Model based automated DDT fallback for L4 Autonomous vehicles

The thesis hereby presented aims at implementing a safety strategy, capable of bringing an automated level 4 vehicle, to a minimum risk condition in case a performance related failure occurs, 2 different software’s are used to generate the model-based algorithm, MATLAB and Qt using State Chart XML. Chapter 1 gives insight into what is autonomous driving, the difference between each level of autonomy in an automated vehicle and a brief explanation of the CARLA autonomous driving simulator. Chapter 2 explains the design and the equipped sensors of the automated vehicle Chapter 3 describes how the autonomous driving simulator CARLA can connect and interact with the different software used in this thesis. Chapters 4 and 5 explains what the scenario de􀃞nition for the implementation of the DDT-Fallback strategy is, and how it is modeled in MATLAB and Qt using State Chart XML, insight in each function that forms the algorithm is given. Chapter 6 the most relevant results associated with the proposed DDT Fallback strategy are analyzed. Chapter 7 concludes the work, summarizing the main objectives and results of this thesis.