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초록
A multirate steering control scheme is developed for autonomous vehicle lateral maneuvering. The proposed scheme consists of a multirate extended Kalman filter and a state feedback control. The multirate extended Kalman filter is to estimate the vehicle states at a fast rate of the car ECU using multirate sensing - a slow vision-based lane detection by a camera and fast motion detection by inertia sensors. A method to design the multirate decentralized extended Kalman filter is presented. Through application results, the proposed multirate steering control scheme is shown to exhibit significantly improved control performance.
키워드
Active steering control; Autonomous Vehicles; Control performance; Fast rate; Inertia sensor; Lane detection; Motion detection; Multi rate; Steering control; Vehicle state; Vision based; Automobile steering equipment; Extended Kalman filters; Intelligent vehicle highway systems; Sensors; State feedback; Maneuverability
- 제목
- Multirate active steering control for autonomous vehicle lateral maneuvering
- 저자
- Lee, Seung-Hi; Lee, Young Ok; Son, Youngseop; Chung, Chung Choo
- 발행일
- 2012-07
- 유형
- Conference Paper
- 저널명
- IEEE Intelligent Vehicles Symposium, Proceedings
- 페이지
- 772 ~ 777