Lidar technology is a key sensor for autonomous driving due to its precise environmental perception. However, adverse weather and atmospheric conditions involving fog, rain, snow, dust, and smog can impair lidar performance, leading to potential safety risks. This paper introduces a comprehensive methodology to simulate lidar systems under such conditions and validate the results against real-world experiments. Existing empirical models for the extinction and backscattering of laser beams are analyzed, and new models are proposed for dust storms and smog, derived using Mie theory. These models are implemented in the CARLA simulator and evaluated using Robot Operating System 2 (ROS 2). The simulation methodology introduced allowed the authors to set up test experiments replicating real-world conditions, to validate the models against real-world data available in the literature, and to predict the performance of the lidar system in all weather conditions. This approach enables the development of virtual test scenarios for corner cases representing rare weather conditions to improve robustness and safety in autonomous systems.

The validation of sensor systems, particularly lidar, is crucial in advancing autonomous vehicle technology. Despite their robust perception capabilities, certain weather conditions and object characteristics can challenge detection performance, leading to potential safety concerns. This study investigates corner cases where object detection may fail due to physical constraints. Utilizing virtual testing environments like Carla and ROS2, simulations analyze how reflection characteristics affect detectability by implementing weather models into a real-time simulation. Results reveal challenges in detecting black objects compared to white ones, particularly in adverse weather conditions. A time-sensitive corner case was analyzed, revealing that while bad weather and wet roads restrict the safe driving speed range, complete deactivation of the driving assistant at certain speeds may be unnecessary despite current manufacturer practices. The study underscores the importance of considering such factors in future safety protocols to mitigate accidents and ensure reliable autonomous driving systems.