3. Perceive and locate features of importance

3.1 Perceive

The problem of perception consists in characterizing in real time what cannot be recorded in the map (other users such as cyclists or vehicles, the state of variable message signs, etc.). The final goal is to characterize the free space in which the vehicle can navigate.

In other words:

• detect and locate dynamic objects;

• identify the status of variable signage, such as traffic lights;

• characterize the navigable space.

The first problem refers to the notion of a "dynamic local map" (CLD). This is a representation in which objects are generally characterized as follows: