Integration of Computer Vision with Adaptive Control for Autonomous Driving Using ADORE

TL;DR

This paper presents a simulated autonomous driving system that integrates computer vision with adaptive control using ADORE, demonstrating robustness in perception and decision-making under varying weather conditions.

Contribution

It introduces a novel integration of a context-aware CV model with the ADORE adaptive control framework in a simulated environment for autonomous driving.

Findings

Robust detection performance in drift weather conditions.

Successful adaptation to speed limits and obstacles.

Low response latency in decision-making.

Abstract

Ensuring safety in autonomous driving requires a seamless integration of perception and decision making under uncertain conditions. Although computer vision (CV) models such as YOLO achieve high accuracy in detecting traffic signs and obstacles, their performance degrades in drift scenarios caused by weather variations or unseen objects. This work presents a simulated autonomous driving system that combines a context aware CV model with adaptive control using the ADORE framework. The CARLA simulator was integrated with ADORE via the ROS bridge, allowing real-time communication between perception, decision, and control modules. A simulated test case was designed in both clear and drift weather conditions to demonstrate the robust detection performance of the perception model while ADORE successfully adapted vehicle behavior to speed limits and obstacles with low response latency. The findings highlight the potential of coupling deep learning-based perception with rule-based adaptive decision making to improve automotive safety critical system.