NAVIGATION SYSTEM FOR UNMANNED GROUND VEHICLE BY SENSOR FUSION WITH VIRTUAL LANE

摘要

The present invention relates to a navigation system for an unmanned self-driving car using sensor fusion with a virtual lane. According to the present invention, a low-cost sensor is fused to be used in positioning and location information is corrected by matching of lane information detected by using an image sensor so that positional accuracy can be ensured and unmanned self-driving can be performed with stability. The present invention includes a location information measuring unit that measures the location information of the unmanned self-driving car in real time; a virtual lane setting unit that sets a driving path which includes virtual lane information based on stored map information and generated by using a way point; a driving information detection unit that acquires actual lane information of the unmanned self-driving car driving along the driving path set by the lane information setting unit in real time; a location information correction unit that corrects an error of the location information which is measured by the location information measuring unit; and a location information output unit that outputs the corrected location information of the unmanned self-driving car, in which the location information correction unit corrects the current location information of the unmanned self-driving car by map matching between the set virtual location information and the acquired actual location information.