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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...
In this paper a nested PID steering control for lane keeping in vision based autonomous vehicles is designed to perform path following in the case of roads with an uncertain curvature. The control input is the steering wheel angle: it is designed on the basis of the yaw rate, measured by a gyroscope, and the lateral offset, measured by the vision system as the distance between the road centerline...
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