The key to building a good environment model is the vehicle sensors. The following is a list of the most important sensors:
- Camera: Its images are used to detect the road surface, lane markings, pedestrians, cyclists, other vehicles, and so on. An important camera property in the automotive context (besides the resolution) is the field of view. It measures how much of the observable world the camera sees at any given moment. For example, with a 180o field of view, it can see everything in front of it and nothing behind. With a 360o field of view, it can see everything in front of it and everything behind the vehicle (full observation). The following different types of camera systems exist:
- Mono camera: Uses a single forward-facing ...