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http://dx.doi.org/10.5370/KIEE.2012.61.5.735

MPC-based Active Steering Control using Multi-rate Kalman Filter for Autonomous Vehicle Systems with Vision  

Kim, Bo-Ah (한양대 공대 전기공학과)
Lee, Young-Ok (한양대 공대 전기공학과)
Lee, Seung-Hi (한양대 공대 전기생체공학부)
Chung, Chung-Choo (한양대 공대 전기생체공학부)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.61, no.5, 2012 , pp. 735-743 More about this Journal
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].
Keywords
Lane keeping system(LKS); Model predictive control(MPC); Multi-rate system; Steering control; Lane detection;
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