Time delay compensation for environmental sensors of high-level automated driving systems

This paper presents a time delay compensation algorithm for environmental sensors of automated driving systems. The time delay involved with the transmission of the measurements from the sensors to the processor cannot be negligible because it is responsible for estimation and control of the system. As the automotive environmental sensors such as laser scanner or radar perform measurements at a constant frequency, the measurement time latencies can be assumed to be constant. From this aspect, the constant time delay characteristics is analyzed via vehicle tests and compensated by forward estimation based coordinate transformation. The proposed compensation algorithm has been verified via test data based open loop simulation of Automated Driving Systems (ADS). It is shown that the proposed compensation enhances environment perception performance and driver´s safety.