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 |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/137560 |
| _version_ | 1811087106156527616 |
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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 | 2024-09-23T13:39:50Z |
| format | Article |
| id | mit-1721.1/137560 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:39:50Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1375602021-11-06T03:19:19Z 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. 2021-11-05T18:19:11Z 2021-11-05T18:19:11Z 2017-09 2019-05-31T11:54:15Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137560 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/pdf Institute of Electrical and Electronics Engineers (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 |
| work_keys_str_mv | AT wangliang timetocontactcontrolforsafetyandreliabilityofselfdrivingcars AT hornbertholdkp timetocontactcontrolforsafetyandreliabilityofselfdrivingcars |