Multirate Lane-Keeping System With Kinematic Vehicle Model
- Authors
- Kang, Chang Mook; Lee, Seung-Hi; Chung, Chung Choo
- Issue Date
- Oct-2018
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Autonomous Vehicle; Kinematic model; Lateral Control; Lane-keeping system
- Citation
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, v.67, no.10, pp.9211 - 9222
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
- Volume
- 67
- Number
- 10
- Start Page
- 9211
- End Page
- 9222
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/149241
- DOI
- 10.1109/TVT.2018.2864329
- ISSN
- 0018-9545
- Abstract
- In this paper, a novel multirate lane-keeping system (LKS) is introduced by using a kinematic-based model considering a look-ahead distance. First, we developed a kinematic lateral motion model for LKS with respect to the road. To increase a system damping of vehicle, the unique look-ahead output measurement matrix was introduced. The decentralized multirate lane-keeping control scheme with a multirate Kalman filter was also applied to resolve the asynchronous and irregular sampling time of multi sensors in autonomous vehicles. We validated the performance of the proposed kinematic-based multirate LKS using the dynamic vehicle solver CarSim, MATLAB/Simulink, and electric power steering hardware-in-the-loop system. Experimental validation was also conducted using a real test vehicle. Both simulation and experimental results showed that the proposed kinematic-based LKS performed lane-keeping capability comparable to that of dynamic-based LKS. In particular, the experimental results showed that the proposed method, compared to a human driver, can also maintain the lane within reasonable specifications. The experimental validation was performed at vehicle speeds of up to 120 km/h.
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