2. Perception of the road environment: a set of actors to perceive, follow, and recognize

The design of automated mobility systems is based on a software and hardware architecture organized into five levels: sensors and information sources, perception and localization, decision-making and risk assessment, trajectory planning and maneuvering strategies, and control and command of vehicle actuators.

Among these levels, sensors and perception are essential and critical. Without sensors, perception is impossible, making automated driving unfeasible. Similarly, unreliable perception prevents relevant decision-making and the generation of safe trajectories.

After presenting the context of automated mobility in the previous article