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Sensor Fault Propagation Analysis for Autonomous Driving

Institute
Lehrstuhl für Fahrzeugtechnik (TUM-ED)
Type
Bachelor's Thesis / Master's Thesis /
Content
experimental /  
Description

MOTIVATION

Reliable perception is a prerequisite for automated driving. Localization, perception, and environment understanding all depend on the assumption that sensors such as LiDAR, radar, and cameras deliver trustworthy data. In real operation, however, sensors degrade: channels may fail, measurements drift, calibration changes, or parts of the field of view become occluded. These effects often remain unnoticed while they silently increase uncertainty and may ultimately compromise safety, resulting in propagating throughout different subsequent components of the Autonomous Stack. Therefore, the propagation of sensor faults into the localization and perception system of the Autonomous Stack shall be analyzed and evaluated within this thesis.

Requirements

YOUR ROLE

This thesis contributes to the analysis of how sensor faults propagate through a real world autonomous driving software stack. For this, the autoware software stack will be used, which is also deployed on our research vehicle EDGAR. The work packages of this thesis contains:

  • Literature research on "Fault Propagation", “Fault Tolerance” and “Localization Faults”
  • Analyze the localization module of Autoware and its dependencies 
  • Conceptualize a pipeline to analyze fault propagation within the Autoware software stack (Fault Injection + Metrics)
  • Implement the fault propagation pipeline and run experiments
  • Analysis of data and documentation of results

WHAT YOU SHOULD BRING ALONG

  • Strong Motivation and Interest for AVs
  • Basic Knowledge in Programming, e. g. Python, C++
  • Structured and independent way of working

If you are interested in joining this project, feel free to send me an application with your CV and transcript of records. I look forward to receive your application.

Possible start
sofort
Contact
Nijinshan Karunainayagam, M. Eng.
Room: MW3507
Phone: +49 89 289 15386
nijinshan.karunainayagamtum.de