The present invention relates to a vehicle position estimating system and a method thereof. The present system comprises: a GPS unit; a camera unit; a radar unit; a lidar unit; and a calculation unit. According to the present invention, values obtained from various sensors are applied to an extended Kalman filter to estimate a position of a vehicle. In addition, actual and estimated values of a vehicle center location and a direction angle are compared, or whether vehicle position estimation failure is determined based on a size of a position estimation change amount.

    본 발명은 차량 자세 추정 시스템 및 방법에 관한 것으로, 이 시스템은 GPS부, 카메라부, 레이더부, 라이다부, 그리고 연산부를 포함하며, 각종 센서로부터 획득된 값들을 확장 칼만 필터에 적용하여 차량의 자세를 추정하고, 차량 중심 위치 및 방향각의 실측값과 추정값을 비교하거나 자세 추정 변화량의 크기에 따라 차량 자세 추정 실패 여부를 판단한다.


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    Title :

    APPARATUS AND METHOD FOR ESTIMATING POSE OF VEHICLE


    Additional title:

    차량 자세 추정 시스템 및 방법


    Contributors:

    Publication date :

    2023-06-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06V / H01Q Antennen , ANTENNAS, i.e. RADIO AERIALS



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