Table 1.

A comparison of the commonly employed sensors in self-driving cars, only sensors fusion, and combined V2X. The “√” symbol indicates that the sensor operates competently under the specific factor. The “~” indicates that the sensor performs reasonably well under the specific factor. The “×” indicates that the sensor does not operate well under specific factors relative to the other sensors.

Factor	Camera	LiDAR	Radar	Only Fusion	Fusion and V2X
Range	~	~	√	~	√
Resolution	√	~	×	√	√
Distance Accuracy	~	√	√	~	√
Velocity	~	×	√	√	√
Color Perception (e.g., traffic lights)	√	×	×	√	√
Object Detection	~	√	√	~	√
Object Classification	√	~	×	√	√
Lane Detection	√	×	×	√	√
Obstacle Edge Detection	√	√	×	√	√
Illumination Conditions	×	√	√	~	√
Weather Conditions	×	~	√	~	√