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MPC-based active steering for autonomous vehicle systems
- Issue Date
- May-2011
- Publisher
- 한국자동차공학회
- Keywords
- Lane keeping system; Model predictive control; Steering control; Lane detection; Multi-rate system
- Citation
- 2011 KSAE 부문 종합학술대회, no. , pp.1295 - 1299
- Indexed
- OTHER
- Journal Title
- 2011 KSAE 부문 종합학술대회
- Start Page
- 1295
- End Page
- 1299
- Abstract
- In this paper, we present how model predictive control (MPC) is applied to lane keeping system (LKS). Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may cause uncomfortable steering control rate in a high vehicle speed. By applying MPC to active steering, the proposed MPC-based active steering prevents undesirable oscillatory steering control command even at a vehicle speed of 30[㎧]. The effectiveness of the MPC is validated by simulation for the LKS equipped with a camera module having a slow sampling rate.
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Related Researcher
- Chung, Chung Choo
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)