Certified Control in autonomous vehicles with visual lane finding and LiDAR

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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2021

Author dc:creator

• Chow, Jeff(Jeff T.)

Advisor dc:contributor.advisor

• Daniel Jackson.

• Electrical Engineering and Computer Science.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/130684

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/130684