WATonoBus: An All Weather Autonomous Shuttle

arXiv:2312.00938v1 Announce Type: cross
Abstract: Autonomous vehicle all-weather operation poses significant challenges, encompassing modules from perception and decision-making to path planning and control. The complexity arises from the need to address adverse weather conditions like rain, snow, and fog across the autonomy stack. Conventional model-based and single-module approaches often lack holistic integration with upstream or downstream tasks. We tackle this problem by proposing a multi-module and modular system architecture with considerations for adverse weather across the perception level, through features …

abstract arxiv autonomous autonomous vehicle autonomy challenges complexity control cs.ai cs.cv cs.ro decision integration making modules path perception planning rain snow stack type weather