MPC-based active steering control using multi-rate kaiman filter for autonomous vehicle systems with vision
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Bo-Ah | - |
dc.contributor.author | Lee, Young Ok | - |
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-16T15:28:04Z | - |
dc.date.available | 2022-07-16T15:28:04Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2012-05 | - |
dc.identifier.issn | 1975-8359 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/165654 | - |
dc.description.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]. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | 대한전기학회 | - |
dc.title | MPC-based active steering control using multi-rate kaiman filter for autonomous vehicle systems with vision | - |
dc.title.alternative | 비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어 | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.5370/KIEE.2012.61.5.735 | - |
dc.identifier.scopusid | 2-s2.0-84861505157 | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Institute of Electrical Engineers, v.61, no.5, pp.735 - 743 | - |
dc.relation.isPartOf | Transactions of the Korean Institute of Electrical Engineers | - |
dc.citation.title | Transactions of the Korean Institute of Electrical Engineers | - |
dc.citation.volume | 61 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 735 | - |
dc.citation.endPage | 743 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001659738 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Lane detection | - |
dc.subject.keywordPlus | Lane keeping | - |
dc.subject.keywordPlus | Model predictive | - |
dc.subject.keywordPlus | Multi-rate systems | - |
dc.subject.keywordPlus | Steering control | - |
dc.subject.keywordPlus | Automobile steering equipment | - |
dc.subject.keywordPlus | Model predictive control | - |
dc.subject.keywordPlus | Steering | - |
dc.subject.keywordPlus | Predictive control systems | - |
dc.subject.keywordAuthor | Lane detection | - |
dc.subject.keywordAuthor | Lane keeping system(lks) | - |
dc.subject.keywordAuthor | Model predictive contro(mpc) | - |
dc.subject.keywordAuthor | Multi-rate system | - |
dc.subject.keywordAuthor | Steering control | - |
dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01839904 | - |
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