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.
Multirate active steering control for autonomous vehicle lateral maneuvering
2012 IEEE Intelligent Vehicles Symposium ; 772-777
01.06.2012
421677 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Multirate Active Steering Control for Autonomous Vehicle Lateral Maneuvering
British Library Conference Proceedings | 2012
|Autonomous vehicle maneuvering
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