A system that determines the status information of autonomous vehicles based on prediction and update behavior according to Kalman filter algorithm

摘要

A driving control method of an autonomous driving vehicle according to an aspect of the present invention includes: a first step of transmitting, by a communication unit of the autonomous driving vehicle, a connection request signal to a plurality of neighboring base stations; a second step of receiving, by the communication unit, an access signal corresponding to the access request signal from a first base station that is at least one of the plurality of base stations; a third step of selecting, by the control unit of the autonomous vehicle, a second base station closest to the autonomous vehicle among the first base stations; a fourth step of transmitting, by the control unit, the selected information related to the second base station to the first GPS of the autonomous vehicle; a fifth step of calibrating, by the first GPS having obtained the first location information, the first location information based on the second base station-related information; a sixth step of transmitting, by the first GPS, the corrected first location information to a second GPS disposed in the autonomous vehicle spaced apart from the first GPS by a predetermined distance; a seventh step of calculating, by a second GPS having obtained second location information, heading angle information of the autonomous vehicle by using the corrected first location information and the second location information; and an eighth step of controlling the driving of the autonomous vehicle by the controller based on the corrected first location information transmitted from the first GPS and the heading angle information transmitted from the second GPS , the controller may determine the state information of the autonomous vehicle according to prediction and update operations according to the Kalman filter algorithm.