Synchronous Interfusion of the Compensatory Filters Based on Multi-rate Sensors for the Control of the Autonomous Vehicle

자율주행 차량 제어를 위한 다중 주기 센서 기반의 상보 필터 동기 융합

Bak, Jeong-Hyeon;Lee, Kwanghee;Lee, Chul-Hee

  • Received : 2013.10.31
  • Accepted : 2014.02.07
  • Published : 2014.04.01


This paper presents about multi-rate sensors' synchronization and filter fusion via a sigmoid function of the Kalman filter. To synchronize multi-rate sensors, the estimation states of the Kalman filter is modified. A specific matrix that makes the filter choose sensor values only updated is multiplied to measurement matrix. For the filter that has weak points on some criteria, filter fusion is suggested by using sigmoid function. Modified kalman filter is tested with practical case. A sigmoid function was designed for the test and the performance of the modified function is estimated with respect to conventional Kalman filter. Unscented Kalman filter is used to the base filter of the suggested filter because of its stability.


Kalman filter;Autonomous vehicle;DGPS;Sensor syncronization;Heading angle


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Grant : 지능형 주차보조 시스템을 위한 장거리 초음파 센서 개발

Supported by : 지식경제부