Table 4 Simulation setup details.

MATLAB version

2023

Toolboxes used

Simulink, Image Processing Toolbox, Deep Learning Toolbox

Computer configurations

CPU: Intel Core i7-11700 K, RAM: 32GB, GPU: NVIDIA RTX 3080

Sensor information

GPS sensor

- Type: Global Positioning System (GPS)

- Accuracy: ±2.5 m

- Update Rate: 1 Hz

Camera sensor

- Type: RGB camera

- Resolution: 1920 × 1080 pixels

- Frame Rate: 30 frames per second (fps)

Radar sensor

- Type: Doppler radar

- Range: Up to 200 m

- Velocity resolution: 0.1 m/s

LiDAR sensor

- Type: Light Detection and Ranging (LiDAR)

- Range: Up to 100 m

- Angular resolution: 0.1 degrees

Ultrasonic sensor

- Type: Ultrasonic distance sensor

- Range: Up to 4 m

- Resolution: 1 mm