IMM EKF based Sensor Fusion of GPS with In-Vehicle Sensors for Vehicle Positioning Under Various Road Surface Conditions

Abstract

In this paper, we propose an estimation of the accurate vehicle position using Interacting Multiple Model Extended Kalman Filter (IMM EKF) when road surface varies. 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 present the IMM EKF considering each model of different roads to improve the estimation performance. From the numerical simulation using MATLAB/CARSIM, we observed that the performance of the proposed algorithm improves vehicle positioning performance.