GPS position error was corrected for guidance of autonomous vehicle. From the vision, we can get the lateral distance from the center of lane and angle difference between left and right detected line. By using controller which makes these two measurement zero, lane following system can be implemented easily. However, the problem is that if there’s no lane such as crossroad, the guidance system of autonomous vehicle does not work. For this reason, we proposed GPS error correction filter and evaluated the performance by simulation and applying to autonomous vehicle in the test site.

Keywords: GPS position error, autonomous vehicle, vision sensor, waypoint