GPS와 차량 내부 정보를 이용한 적응 차량위치 추정 알고리즘

Abstract

Recently, researches on autonomous driving vehicle and advanced driver assistance systems (ADAS) are very active and it is obvious that the knowledge of accurate vehicle position is extremely valuable for these researches. This paper presents a position estimation algorithm for vehicle based on the integration of Global Positioning system (GPS) and In-Vehicle sensors. The aim of this paper is to achieve more accurate position of the vehicle by eliminating the unexpected GPS signal error resulted from overpass and multipath. In order to eliminate the inaccurate GPS signal, the status of GPS link is considered and also additional filtering algorithm is designed. The performance of the proposed algorithm has been evaluated by the vehicle experiment.