2026-09-19T22:26:09Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/108162 2023-07-11 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

Mitra, Sayan Liu, Tianqi 2020-08-26T23:58:39Z 2020-08-26T23:58:39Z 2022-08-26T23:58:55Z 2020-05-11 2020-05 In the past two decades, the safety of autonomous vehicles has drawn in-creasing attention from both academic researchers and industrial experts.This work presents a novel two-level path planning and monitoring architecture to promote safety in autonomous driving. We implemented a HybridA* offline path planner that can generate paths for the vehicle to navigate through static obstacles. The path is guaranteed to be achievable by the vehicle. Also an online monitor is developed using reachability analysis. It simulates the movements of the vehicle based on the vehicle’s physical model and checks the safety of interaction between the vehicle and surrounding dynamic environment in near-real-time (∼0.1 s). The combined architecture, as part of the GEM project, has been tested in both real world and simulation environments. In the experiments, the output path from the path planner is always achievable by the vehicle without colliding with static obstacles, and the online monitor shows high fidelity in predictions while the running time is only slightly longer than that of a simple baseline algorithm. Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2022-05-01 The student, Tianqi Liu, accepted the attached license on 2020-05-06 at 10:47. The student, Tianqi Liu, submitted this Thesis for approval on 2020-05-06 at 10:57. This Thesis was approved for publication on 2020-05-11 at 08:42. DSpace SAF Submission Ingestion Package generated from Vireo submission #15246 on 2020-08-25 at 17:29:50 Made available in DSpace on 2020-08-26T23:58:39Z (GMT). No. of bitstreams: 2 LIU-THESIS-2020.pdf: 6370962 bytes, checksum: 5ecf3a1c62c07191fee2f0a2599e8daa (MD5) LICENSE.txt: 4207 bytes, checksum: 6e40987a0801efe8336a07d123e610cd (MD5) Previous issue date: 2020-05-11 Embargo set by: Seth Robbins for item 115775 Lift date: 2022-08-26T23:58:55Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system U of I Only application/pdf http://hdl.handle.net/2142/108162 en Copyright 2020 Tianqi Liu autonomous driving, reachability analysis A two-level path planning and monitoring architecture for real-world autonomous driving systems text Thesis Electrical & Computer Eng Electrical & Computer Engr University of Illinois at Urbana-Champaign Thesis M.S.