Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data

Yongsik Jin; Seungyong Han; Eungchang Mason Lee; S. M. Lee; Crino Shin; Jongpil Yun

doi:10.1109/ICCE.2019.8661985

Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data

Yongsik Jin
, Seungyong Han
, Eungchang Mason Lee
, S. M. Lee^*
, Crino Shin
, Jongpil Yun

^*Corresponding author for this work

Division of Mechanical System Engineering

Kyungpook National University
Korea Institute of Industrial Technology

Research output: Contribution to conference › Conference paper › peer-review

7 Scopus citations

Abstract

This paper presents a state estimator design method using multi-rate sampled-data for autonomous vehicle driving system. The proposed state estimator is designed by using an affine matched T-S fuzzy model with the sampling information of each sensors. For the tracking control of autonomous driving system with fusion sensors, overall control structure is designed by using the error dynamic model based state estimator. The proposed method is verified by the experimental results on the Husky unmanned ground vehicle (UGV) equipped with light detection and ranging (LiDAR), camera and encoder.

Original language	English
Title of host publication	2019 IEEE International Conference on Consumer Electronics, ICCE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538679104
DOIs	https://doi.org/10.1109/ICCE.2019.8661985
State	Published - 2019.03.6
Event	2019 IEEE International Conference on Consumer Electronics, ICCE 2019 - Las Vegas, United States Duration: 2019.01.11 → 2019.01.13

Publication series

Name	2019 IEEE International Conference on Consumer Electronics, ICCE 2019

Conference

Conference	2019 IEEE International Conference on Consumer Electronics, ICCE 2019
Country/Territory	United States
City	Las Vegas
Period	19.01.11 → 19.01.13

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10.1109/ICCE.2019.8661985

Cite this

Jin, Y., Han, S., Lee, E. M., Lee, S. M., Shin, C., & Yun, J. (2019). Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data. In 2019 IEEE International Conference on Consumer Electronics, ICCE 2019 Article 8661985 (2019 IEEE International Conference on Consumer Electronics, ICCE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCE.2019.8661985

@inproceedings{0058529b6eea424ba6136bc415b5d41c,

title = "Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data",

abstract = "This paper presents a state estimator design method using multi-rate sampled-data for autonomous vehicle driving system. The proposed state estimator is designed by using an affine matched T-S fuzzy model with the sampling information of each sensors. For the tracking control of autonomous driving system with fusion sensors, overall control structure is designed by using the error dynamic model based state estimator. The proposed method is verified by the experimental results on the Husky unmanned ground vehicle (UGV) equipped with light detection and ranging (LiDAR), camera and encoder.",

author = "Yongsik Jin and Seungyong Han and Lee, \{Eungchang Mason\} and Lee, \{S. M.\} and Crino Shin and Jongpil Yun",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Consumer Electronics, ICCE 2019 ; Conference date: 11-01-2019 Through 13-01-2019",

year = "2019",

month = mar,

day = "6",

doi = "10.1109/ICCE.2019.8661985",

language = "English",

series = "2019 IEEE International Conference on Consumer Electronics, ICCE 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2019 IEEE International Conference on Consumer Electronics, ICCE 2019",

}

Jin, Y, Han, S, Lee, EM, Lee, SM, Shin, C & Yun, J 2019, Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data. in 2019 IEEE International Conference on Consumer Electronics, ICCE 2019., 8661985, 2019 IEEE International Conference on Consumer Electronics, ICCE 2019, Institute of Electrical and Electronics Engineers Inc., 2019 IEEE International Conference on Consumer Electronics, ICCE 2019, Las Vegas, United States, 19.01.11. https://doi.org/10.1109/ICCE.2019.8661985

Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data. / Jin, Yongsik; Han, Seungyong; Lee, Eungchang Mason et al.
2019 IEEE International Conference on Consumer Electronics, ICCE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8661985 (2019 IEEE International Conference on Consumer Electronics, ICCE 2019).

Research output: Contribution to conference › Conference paper › peer-review

TY - GEN

T1 - Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data

AU - Jin, Yongsik

AU - Han, Seungyong

AU - Lee, Eungchang Mason

AU - Lee, S. M.

AU - Shin, Crino

AU - Yun, Jongpil

PY - 2019/3/6

Y1 - 2019/3/6

N2 - This paper presents a state estimator design method using multi-rate sampled-data for autonomous vehicle driving system. The proposed state estimator is designed by using an affine matched T-S fuzzy model with the sampling information of each sensors. For the tracking control of autonomous driving system with fusion sensors, overall control structure is designed by using the error dynamic model based state estimator. The proposed method is verified by the experimental results on the Husky unmanned ground vehicle (UGV) equipped with light detection and ranging (LiDAR), camera and encoder.

AB - This paper presents a state estimator design method using multi-rate sampled-data for autonomous vehicle driving system. The proposed state estimator is designed by using an affine matched T-S fuzzy model with the sampling information of each sensors. For the tracking control of autonomous driving system with fusion sensors, overall control structure is designed by using the error dynamic model based state estimator. The proposed method is verified by the experimental results on the Husky unmanned ground vehicle (UGV) equipped with light detection and ranging (LiDAR), camera and encoder.

UR - https://www.scopus.com/pages/publications/85063786339

U2 - 10.1109/ICCE.2019.8661985

DO - 10.1109/ICCE.2019.8661985

M3 - Conference paper

AN - SCOPUS:85063786339

T3 - 2019 IEEE International Conference on Consumer Electronics, ICCE 2019

BT - 2019 IEEE International Conference on Consumer Electronics, ICCE 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Consumer Electronics, ICCE 2019

Y2 - 11 January 2019 through 13 January 2019

ER -

Jin Y, Han S, Lee EM, Lee SM, Shin C, Yun J. Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data. In 2019 IEEE International Conference on Consumer Electronics, ICCE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8661985. (2019 IEEE International Conference on Consumer Electronics, ICCE 2019). doi: 10.1109/ICCE.2019.8661985

Development of Autonomous Driving Systems Using State Estimator with Multi-rate Sampled-data

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