MPC-based active steering for autonomous vehicle systems
- Title
- MPC-based active steering for autonomous vehicle systems
- Author
- 정정주
- Keywords
- Lane keeping system; Model predictive control; Steering control; Lane detection; Multi-rate system
- Issue Date
- 2011-05
- Publisher
- 한국자동차공학회 / The Korean Society Of Automotive Engineers
- Citation
- 한국자동차공학회 춘계학술대회, 2011(5),1295-1299
- 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.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01755519
- DOI
- 10.1504/IJVAS.2005.008237
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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