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가상예측차선을 적용한 멀티레이트 예측기 개발Development of a Multirate State Estimator Using Predictive Virtual Lane
- Other Titles
- Development of a Multirate State Estimator Using Predictive Virtual Lane
- Issue Date
- May-2013
- Publisher
- 한국자동차공학회
- Keywords
- Lane keeping system (차선 유지 시스템); Lane centering control (차선 유지 제어); Autonomous driving (자율주행); State estimator (상태 추정기); Multirate system (멀티레이트 시스템)
- Citation
- 2013 KSAE 부문 종합학술대회, pp.1003 - 1005
- Indexed
- OTHER
- Journal Title
- 2013 KSAE 부문 종합학술대회
- Start Page
- 1003
- End Page
- 1005
- Abstract
- 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.
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Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
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Related Researcher
- Chung, Chung Choo
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)