ReliablE in-Vehicle pErception and decisioN-making in complex environmenTal conditionS (EVENTS)

驾驶是一项具有挑战性的任务。在我们的日常生活中，作为司机，我们面临着意想不到的情况，我们需要以安全有效的方式处理。这同样适用于联网和自动驾驶汽车（cav），它们也需要在一定程度上处理这些情况，具体取决于它们的自动化水平。自动化水平越高，对系统处理这些情况的期望就越高。在本项目的背景下，这些CAV的正常运行接近中断的意外情况（例如，由于交通变化，恶劣的天气/光照条件，不完善的数据，传感器/通信故障等而达到ODD限制）称为“事件”。EVENTS也是这个项目的缩写。今天，自动驾驶汽车正面临着一些挑战（例如，在复杂的城市环境中的感知，脆弱道路使用者（vru）的检测，在恶劣天气和低能见度条件下的感知），为了能够以安全可靠的方式在这些事件中行驶，必须克服这些挑战。在我们的范围内，为了覆盖更广泛的场景，这些类型的事件被聚集在三个主要用例下：a)与vru的交互，b)非标准和非结构化路况，以及c)低能见度和恶劣天气条件。我们对EVENTS的愿景是为自动驾驶汽车创建一个强大的、自我恢复的感知和决策系统，以管理地平线上不同类型的“事件”。由于动态变化的道路环境（vru，障碍物）和/或数据不完善（例如传感器和通信故障），这些事件导致达到AV ODD限制。无论发生什么情况，自动驾驶汽车都应继续安全运行。当系统无法处理这种情况时，应采取改进的最小化风险操作。

Driving is a challenging task. In our everyday life as drivers, we are facing unexpected situations we need to handle in a safe and efficient way. The same is valid for Connected and Automated Vehicles (CAVs), which also need to handle these situations, to a certain extent, depending on their automation level. The higher the automation level is, the higher the expectations for the system to cope with these situations are. In the context of this project, these unexpected situations where the normal operation of the CAV is close to be disrupted (e.g. ODD limit is reached due to traffic changes, harsh weather/light conditions, imperfect data, sensor/communication failures, etc.), are called “events”. EVENTS is also the acronym of this project. Today, CAVs are facing several challenges (e.g. perception in complex urban environments, Vulnerable Road Users (VRUs) detection, perception in adverse weather and low visibility conditions) that should be overcome in order to be able to drive through these events in a safe and reliable way. Within our scope, and in order to cover a wide area of scenarios, these kinds of events are clustered under three main use cases: a) Interaction with VRUs, b) Non-Standard and Unstructured Road Conditions and c) Low Visibility and Adverse Weather Conditions. Our vision in EVENTS is to create a robust and self-resilient perception and decision-making system for AVs to manage different kind of “events” on the horizon. These events result in reaching the AV ODD limitations due to the dynamic changing road environment (VRUs, obstacles) and/or due to imperfect data (e.g. sensor and communication failures). The AV should continue and operate safely no matter what. When the system cannot handle the situation, an improved minimum risk manoeuvre should be put in place.