@inproceedings{2faf98b35c824f2481f2fff5d01358fa,
title = "Multirate active steering control for autonomous vehicle lateral maneuvering",
abstract = "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. Through application results, the proposed multirate steering control scheme is shown to exhibit significantly improved control performance.",
author = "Lee, {Seung Hi} and Lee, {Young Ok} and Youngseop Son and Chung, {Chung Choo}",
year = "2012",
doi = "10.1109/IVS.2012.6232294",
language = "English",
isbn = "9781467321198",
series = "IEEE Intelligent Vehicles Symposium, Proceedings",
pages = "772--777",
booktitle = "2012 IEEE Intelligent Vehicles Symposium, IV 2012",
note = "2012 IEEE Intelligent Vehicles Symposium, IV 2012 ; Conference date: 03-06-2012 Through 07-06-2012",
}