{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/122069"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/122069","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Simulation-based validation of lane-keeping system","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","abstract_has_math":false,"creators":["Raghoji, Sumedh Sanjay"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Mitra, Sayan","Ornik, Melkior"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-12","date_published":"2023-12","updated_at":"2026-07-22T22:25:00Z","subjects":["Simulation","Validation","Lane-keeping System","Stanley Controller"],"languages":["en","eng"],"rights":["Copyright 2023 Sumedh Sanjay Raghoji"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/122069","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Mitra, Sayan","Ornik, Melkior"]},{"key":"dc:creator","label":"Author","values":["Raghoji, Sumedh Sanjay"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2023-12","2023-12-07"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Simulation","Validation","Lane-keeping System","Stanley Controller"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2023 Sumedh Sanjay Raghoji"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/122069"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","The student, Sumedh Sanjay Raghoji, accepted the attached license on 2023-12-06 at 12:35.","The student, Sumedh Sanjay Raghoji, submitted this Thesis for approval on 2023-12-06 at 12:46.","This Thesis was approved for publication on 2023-12-07 at 17:12.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20152 on 2024-03-01 at 13:15:29","Simulation plays an important role in validating the safety of autonomous vehicles. Simulators reduce the time and cost required for road tests. In this thesis, we focus on validating the lane-keeping systems based on simulations. This validation framework contains code for the lane-keeping system and its analysis. It uses a popular sliding window approach to recognize the lanes and a Stanley controller to track the path. This simulator is based on ROS which allows for the development of modular pipelines. This pipeline makes the source code easy to modify and use. By using the provided performance metrics in the validation framework, user can evaluate their modified code against previous code. The simulator used for this validation framework is Gazebo which allows the use of distinct vehicle models, tracks, obstacles, and environments. In the validation framework, parameters like tracks, initial conditions, and velocity are varied. Gaussian noise is added to mimic the sensor noise. These parameters help in simulating real-world scenarios. The effect of varying these parameters on the prediction of cross-track and heading errors is checked against actual cross-track and heading errors. This validation framework can be used by a user to test the performance of modified lane-keeping system code easily and quickly. It provides users with the flexibility to change the parameters of the performance metrics."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Simulation-based validation of lane-keeping system"]}]}],"canonical_facts":{"dc:contributor":["Mitra, Sayan","Ornik, Melkior"],"dc:creator":["Raghoji, Sumedh Sanjay"],"dc:date":["2023-12","2023-12-07"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms","The student, Sumedh Sanjay Raghoji, accepted the attached license on 2023-12-06 at 12:35.","The student, Sumedh Sanjay Raghoji, submitted this Thesis for approval on 2023-12-06 at 12:46.","This Thesis was approved for publication on 2023-12-07 at 17:12.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20152 on 2024-03-01 at 13:15:29","Simulation plays an important role in validating the safety of autonomous vehicles. Simulators reduce the time and cost required for road tests. In this thesis, we focus on validating the lane-keeping systems based on simulations. This validation framework contains code for the lane-keeping system and its analysis. It uses a popular sliding window approach to recognize the lanes and a Stanley controller to track the path. This simulator is based on ROS which allows for the development of modular pipelines. This pipeline makes the source code easy to modify and use. By using the provided performance metrics in the validation framework, user can evaluate their modified code against previous code. The simulator used for this validation framework is Gazebo which allows the use of distinct vehicle models, tracks, obstacles, and environments. In the validation framework, parameters like tracks, initial conditions, and velocity are varied. Gaussian noise is added to mimic the sensor noise. These parameters help in simulating real-world scenarios. The effect of varying these parameters on the prediction of cross-track and heading errors is checked against actual cross-track and heading errors. This validation framework can be used by a user to test the performance of modified lane-keeping system code easily and quickly. It provides users with the flexibility to change the parameters of the performance metrics."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/122069"],"dc:language":["en","eng"],"dc:rights":["Copyright 2023 Sumedh Sanjay Raghoji"],"dc:subject":["Simulation","Validation","Lane-keeping System","Stanley Controller"],"dc:title":["Simulation-based validation of lane-keeping system"],"dc:type":["text"],"thesis:degree_discipline":["Aerospace Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}