비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어
- Title
- 비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어
- Author
- 정정주
- Keywords
- Lane keeping system; Multi-rate system; Multi-rate system; Steering control#Lane detection
- Issue Date
- 2012-05
- Publisher
- 대한전기학회
- Citation
- 전기학회논문지(The Transactions of the Korean Institute of Electrical Engineers), 2011, 61(5), P.735-743, 9P.
- 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 Kalman 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].
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01839904https://repository.hanyang.ac.kr/handle/20.500.11754/70603
- ISSN
- 1975-8359
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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