Interacting Multiple Model Filter 를 이용한 차량의 위치 추정

Abstract

In this paper, we propose estimation of the exact vehicle position based on the Interaction Multiple Model Extended Kalman Filter(IMM EKF) when the road surface changes. Since the vehicle has different cornering stiffness as the road surface varies, it is difficult to accurately estimate the position of the vehicle. To resolve this problem, we improve the estimation performance by using IMM EKF considering each model of different roads. From the numerical simulation using MATLAB/CarSim, we observed that the performance of proposed algorithm improves vehicle positioning performance.