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This research develops, compares, and analyzes both a traditional algorithm using computer vision and a deep learning model to deal with dynamic road conditions. In the final testing, the deep learning model completed the target of five laps for both the inner and outer lane, whereas the computer vision algorithm only completed almost three laps for the inner lane and slightly over four laps for the outer. After conducting statistical analysis on the results of our deep learning model by finding the p-value between the absolute error and squared error of the self-driving algorithm in the outer lane and inner lane, we find that our results are statistically significant based on a two-tailed T test with unequal variances where the p-value for absolute error is 0.009, and 0.001 for squared error. Self-driving vehicles are not only complex, but they are growing in necessity—therefore, finding an optimal solution for lane detection in dynamic conditions is crucial to continue innovation. 

Self-driving and automated vehicles rely on a comprehensive understanding of their surroundings and one another to operate effectively. While the use of sensors may allow the vehicles to directly perceive their environments, there are instances where information remains hidden from a vehicle. To address this, vehicles can transmit information between each other, enabling over-the-horizon awareness. We create a Robot Operating System simulation of vehicle-to-everything communication. Then, using two real-life electric vehicles equipped with global positioning systems and cameras, we aggregate time, position, and navigation information into a central database on a roadside unit. Our model uses an image classification deep learning model to detect obstacles on the road. Next, we create a web-based graphical user interface that automatically updates to display the vehicles and obstacles from the database. Finally, we use an occupancy grid to predict vehicle trajectories and prevent potential collisions. Our deep learning model has a precision-recall score of 0.995 and our system works across many devices. In the future, we aim to recognize a broader range of objects, including pedestrians, and use multiple roadside units to widen the scope of the model.