Work / f1tenth-aeb
F1TENTH Emergency Braking
LiDAR time-to-collision safety node on a 1/10 scale autonomous car.
- Role
- Autonomy / software
- Timeframe
- CMU 16-665
- Stack
- ROS 2, LiDAR, Docker simulation, Jetson Orin
- Status
- Complete (course)
Problem
A 1/10 scale autonomous car needs a safety layer that can stop it when LiDAR time-to-collision runs out, independent of the planner above. That was the 16-665 deliverable: write the node, prove it in simulation, run it on the car.
What I Built
A ROS 2 node that estimates time-to-collision from LiDAR and commands emergency braking. Built in Docker simulation, then deployed to the Jetson Orin on the F1TENTH platform.
Result
Node running in sim and on the Jetson Orin-equipped F1TENTH car.