Robust multirate state estimator for autonomous vehicles with uncertain vision processing period
- Authors
- Lee, Young Ok; Lee, Seung-Hi; Son, Youngseop; Chung, Chung Choo
- Issue Date
- Dec-2011
- Publisher
- IEEE
- Keywords
- autonomous vehicle; multirate control; state estimator; steering control
- Citation
- International Conference on Control, Automation and Systems, pp.424 - 427
- Indexed
- SCOPUS
- Journal Title
- International Conference on Control, Automation and Systems
- Start Page
- 424
- End Page
- 427
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166901
- ISSN
- 2093-7121
- Abstract
- In this paper, we propose a robust multirate controller for steering control of autonomous vehicles. The goal of this research is to fuse the vision processer and motion sensor for the lane keeping and lane change systems. A robust multirate Kalman filter is designed to estimate the vehicle states and lane information at a fast sampling rate. This method provides the robust performance against uncertain vision period.
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