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Multi-sensor Fusion Module in a Fault Tolerant Perception System for Autonomous Vehicles

Miguel Realpe 1,2, Boris X. Vintimilla 2, Ljubo Vlacic 1
1. Intelligent Control Systems Laboratory, Griffith University. Brisbane, Australia
2. Escuela Superior Politécnica del Litoral, ESPOL, CIDIS - FIEC, Campus Gustavo Galindo Km 30.5 Vía Perimetral, Guayaquil, Ecuador
Abstract—Driverless vehicles are currently being tested on public roads in order to examine their ability to perform in a safe and reliable way in real world situations. However, the long-term reliable operation of a vehicle’s diverse sensors and the effects of potential sensor faults in the vehicle system have not been tested yet. This paper is proposing a sensor fusion architecture that minimizes the influence of a sensor fault. Experimental results are presented simulating faults by introducing displacements in the sensor information from the KITTI dataset.

Index Terms—fault tolerance, data fusion, multi-sensor fusion, autonomous vehicles, perception system

Cite: Miguel Realpe, Boris X. Vintimilla, and Ljubo Vlacic, "Multi-sensor Fusion Module in a Fault Tolerant Perception System for Autonomous Vehicles," Jounal of Automation and Control Engineering, Vol. 4, No. 6, pp. 460-466, December, 2016. doi: 10.18178/joace.4.6.460-466
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