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• W2068752967 endingPage "3391" @default.
• W2068752967 startingPage "3378" @default.
• W2068752967 abstract "In this paper, we propose a new approach for a robust multirate lane-keeping control scheme with predictive virtual lanes. First, the multirate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. To improve the lane-keeping performance on a curved road, the integral of the lateral offset error is added to the state feedback controller. A multirate Kalman filter (KF) has been developed to resolve the problems caused by slow lane detection due to the vision processing system. This multirate KF estimates vehicle states at a fast rate using a microprocessor. Utilizing the estimated states, the linear quadratic state feedback control operates at the same fast update rate of the microprocessor. Thus, a multirate control scheme can reduce the ripple in the yaw rate. Second, we propose a virtual lane prediction method that compensates for the momentary failure of lane detection from unexpected problems. If the camera sensor momentarily fails while obtaining lane information, the predicted virtual lane can be substituted for the lane detection using the camera sensor in the proposed control scheme. Thus, the proposed control scheme can normally operate when the lane information is momentarily unavailable. The performance of the proposed method was evaluated via experiments." @default.
• W2068752967 created "2016-06-24" @default.
• W2068752967 creator A5003331591 @default.
• W2068752967 creator A5009134869 @default.
• W2068752967 creator A5044227346 @default.
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• W2068752967 date "2015-08-01" @default.
• W2068752967 modified "2023-10-16" @default.
• W2068752967 title "Robust Multirate Control Scheme With Predictive Virtual Lanes for Lane-Keeping System of Autonomous Highway Driving" @default.
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• W2068752967 doi "https://doi.org/10.1109/tvt.2014.2356204" @default.
• W2068752967 hasPublicationYear "2015" @default.
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