S
AnF
= The distance covered during the vehicle control’s response time, which is speci‐
fied in the vehicle documentation
S
AnS
= The distance covered during the response time of the LiDAR sensor
S
Br
= The braking distance, found in the vehicle documentation
The distance S
AnS
covered during the response time of the LiDAR sensor depends on:
•
the response time of the LiDAR sensor
•
the maximum speed of the vehicle in your mobile application
For more information on the response time T
S
of the LiDAR sensor,
.
How to calculate the distance S
AnS
covered during the response time of the LiDAR
sensor:
S
AnS
= T
S
× V
max
T
S
= Response time of the LiDAR sensor
V
max
Maximum speed of the vehicle, from the relevant vehicle documentation
The response time T
S
of the LiDAR sensor depends on:
•
the base response time of the LiDAR sensor
•
whether multiple sampling is set
•
the filter settings (e.g., particle filter).
ZR supplement
This supplement must be determined on an application-specific basis and taken into
account appropriately. The following factors can make it necessary to use a supple‐
ment: reflectors or shiny objects on the scan plane, multi-echo analysis, blanking size,
device filter (e.g., particle filter).
3.4.13.2
Switching field width
The width of the switching field must cover the width of the vehicle and take into
account the supplements for the measurement error.
The switching field width SB can be calculated using the following formula (guideline
values based on a pixel calculation):
SB = FB + 2 × (ZG + ZR)
FB
= Vehicle width
ZG
= General safety supplement for the LiDAR sensor = 100 mm
ZR
= Supplement for application-related influences or the selected application parame‐
ters
PRODUCT DESCRIPTION
3
8023051/1AZG/2021-05-10 | SICK
O P E R A T I N G I N S T R U C T I O N S | LMS1104C-111031S01
27
Subject to change without notice
