WATonoBus: Field-Tested All-Weather Autonomous Shuttle Technology

• URL: http://arxiv.org/abs/2312.00938v2
• Date: Wed, 14 Aug 2024 20:21:01 GMT
• Title: WATonoBus: Field-Tested All-Weather Autonomous Shuttle Technology
• Authors: Neel P. Bhatt, Ruihe Zhang, Minghao Ning, Ahmad Reza Alghooneh, Joseph Sun, Pouya Panahandeh, Ehsan Mohammadbagher, Ted Ecclestone, Ben MacCallum, Ehsan Hashemi, Amir Khajepour,
• Abstract summary: All-weather autonomous vehicle operation poses significant challenges, encompassing modules from perception and decision-making to path planning and control. We propose a multi- module and modular system architecture with considerations for adverse weather across the perception level. We demonstrate our proposed approach is capable of addressing adverse weather conditions and provide valuable insights from edge cases observed during operation.
• Score: 8.815412946998475
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: All-weather autonomous vehicle 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 such as rain, snow, and fog across the autonomy stack. Conventional model-based 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 such as snow covered curb detection, to decision-making and safety monitoring. Through daily weekday service on the WATonoBus platform for almost two years, we demonstrate that our proposed approach is capable of addressing adverse weather conditions and provide valuable insights from edge cases observed during operation.

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