Multirate active steering control for autonomous vehicle lateral maneuvering

@article{Lee2012MultirateAS,
  title={Multirate active steering control for autonomous vehicle lateral maneuvering},
  author={Seung-Hi Lee and Young Ok Lee and Youngseop Son and Chung Choo Chung},
  journal={2012 IEEE Intelligent Vehicles Symposium},
  year={2012},
  pages={772-777}
}
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 camera and fast motion detection by inertia sensors. A method to design the multirate decentralized extended Kalman filter is presented… CONTINUE READING

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