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초록
In autonomous driving vehicle control, the vehicle uses a vision sensor to get a road information and inertial measurement unit to get a vehicle motion information. In general, speed of vision sensor update is slower than motion sensor and non-uniform. Thus the system needs method making uniformly update data and sampling period of estimator. We propose predictive virtual lane and the multirate estimator to solve the problems. The performance of the proposed control methods is validated via simulations implemented in CarSim and Matlab/Simulink.
키워드
Lane keeping system (차선 유지 시스템); Lane centering control (차선 유지 제어); Autonomous driving (자율주행); State estimator (상태 추정기); Multirate system (멀티레이트 시스템)
- 제목
- 가상예측차선을 적용한 멀티레이트 예측기 개발
- 제목 (타언어)
- Development of a Multirate State Estimator Using Predictive Virtual Lane
- 저자
- 김보아; 손영섭; 이승희; 정정주
- 발행일
- 2013-05
- 유형
- Proceeding
- 저널명
- 2013 KSAE 부문 종합학술대회
- 페이지
- 1003 ~ 1005