The perception subsystem, processes data from sensors into structured information that can eventually be used for path planning or control. This is where environment analysis takes place by the vehicle. So we can think of the perception subsystem as the vehicle center of understanding about its environment. Broadly speaking, we can further divide the perception subsystem itself into two underlying subsystems;
Using sensor and map data to determine the vehicle’s precise location is done by the localization subsystem. The detection subsystem is responsible for understanding the surrounding environment. This subsystem includes software components such as;
- Lane detection
- Traffic sign and traffic light detection classification
- Object detection and tracking
- Free space detection.
Different components in the detection and localization subsystems draw information from different sensors. Additionally, the localization subsystem requires map data which it uses to identify the vehicle’s location. The perception subsystem passes the data from localization and detection to the planning subsystem. The planning subsystem determines what maneuver the vehicle should undertake next.