Multirate active steering control for autonomous vehicle lateral maneuvering
- Authors
- Lee, Seung-Hi; Lee, Young Ok; Son, Youngseop; Chung, Chung Choo
- Issue Date
- Jul-2012
- Publisher
- IEEE
- Citation
- IEEE Intelligent Vehicles Symposium, Proceedings, pp.772 - 777
- Indexed
- SCOPUS
- Journal Title
- IEEE Intelligent Vehicles Symposium, Proceedings
- Start Page
- 772
- End Page
- 777
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/165116
- DOI
- 10.1109/IVS.2012.6232294
- 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.
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