Time-to-Contact control for safety and reliability of self-driving cars
© 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 meas...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021
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| Online Access: | https://hdl.handle.net/1721.1/137560.2 |
| _version_ | 1811095055610413056 |
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| author | Wang, Liang Horn, Berthold K. P. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Wang, Liang Horn, Berthold K. P. |
| author_sort | Wang, Liang |
| collection | MIT |
| description | © 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. |
| first_indexed | 2024-09-23T16:09:28Z |
| format | Article |
| id | mit-1721.1/137560.2 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:09:28Z |
| publishDate | 2021 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/137560.22021-11-22T15:59:45Z Time-to-Contact control for safety and reliability of self-driving cars Wang, Liang Horn, Berthold K. P. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science © 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. Toyota Motor Corporation (Grant LP-C000765-SR) 2021-11-22T15:59:44Z 2021-11-05T18:19:11Z 2021-11-22T15:59:44Z 2017-09 2019-05-31T11:54:15Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137560.2 Wang, Liang and Horn, Berthold K.P. 2017. "Time-to-Contact Control for Safety and Reliability of Self-driving Cars." en 10.1109/isc2.2017.8090789 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/octet-stream IEEE Other repository |
| spellingShingle | Wang, Liang Horn, Berthold K. P. Time-to-Contact control for safety and reliability of self-driving cars |
| title | Time-to-Contact control for safety and reliability of self-driving cars |
| title_full | Time-to-Contact control for safety and reliability of self-driving cars |
| title_fullStr | Time-to-Contact control for safety and reliability of self-driving cars |
| title_full_unstemmed | Time-to-Contact control for safety and reliability of self-driving cars |
| title_short | Time-to-Contact control for safety and reliability of self-driving cars |
| title_sort | time to contact control for safety and reliability of self driving cars |
| url | https://hdl.handle.net/1721.1/137560.2 |
| work_keys_str_mv | AT wangliang timetocontactcontrolforsafetyandreliabilityofselfdrivingcars AT hornbertholdkp timetocontactcontrolforsafetyandreliabilityofselfdrivingcars |