자율주행 차량을 위한 멀티레이트 조향 제어기 설계

Abstract

In general, sampling times of Inertia Measurement Unit (IMU) and vision sensor are different. Vehicle modelusing IMU and vision has different vehicle performances depending on each sampling time. Thus vision information of slow sampling time is calculated by IMU information of fast sampling time. Performance of vehicle depending on each sampling period in multirate system are to be compared and analysised for the realization of the best performance system.