Robust multirate state estimator for autonomous vehicles with uncertain vision processing period

Author

Lee, Young Ok ; Lee, Seung-Hi ; Son, Youngseop ; Chung, Chung Choo

Author_Institution

Dept. of Electr. Eng., Hanyang Univ., Seoul, South Korea

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

424

Lastpage

427

Abstract

In this paper, we propose a robust multirate controller for steering control of autonomous vehicles. The goal of this research is to fuse the vision processer and motion sensor for the lane keeping and lane change systems. A robust multirate Kalman filter is designed to estimate the vehicle states and lane information at a fast sampling rate. This method provides the robust performance against uncertain vision period.

Keywords

Kalman filters; computer vision; image fusion; motion control; road vehicles; robust control; sampling methods; sensors; state estimation; steering systems; vehicle dynamics; autonomous vehicles; lane change system; lane keeping system; motion sensor; robust multirate Kalman filter; robust multirate state estimator; sampling rate; steering control; uncertain vision processing period; Control systems; Kalman filters; Mobile robots; Roads; Robot sensing systems; Robustness; Vehicles; autonomous vehicle; multirate control; state estimator; steering control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106091