GPS와 차량용 센서의 오차와 지연을 고려한 차량용 자세 및 위치 추정 시스템 개발

Abstract

In recent years, a high-level driver safety system, such as an autonomous driving system, has been gradually introduced to production vehicles, leading to increasing research on using GPS to control the motion of a vehicle. On the other hand, GPS modules used in production vehicles have a long output period, unlike expensive GPS receivers. Also, precision is relatively low due to the absence of separate devices for correcting errors. To solve these problems, an estimation algorithm was proposed to reduce uncertainty in the location information from GPS, and to obtain a high frequency data rate that would be suitable to control the vehicle. Unlike existing position estimation methods, the proposed algorithm considered both the error in the in-vehicle sensor and the delay in the output signal of the GPS to improve accuracy while still using a simple and effective tracking algorithm. This was verified through a real car experiment with in-vehicle sensor signals and a low-cost GPS receiver.