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
- Authors
- Kim, Bo-Ah; Lee, Young Ok; Lee, Seung-Hi; Chung, Chung Choo
- 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
- Journal Title
- Transactions of the Korean Institute of Electrical Engineers
- Volume
- 61
- Number
- 5
- Start Page
- 735
- End Page
- 743
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/165654
- DOI
- 10.5370/KIEE.2012.61.5.735
- 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].
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