Height of the scan plane
The recommended mounting height for mobile applications is at least 150 mm.
3.4.13.1
Switching field length
You must configure the switching field so that a minimum distance to the vehicle is
maintained at all times. This ensures that a vehicle monitored by the LiDAR sensor
stops before an object is reached. You can define multiple monitoring cases each with
different switching fields. These can be switched over dynamically via static control
inputs, for example to adjust the switching field size based on the vehicle speed.
In this kind of application, you must calculate the switching field sizes (in particular the
switching field lengths) for all speeds.
The switching field length SL can be calculated using the following formula (guideline
values based on a pixel calculation):
SL = SA + ZG + ZR + ZB
SA
= Stopping distance
ZG
= General safety supplement for the LiDAR sensor = 100 mm
ZR
= Supplement for application-related influences or the selected application parame‐
ters
ZB
= Supplement for the decreasing braking force of the vehicle. This can be obtained
from the relevant vehicle documentation, or alternatively: 10% of the stopping distance.
Stopping distance SA
The stopping distance comprises the vehicle’s braking distance and the distance cov‐
ered during the response time of the LiDAR sensor and the vehicle control’s response
time.
1
2
3
4
Figure 27: Stopping distance
1
S
A
2
S
AnF
3
S
AnS
4
S
Br
NOTE
Please note that a vehicle’s braking distance does not increase linearly with increasing
speed, but rather in a squared relationship. This is particularly important if you switch
between different-sized switching fields depending on the speed.
How to calculate the stopping distance SA:
SA = S
AnF
+ S
AnS
+ S
Br
3
PRODUCT DESCRIPTION
26
O P E R A T I N G I N S T R U C T I O N S | LMS1104C-111031S01
8023051/1AZG/2021-05-10 | SICK
Subject to change without notice
