Compromised steering detection system

A method for operating an autonomous machine, the method comprising:

• generating machine speed data corresponding to an operation of an autonomous machine over a period of time;
• generating cross-track error (XTE) data corresponding to the operation of the autonomous machine over the period of time;
• identifying, from the XTE data, a plurality of consecutive XTE peaks during the period of time;
• fitting a corresponding composite sinusoidal half cycle to each XTE peak of the plurality of consecutive XTE peaks;
• determining a similarity score between the XTE data and each XTE peak of the plurality of consecutive XTE peaks;
• determining, based at least in part on the machine speed data and the similarity scores determined for the plurality of consecutive XTE peaks, that a steering system of the autonomous machine has been compromised;
• and
• in response to determining that the steering system of the autonomous machine has been compromised, outputting at least one control command to stabilize the autonomous machine.

A controller for an autonomous machine, the controller comprising at least one processor and at least one memory storing instructions which, when executed by the at least one processor, cause the at least one processor to perform operations comprising:

• generating cross-track error (XTE) data corresponding to an operation of an autonomous machine over a period of time;
• identifying, from the XTE data, an XTE peak during the period of time;
• fitting a composite sinusoidal half cycle to the XTE peak;
• determining a similarity score between the XTE data and the composite sinusoidal half cycle;
• determining, based at least in part on the similarity score, that a steering system of the autonomous machine has been compromised;
• and
• in response to determining that the steering system of the autonomous machine has been comprised, outputting at least one control command to stabilize the autonomous machine.