Journal Search Engine
The Journal of The Korea Institute of Intelligent Transport Systems Vol.24 No.5 pp.182-199
차선 정보 융합 GPS 측위 정확도 개선 알고리즘 개발 및 검증
Development and Verification of Lane Information Fusion Algorithm for Improved GPS Positioning Accuracy
Abstract
An algorithm was developed to enhance the vehicle localization accuracy using high-definition map lane information and camera-based lane detection. Lateral errors were corrected through lane matching, and measurement noise was reduced using an Extended Kalman Filter. The experimental results with a test vehicle showed that the proposed method reduced the positioning error from approximately 3.17m to 0.38m, corresponding to an 88.09% improvement compared to a standalone global navigation satellite system.
