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Studies predict that demand for autonomous vehicles will increase tenfoldbetween 2019 and 2026. However, recent high-profile accidents havesignificantly impacted consumer confidence in this technology. The cause formany of these accidents can be traced back to the inability of these vehiclesto correctly sense the impending danger. In response, manufacturers have beenimproving the already extensive on-vehicle sensor packages to ensure that thesystem always has access to the data necessary to ensure safe navigation.However, these sensor packages only provide a view from the vehicle'sperspective and, as a result, autonomous vehicles still require frequent humanintervention to ensure safety.  To address this issue, I developed a system, called Horus, that combineson-vehicle and infrastructure-based sensors to provide a more complete view ofthe environment, including areas not visible from the vehicle. I built asmall-scale experimental testbed as a proof of concept. My measurements of theimpact of sensor failures showed that even short outages (1 second) at slowspeeds (25 km/hr scaled velocity) prevents vehicles that rely on on-vehiclesensors from navigating properly. My experiments also showed that Horusdramatically improves driving safety and that the sensor fusion algorithmselected plays a significant role in the quality of the navigation. With just apair of infrastructure sensors, Horus could tolerate sensors that fail 40% ofthe time and still navigate safely. These results are a promising first steptowards safer autonomous vehicles.

Horus: Using Sensor Fusion to Combine Infrastructure and On-board Sensing to Improve Autonomous Vehicle Safety