[SP] Monitor of rotational rate of lidar as safety module

[datahaki]

Background

The lidar of type VLP-16 is mounted on the gokart. The spin rate of the sensor is configurable to a value between 10-20[Hz]. A spin rate of 20[Hz] has less angular resolution but a better temporal coverage/update rate. Also, localization based on lidar profits from a higher rate. Thus, a rate close to 20[Hz] is desired. A rate lower than 19[Hz] can be the cause of wrong sensor configuration, or sensor failure.

Task description

The task consists of creating a software module that monitors the lidar rotational rate. The module prevents the gokart from accelerating when the lidar rotational rate has dropped below 19[Hz] for a period of time.

Related work

• DeadManSwitchModule
• LinmotTakeoverModule