| Title |
MPC-based Active Steering Control using Multi-rate Kalman Filter for Autonomous Vehicle Systems with Vision |
| Authors |
김보아(Kim, Bo-Ah) ; 이영옥(Lee, Young-Ok) ; 이승희(Lee, Seung-Hi) ; 정정주(Chung, Chung-Choo) |
| DOI |
https://doi.org/10.5370/KIEE.2012.61.5.735 |
| Keywords |
Lane keeping system(LKS) ; Model predictive control(MPC) ; Multi-rate system ; Steering control ; Lane detection |
| 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]. |