Resilience of Spatial Environment Perception Toward Fully Automated Driving: A Review

Advanced driver assistance systems (ADASs) rely heavily on the resilient spatial perception of the surrounding environment of vehicles enabled by sensor systems, such as Radio detection and ranging (RADAR), light detection and ranging (LIDAR), and cameras. The electric/electronic (E/E) architecture of the vehicle must ensure that the sensor systems and data gathering and processing for the perception operate under all circumstances. However, certain factors can affect the resilience of the sensor system and the supporting E/E architecture, such as internal software failures and external weather conditions. This article provides a comprehensive review of the latest developments in automotive sensor systems and architectures, highlighting potential disturbances and presenting corresponding countermeasures for hardware and software failures. We also identify challenging applications and assess the requirements for resilience to make these applications feasible under all circumstances. Based on this review, we propose a comprehensive framework for developing resilient sensor systems and architectures that can serve as a basis for further research toward fully automated driving (AD).