Predictive Runtime Monitoring of Vehicle Models Using Bayesian Estimation and Reachability Analysis
Yi Chou,Hansol Yoon,Sriram Sankaranarayanan,Yi Chou,Hansol Yoon,Sriram Sankaranarayanan
We present a predictive runtime monitoring technique for estimating future vehicle positions and the probability of collisions with obstacles. Vehicle dynamics model how the position and velocity change over time as a function of external inputs. They are commonly described by discrete-time stochastic models. Whereas positions and velocities can be measured, the inputs (steering and throttle) are ...
