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.


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    Title :

    Multirate active steering control for autonomous vehicle lateral maneuvering


    Contributors:


    Publication date :

    2012-06-01


    Size :

    421677 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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