Perception and sensing for autonomous vehicles under adverse weather conditions: A survey

Automated Driving Systems (ADS) open up a new domain for the automotive industry and offer new possibilities for future transportation with higher efficiency and comfortable experiences. However, perception and sensing for autonomous driving under adverse weather conditions have been the problem tha...

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Published inISPRS journal of photogrammetry and remote sensing Vol. 196; pp. 146 - 177
Main Authors Zhang, Yuxiao, Carballo, Alexander, Yang, Hanting, Takeda, Kazuya
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.02.2023
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Abstract Automated Driving Systems (ADS) open up a new domain for the automotive industry and offer new possibilities for future transportation with higher efficiency and comfortable experiences. However, perception and sensing for autonomous driving under adverse weather conditions have been the problem that keeps autonomous vehicles (AVs) from going to higher autonomy for a long time. This paper assesses the influences and challenges that weather brings to ADS sensors in a systematic way, and surveys the solutions against inclement weather conditions. State-of-the-art algorithms and deep learning methods on perception enhancement with regard to each kind of weather, weather status classification, and remote sensing are thoroughly reported. Sensor fusion solutions, weather conditions coverage in currently available datasets, simulators, and experimental facilities are categorized. Additionally, potential ADS sensor candidates and developing research directions such as V2X (Vehicle to Everything) technologies are discussed. By looking into all kinds of major weather problems, and reviewing both sensor and computer science solutions in recent years, this survey points out the main moving trends of adverse weather problems in perception and sensing, i.e., advanced sensor fusion and more sophisticated machine learning techniques; and also the limitations brought by emerging 1550 nm LiDARs. In general, this work contributes a holistic overview of the obstacles and directions of perception and sensing research development in terms of adverse weather conditions.
AbstractList Automated Driving Systems (ADS) open up a new domain for the automotive industry and offer new possibilities for future transportation with higher efficiency and comfortable experiences. However, perception and sensing for autonomous driving under adverse weather conditions have been the problem that keeps autonomous vehicles (AVs) from going to higher autonomy for a long time. This paper assesses the influences and challenges that weather brings to ADS sensors in a systematic way, and surveys the solutions against inclement weather conditions. State-of-the-art algorithms and deep learning methods on perception enhancement with regard to each kind of weather, weather status classification, and remote sensing are thoroughly reported. Sensor fusion solutions, weather conditions coverage in currently available datasets, simulators, and experimental facilities are categorized. Additionally, potential ADS sensor candidates and developing research directions such as V2X (Vehicle to Everything) technologies are discussed. By looking into all kinds of major weather problems, and reviewing both sensor and computer science solutions in recent years, this survey points out the main moving trends of adverse weather problems in perception and sensing, i.e., advanced sensor fusion and more sophisticated machine learning techniques; and also the limitations brought by emerging 1550 nm LiDARs. In general, this work contributes a holistic overview of the obstacles and directions of perception and sensing research development in terms of adverse weather conditions.
Author Takeda, Kazuya
Carballo, Alexander
Yang, Hanting
Zhang, Yuxiao
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  surname: Zhang
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  email: yuxiao.zhang@g.sp.m.is.nagoya-u.ac.jp
  organization: Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ward, Nagoya, 464-8601, Japan
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  givenname: Hanting
  orcidid: 0000-0002-9776-0705
  surname: Yang
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  organization: Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ward, Nagoya, 464-8601, Japan
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  surname: Takeda
  fullname: Takeda, Kazuya
  organization: Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ward, Nagoya, 464-8601, Japan
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Keywords Deep learning
Sensor fusion
Perception and sensing
Autonomous driving
Adverse weather conditions
LiDAR
Language English
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Trenberth (10.1016/j.isprsjprs.2022.12.021_b260) 2018; 99
Palffy (10.1016/j.isprsjprs.2022.12.021_b187) 2022; 7
Lang (10.1016/j.isprsjprs.2022.12.021_b139) 2019
Bos (10.1016/j.isprsjprs.2022.12.021_b32) 2021
Rong (10.1016/j.isprsjprs.2022.12.021_b220) 2020
Liu (10.1016/j.isprsjprs.2022.12.021_b150) 2020
SONY (10.1016/j.isprsjprs.2022.12.021_b240) 2021
Yan (10.1016/j.isprsjprs.2022.12.021_b301) 2018; 18
Zhang (10.1016/j.isprsjprs.2022.12.021_b321) 2021; 30
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Che (10.1016/j.isprsjprs.2022.12.021_b50) 2019
Jokela (10.1016/j.isprsjprs.2022.12.021_b117) 2019; 9
Afifi (10.1016/j.isprsjprs.2022.12.021_b4) 2021
Charron (10.1016/j.isprsjprs.2022.12.021_b49) 2018
City of Ann Arbor, Michigan (10.1016/j.isprsjprs.2022.12.021_b54) 2021
Schechner (10.1016/j.isprsjprs.2022.12.021_b228) 2001
Ort (10.1016/j.isprsjprs.2022.12.021_b183) 2021
Zhu (10.1016/j.isprsjprs.2022.12.021_b328) 2017
Ahmed (10.1016/j.isprsjprs.2022.12.021_b6) 2020; 11
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John (10.1016/j.isprsjprs.2022.12.021_b116) 2021; 1
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FLIR (10.1016/j.isprsjprs.2022.12.021_b72) 2021
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Virginia Tech (10.1016/j.isprsjprs.2022.12.021_b281) 2021
Mehra (10.1016/j.isprsjprs.2022.12.021_b161) 2021; 22
New York City Department of Information Technology and Telecommunications (NYC DOITT) (10.1016/j.isprsjprs.2022.12.021_b177) 2021
Musat (10.1016/j.isprsjprs.2022.12.021_b167) 2021
Huang (10.1016/j.isprsjprs.2022.12.021_b109) 2019; 42
Onesimu (10.1016/j.isprsjprs.2022.12.021_b182) 2021
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Vargas Rivero (10.1016/j.isprsjprs.2022.12.021_b274) 2020; 20
Frenzel (10.1016/j.isprsjprs.2022.12.021_b74) 2021
Sauliala (10.1016/j.isprsjprs.2022.12.021_b227) 2021
Qorvo (10.1016/j.isprsjprs.2022.12.021_b203) 2021
SAE On-Road Automated Driving (10.1016/j.isprsjprs.2022.12.021_b223) 2014
Navtech Radar (10.1016/j.isprsjprs.2022.12.021_b174) 2021
Baril (10.1016/j.isprsjprs.2022.12.021_b18) 2021
Yang (10.1016/j.isprsjprs.2022.12.021_b305) 2021
Tesla (10.1016/j.isprsjprs.2022.12.021_b253) 2021
Laboratoire régional des ponts et chaussées (10.1016/j.isprsjprs.2022.12.021_b137) 2021
Velodyne (10.1016/j.isprsjprs.2022.12.021_b276) 2021
Zheng (10.1016/j.isprsjprs.2022.12.021_b323) 2021
Liu (10.1016/j.isprsjprs.2022.12.021_b149) 2021
Roehrig (10.1016/j.isprsjprs.2022.12.021_b218) 2014
Yu (10.1016/j.isprsjprs.2022.12.021_b315) 2020
Shapiro (10.1016/j.isprsjprs.2022.12.021_b233) 2021
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Horani (10.1016/j.isprsjprs.2022.12.021_b107) 2019
Shibata (10.1016/j.isprsjprs.2022.12.021_b237) 2020
Braga (10.1016/j.isprsjprs.2022.12.021_b33) 2021
dSpace (10.1016/j.isprsjprs.2022.12.021_b64) 2021
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Yinka (10.1016/j.isprsjprs.2022.12.021_b310) 2014
Redmon (10.1016/j.isprsjprs.2022.12.021_b212) 2018
Bartos (10.1016/j.isprsjprs.2022.12.021_b21) 2019; 9
Kim (10.1016/j.isprsjprs.2022.12.021_b127) 2001
PTV Group (10.1016/j.isprsjprs.2022.12.021_b200) 2021
Zhou (10.1016/j.isprsjprs.2022.12.021_b326) 2021
Jebson (10.1016/j.isprsjprs.2022.12.021_b115) 2007
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Ahmed (10.1016/j.isprsjprs.2022.12.021_b5) 2019; 9
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Pham (10.1016/j.isprsjprs.2022.12.021_b197) 2020
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Navtech Radar (10.1016/j.isprsjprs.2022.12.021_b175) 2021
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Brian (10.1016/j.isprsjprs.2022.12.021_b36) 2022
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Mardirosian (10.1016/j.isprsjprs.2022.12.021_b159) 2021
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  ident: 10.1016/j.isprsjprs.2022.12.021_b93
  article-title: Optical constants of water in the 200-nm to 200-μm wavelength region
  publication-title: Appl. Opt.
  doi: 10.1364/AO.12.000555
  contributor:
    fullname: Hale
– year: 2021
  ident: 10.1016/j.isprsjprs.2022.12.021_b279
  contributor:
    fullname: Velodyne
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Snippet Automated Driving Systems (ADS) open up a new domain for the automotive industry and offer new possibilities for future transportation with higher efficiency...
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StartPage 146
SubjectTerms Adverse weather conditions
Autonomous driving
Deep learning
LiDAR
Perception and sensing
Sensor fusion
Title Perception and sensing for autonomous vehicles under adverse weather conditions: A survey
URI https://dx.doi.org/10.1016/j.isprsjprs.2022.12.021
Volume 196
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