Yatbaz, Hakan Yekta, Dianati, Mehrdad and Woodman, Roger (2024) Introspection of DNN-based perception functions in automated driving systems : state-of-the-art and open research challenges. IEEE Transactions on Intelligent Transportation Systems, 25 (2). pp. 1112-1130. doi:10.1109/TITS.2023.3315070 ISSN 1524-9050.
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Abstract
Automated driving systems (ADSs) aim to improve the safety, efficiency and comfort of future vehicles. To achieve this, ADSs use sensors to collect raw data from their environment. This data is then processed by a perception subsystem to create semantic knowledge of the world around the vehicle. State-of-the-art ADSs’ perception systems often use deep neural networks for object detection and classification, thanks to their superior performance compared to classical computer vision techniques. However, deep neural network-based perception systems are susceptible to errors, e.g., failing to correctly detect other road users such as pedestrians. For a safety-critical system such as ADS, these errors can result in accidents leading to injury or even death to occupants and road users. Introspection of perception systems in ADS refers to detecting such perception errors to avoid system failures and accidents. Such safety mechanisms are crucial for ensuring the trustworthiness of ADSs. Motivated by the growing importance of the subject in the field of autonomous and automated vehicles, this paper provides a comprehensive review of the techniques that have been proposed in the literature as potential solutions for the introspection of perception errors in ADSs. We classify such techniques based on their main focus, e.g., on object detection, classification and localisation problems. Furthermore, this paper discusses the pros and cons of existing methods while identifying the research gaps and potential future research directions.
Item Type: | Journal Article |
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Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics |
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) |
Library of Congress Subject Headings (LCSH): | Automated vehicles, Deep learning (Machine learning), Introspection, Perception, Automated vehicles -- Safety measures |
Journal or Publication Title: | IEEE Transactions on Intelligent Transportation Systems |
Publisher: | IEEE |
ISSN: | 1524-9050 |
Official Date: | February 2024 |
Dates: | Date Event February 2024 Published 22 September 2023 Available 25 August 2023 Accepted |
Volume: | 25 |
Number: | 2 |
Page Range: | pp. 1112-1130 |
DOI: | 10.1109/TITS.2023.3315070 |
Status: | Peer Reviewed |
Publication Status: | Published |
Re-use Statement: | © 2023 Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Access rights to Published version: | Restricted or Subscription Access |
Date of first compliant deposit: | 20 September 2023 |
Date of first compliant Open Access: | 20 September 2023 |
Related URLs: | |
URI: | https://wrap.warwick.ac.uk/179419/ |
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