The upsurge of autonomous vehicles in the automobile industry will lead to better driving experiences while also enabling the users to solve challenging navigation problems. Reaching such capabilities will require significant technological attention and the flawless execution of various complex tasks, one of which is ensuring robust localization and mapping. Recent surveys have not provided a meaningful and comprehensive description of the current approaches in this field. Accordingly, this review is intended to provide adequate coverage of the problems affecting autonomous vehicles in this area, by examining the most recent methods for mapping and localization as well as related feature extraction and data security problems. First, a discussion of the contemporary methods of extracting relevant features from equipped sensors and their categorization as semantic, non-semantic, and deep learning methods is presented. We conclude that representativeness, low cost, and accessibility are crucial constraints in the choice of the methods to be adopted for localization and mapping tasks. Second, the survey focuses on methods to build a vehicle’s environment map, considering both the commercial and the academic solutions available. The analysis proposes a difference between two types of environment, known and unknown, and develops solutions in each case. Third, the survey explores different approaches to vehicle localization and also classifies them according to their mathematical characteristics and priorities. Each section concludes by presenting the related challenges and some future directions. The article also highlights the security problems likely to be encountered in self-driving vehicles, with an assessment of possible defense mechanisms that could prevent security attacks in vehicles. Finally, the article ends with a debate on the potential impacts of autonomous driving, spanning energy consumption and emission reduction, sound and light pollution, integration into smart cities, infrastructure optimization, and software refinement. This thorough investigation aims to foster a comprehensive understanding of the diverse implications of autonomous driving across various domains.

Soft computing models based on fuzzy or probabilistic approaches provide decision system makers with the necessary capabilities to deal with imprecise and incomplete information. Hybrid systems based on different soft computing approaches with complementary qualities and principles have also become popular. On the one hand, fuzzy logic makes its decisions on the basis of the degree of membership but gives no information on the frequency of an event; on the other hand, the probability informs us of the frequency of the event but gives no information on the degree of membership to a set. In this work, we propose a new measure that implements both fuzzy and probabilistic notions (i.e., the degree of membership and the frequency) while exploiting the ability of the convolution operator to combine functions on continuous intervals. This measure evaluates both the degree of membership and the frequency of objects/events in the design of decision support systems. We show, using concrete examples, the drawbacks of fuzzy logic and probability-based approaches taken separately, and we then show how a fuzzy probabilistic convolution measure allows the correction of these drawbacks. Based on this measure, we introduce a new clustering method named Fuzzy-Probabilistic-Convolution-C-Means (FP-Conv-CM). Fuzzy C-Means (FCM), Probabilistic K-Means (PKM), and FP-Conv-CM were tested on multiple datasets and compared on the basis of two performance measures based on the Silhouette metric and the Dunn’s Index. FP-Conv-CM was shown to improve on both metrics. In addition, FCM, PKM, and FP-Conv-CM were used for multiple image compression tasks and were compared based on three performance measures: Mean Square Error (MSE), Peak Signal-to-Noise Ratio (PSNR), and Structural SImilarity Index (SSIM). The proposed FP-Conv-CM method shows improvements in all these three measures as well.

Self-driving vehicles need a robust positioning system to continue the revolution in intelligent transportation. Global navigation satellite systems (GNSS) are most commonly used to accomplish this task because of their ability to accurately locate the vehicle in the environment. However, recent publications have revealed serious cases where GNSS fails miserably to determine the position of the vehicle, for example, under a bridge, in a tunnel, or in dense forests. In this work, we propose a framework architecture of explaining deep learning LiDAR-based (XDLL) models that predicts the position of the vehicles by using only a few LiDAR points in the environment, which ensures the required fastness and accuracy of interactions between vehicle components. The proposed framework extracts non-semantic features from LiDAR scans using a clustering algorithm. The identified clusters serve as input to our deep learning model, which relies on LSTM and GRU layers to store the trajectory points and convolutional layers to smooth the data. The model has been extensively tested with short- and long-term trajectories from two benchmark datasets, Kitti and NCLT, containing different environmental scenarios. Moreover, we investigated the obtained results by explaining the contribution of each cluster feature by using several explainable methods, including Saliency, SmoothGrad, and VarGrad. The analysis showed that taking the mean of all the clusters as an input for the model is enough to obtain better accuracy compared to the first model, and it reduces the time consumption as well. The improved model is able to obtain a mean absolute positioning error of below one meter for all sequences in the short- and long-term trajectories.

To limit the adverse effects of diabetes, a personalized and long-term management strategy that includes appropriate medication, exercise and diet has become of paramount importance and necessity. Compartment-based mathematical control models for diabetes usually result in objective functions whose terms are conflicting, preventing the use of single-objective-based models for obtaining appropriate personalized strategies. Taking into account the conflicting aspects when controlling the diabetic population dynamics, this paper introduces a multi-objective approach consisting of four steps: (a) modeling the problem of controlling the diabetic population dynamics using a multi-objective mathematical model, (b) discretizing the model using the trapezoidal rule and the Euler–Cauchy method, (c) using swarm-intelligence-based optimizers to solve the model and (d) structuring the set of controls using soft clustering methods, known for their flexibility. In contrast to single-objective approaches, experimental results show that the multi-objective approach obtains appropriate personalized controls, where the control associated with the compartment of diabetics without complications is totally different from that associated with the compartment of diabetics with complications. Moreover, these controls enable a significant reduction in the number of diabetics with and without complications, and the multi-objective strategy saves up to 4% of the resources needed for the control of diabetes without complications and up to 18% of resources for the control of diabetes with complications.

With the development of autonomous vehicles, localization and mapping technologies have become crucial to equip the vehicle with the appropriate knowledge for its operation. In this paper, we extend our previous work by prepossessing a localization and mapping architecture for autonomous vehicles that do not rely on GPS, particularly in environments such as tunnels, under bridges, urban canyons, and dense tree canopies. The proposed approach is of two parts. Firstly, a K-means algorithm is employed to extract features from LiDAR scenes to create a local map of each scan. Then, we concatenate the local maps to create a global map of the environment and facilitate data association between frames. Secondly, the main localization task is performed by an adaptive particle filter that works in four steps: (a) generation of particles around an initial state (provided by the GPS); (b) updating the particle positions by providing the motion (translation and rotation) of the vehicle using an inertial measurement device; (c) selection of the best candidate particles by observing at each timestamp the match rate (also called particle weight) of the local map (with the real-time distances to the objects) and the distances of the particles to the corresponding chunks of the global map; (d) averaging the selected particles to derive the estimated position, and, finally, using a resampling method on the particles to ensure the reliability of the position estimation. The performance of the newly proposed technique is investigated on different sequences of the Kitti and Pandaset raw data with different environmental setups, weather conditions, and seasonal changes. The obtained results validate the performance of the proposed approach in terms of speed and representativeness of the feature extraction for real-time localization in comparison with other state-of-the-art methods.