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초록
In this paper, we propose a robust multirate controller for steering control of autonomous vehicles. The goal of this research is to fuse the vision processer and motion sensor for the lane keeping and lane change systems. A robust multirate Kalman filter is designed to estimate the vehicle states and lane information at a fast sampling rate. This method provides the robust performance against uncertain vision period.
키워드
autonomous vehicle; multirate control; state estimator; steering control; Autonomous Vehicles; Fast sampling rates; Lane change; Lane keeping; Motion sensors; Multi rate; Multirate control; Multirate state estimator; Robust performance; State Estimators; steering control; Vehicle state; Vision processing; Automobile steering equipment; Estimation; Processing; State estimation; Steering
- 제목
- Robust multirate state estimator for autonomous vehicles with uncertain vision processing period
- 저자
- Lee, Young Ok; Lee, Seung-Hi; Son, Youngseop; Chung, Chung Choo
- 발행일
- 2011-12
- 유형
- Conference Paper
- 저널명
- International Conference on Control, Automation and Systems
- 페이지
- 424 ~ 427