Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors

Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors

Vision-based sensors are widely used in lateral control of autonomous vehicles, but the large computational cost of the visual algorithms often induces uneven time delays. In this paper, a hierarchical vision-based lateral control scheme is proposed, where the upper controller is designed by robust...

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Bibliographic Details
Main Authors: Qi Liu, Yahui Liu, Congzhi Liu, Baiming Chen, Wenhao Zhang, Liang Li, Xuewu Ji
Format: Article
Language:English
Published: MDPI AG 2018-08-01
Series:Sensors
Subjects:
autonomous driving
hierarchical controller
robust control
linear quadratic regulator (LQR)
lateral tracking control
vision sensors
uneven sensor delays
Online Access:http://www.mdpi.com/1424-8220/18/8/2544

Internet

http://www.mdpi.com/1424-8220/18/8/2544

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