Enhanced Black Ice Detection in Road EnvironmentsUsing LiDAR and Angle-Thermal Modulation

This paper explores a LiDAR-based approach for identifying black ice on road surfaces by analyzing variations in distance measurements ‎under controlled changes in temperature and sensor orientation. Utilizing the compact and economical Lidar Lite v3, we observed how sub-‎tle differences in reflectivity and surface angle can distinguish black ice from asphalt. Despite the sensor's ±1 cm error margin, experimental ‎outcomes suggest it is feasible to detect black ice through this method. The proposed approach offers a potential solution for real-time road ‎hazard monitoring and sets the foundation for further enhancements aimed at improving robustness in dynamic environments‎.