Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
MPC-based active steering control using multi-rate kaiman filter for autonomous vehicle systems with vision비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어
- Other Titles
- 비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어
- Issue Date
- May-2012
- Publisher
- 대한전기학회
- Keywords
- Lane detection; Lane keeping system(lks); Model predictive contro(mpc); Multi-rate system; Steering control
- Citation
- Transactions of the Korean Institute of Electrical Engineers, v.61, no.5, pp.735 - 743
- Indexed
- SCOPUS
KCI
- Volume
- 61
- Number
- 5
- Start Page
- 735
- End Page
- 743
- ISSN
- 1975-8359
- Abstract
- In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kaiman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].
- Files in This Item
- Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Chung, Chung Choo
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)