers, we present LIDAR sensor and functionalities to perceive objects in a scene (pedestrian, car, truck, ...) in clear or extreme weather conditions. Simulated and experimental data are compared and analyzed in this article. The features presented are evaluated according to their quality for object detection. This study can be applied to sensors post-processing algorithms (object recognition, tracking, data fusion...) and even to the design of cleaning systems.