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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… (More)
A proximate model predictive control strategy is proposed for autonomous vehicle lateral control, which substantially reduces iteration in on-line optimization. Nodal state vectors are generated in the feasible state space, for which the quadratic optimization problem is solved off-line. Vertices are determined to represent a given state as an interpolation… (More)
A multirate sensor fusion scheme is developed to achieve more accurate obstacle detection. The scheme uses a camera and radars is to present obstacle vehicle pose estimation at a fast period of the car ECU.
Unknown and uncertain disturbance significantly affects the performance of a active steering control such as lane keeping and lane changing control. Such performance degradation is here considered to be due to input equivalent disturbance that is to be compensated by the state space disturbance observer we are to design. In contrast to some existing methods… (More)
This paper presents the design of the passivity-based control (PBC) for type 2 static synchronous compensator (STATCOM). The PBC controller, which consists of a desired control input and a new control input considering the performance of all states, are designed. PBC guarantees the exponentially stability of equilibrium point of the system. The PBC… (More)
In this paper, we present a novel control method with clamping force estimation for an electric parking brake system. This simple control structure can be implemented at low cost as it does not require a clamping force sensor. The characteristic curve is conventionally used to estimate the clamping force through the angular displacement of the DC motor;… (More)
In this paper, we present how model predictive control (MPC) is applied to a lane keeping system and how realtime solution is calculated. In the case of fast systems, real-time solution is very difficult to calculate in the sample time because the system has complex formulation and many constraints. The two proposed methods such as proximate MPC and fast… (More)