Abstract
This study presents a novel artificial intelligence-driven architecture for real-time sensor fusion in autonomous vehicles (AVs), leveraging Apache Kafka and MongoDB for synchronous and asynchronous data processing to enhance resilience against sensor failures and dynamic conditions. We introduce Chaotic AdaBoost (CAB), an advanced variant of AdaBoost that integrates a logistic chaotic map into its weight update process, overcoming the limitations of deterministic ensemble methods. CAB is evaluated alongside k-Nearest Neighbors (kNNs), Artificial Neural Networks (ANNs), standard AdaBoost (AB), Gradient Boosting (GBa), and Random Forest (RF) for speed and acceleration prediction using CARLA simulator data. CAB achieves a superior 99.3% accuracy (MSE: 0.018 for acceleration, 0.010 for speed; MAE: 0.020 for acceleration, 0.012 for speed; R(2): 0.993 for acceleration, 0.997 for speed), a mean Time-To-Collision (TTC) of 3.2 s, and jerk of 0.15 m/s(3), outperforming AB (98.5%, MSE: 0.15, TTC: 2.8 s, jerk: 0.22 m/s(3)), GB (99.1%), ANN (98.2%), RF (97.5%), and kNN (87.0%). This logistic map-enhanced adaptability, reducing MSE by 88% over AB, ensures robust anomaly detection and data fusion under uncertainty, critical for AV safety and comfort. Despite a 20% increase in training time (72 s vs. 60 s for AB), CAB's integration with Kafka's high-throughput streaming maintains real-time efficacy, offering a scalable framework that advances operational reliability and passenger experience in autonomous driving.