Certified Control in autonomous vehicles with visual lane finding and LiDAR
Name
1251779033-MIT.pdf
Size
14.23 MB
Format
Adobe PDF
Checksum (MD5)
ab200f7206bd81758d49a1140d62f884
Author(s)
Chow, Jeff(Jeff T.)
Advisor(s)
Daniel Jackson.
Date Issued
2021
Publisher
Massachusetts Institute of Technology
Abstract
Certified Control is a safety architecture for autonomous vehicles in which the controller must provide evidence to a runtime monitor that the actions it takes are safe. If the monitor deems the current state of the vehicle as unsafe, it intervenes by signalling the vehicle actuators to brake. In this work, we demonstrate how Certified Control can be used to increase safety through two implementations: one involving visual lane-finding and one involving LiDAR. Through experiments utilizing real driving data, a robot racecar, and simulation software, we show examples in which these runtime monitors detect and mitigate unsafe scenarios.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, February, 2021
Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 79-82).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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