Multirate active steering control for autonomous vehicle lateral maneuvering
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Lee, Young Ok | - |
dc.contributor.author | Son, Youngseop | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-16T14:34:03Z | - |
dc.date.available | 2022-07-16T14:34:03Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2012-07 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/165116 | - |
dc.description.abstract | 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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Multirate active steering control for autonomous vehicle lateral maneuvering | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.1109/IVS.2012.6232294 | - |
dc.identifier.scopusid | 2-s2.0-84865012557 | - |
dc.identifier.bibliographicCitation | IEEE Intelligent Vehicles Symposium, Proceedings, pp.772 - 777 | - |
dc.relation.isPartOf | IEEE Intelligent Vehicles Symposium, Proceedings | - |
dc.citation.title | IEEE Intelligent Vehicles Symposium, Proceedings | - |
dc.citation.startPage | 772 | - |
dc.citation.endPage | 777 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Active steering control | - |
dc.subject.keywordPlus | Autonomous Vehicles | - |
dc.subject.keywordPlus | Control performance | - |
dc.subject.keywordPlus | Fast rate | - |
dc.subject.keywordPlus | Inertia sensor | - |
dc.subject.keywordPlus | Lane detection | - |
dc.subject.keywordPlus | Motion detection | - |
dc.subject.keywordPlus | Multi rate | - |
dc.subject.keywordPlus | Steering control | - |
dc.subject.keywordPlus | Vehicle state | - |
dc.subject.keywordPlus | Vision based | - |
dc.subject.keywordPlus | Automobile steering equipment | - |
dc.subject.keywordPlus | Extended Kalman filters | - |
dc.subject.keywordPlus | Intelligent vehicle highway systems | - |
dc.subject.keywordPlus | Sensors | - |
dc.subject.keywordPlus | State feedback | - |
dc.subject.keywordPlus | Maneuverability | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/6232294 | - |
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