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초록
In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kaiman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].
키워드
Lane detection; Lane keeping system(lks); Model predictive contro(mpc); Multi-rate system; Steering control; Lane detection; Lane keeping; Model predictive; Multi-rate systems; Steering control; Automobile steering equipment; Model predictive control; Steering; Predictive control systems
- 제목
- MPC-based active steering control using multi-rate kaiman filter for autonomous vehicle systems with vision
- 제목 (타언어)
- 비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어
- 저자
- Kim, Bo-Ah; Lee, Young Ok; Lee, Seung-Hi; Chung, Chung Choo
- 발행일
- 2012-05
- 유형
- Article
- 저널명
- 전기학회논문지
- 권
- 61
- 호
- 5
- 페이지
- 735 ~ 743