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

비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어

  • 김보아 (한양대 공대 전기공학과) ;
  • 이영옥 (한양대 공대 전기공학과) ;
  • 이승희 (한양대 공대 전기생체공학부) ;
  • 정정주 (한양대 공대 전기생체공학부)
  • Received : 2012.04.02
  • Accepted : 2012.04.28
  • Published : 2012.05.01


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].


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