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Time-to-Contact Control for Safety and Reliability of Self-driving Cars
Name
paper_ISC.pdf
Description
Accepted version
Size
8.83 MB
Format
Adobe PDF
Checksum (MD5)
4aae2580b16733eb1eaf2f8a76871f62
Author(s)
Wang, Liang
Horn, Berthold K.P.
Date Issued
September 2017
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wang, Liang and Horn, Berthold K.P. 2017. "Time-to-Contact Control for Safety and Reliability of Self-driving Cars."
Version
Author's final manuscript
Abstract
© 2017 IEEE. For safety and reliability of self-driving cars, their control system must use the relative velocity of vehicles. The relative velocity can be estimated by differentiating the measured distance between cars with respect to time. However, inevitable measurement noise in the distance measurements will be amplified by the derivative operation. In this paper, we provide, as an alternative, a time-To-contact based approach to estimating the relative velocity, which can also be fused with measurements from other sensors, if desired. The system is implemented on Android smart phones running in real-Time.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/isc2.2017.8090789
