A multirate steering control scheme is developed for autonomous vehicle lateral maneuvering. The proposed scheme consists of a multirate extended Kalman filter and a state feedback control. The multirate extended Kalman filter is to estimate the vehicle states at a fast rate of the car ECU using multirate sensing — a slow vision-based lane detection by a camera and fast motion detection by inertia sensors. A method to design the multirate decentralized extended Kalman filter is presented. Through application results, the proposed multirate steering control scheme is shown to exhibit significantly improved control performance.


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    Titel :

    Multirate active steering control for autonomous vehicle lateral maneuvering


    Beteiligte:
    Lee, Seung-Hi (Autor:in) / Lee, Young Ok (Autor:in) / Son, Youngseop (Autor:in) / Chung, Chung Choo (Autor:in)


    Erscheinungsdatum :

    01.06.2012


    Format / Umfang :

    421677 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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