Sensing

The sensing of an autonomous vehicle consists of two main problems: the localization and the perception. The goal of the localization module is the estimation of the current vehicle state in its local frame in a first and within the given global HD map in a second step as accurately as possible considering the previous vehicle state and all available sensor information.

The goal of the perception is the detection of static and dynamic objects within the surveillance area and the accurate tracking of other traffic participants based on the detection outputs. Additionally, a robust road model has to be generated.