Estimation of Vehicle Yaw Angle Using Multiple Magnetic Markers Placed on the Road Cross Section

Abstract

It is important to accurately estimate the position and direction of vehicles, especially the yaw angle, to achieve automated driving. Magnetic positioning system is one of the systems that can be applied in estimating the yaw angle of vehicles, by reading the information from permanent magnets embedded in the road with a magnetic sensor mounted on the vehicle. Normally, multiple sensor modules are needed to be mounted on one vehicle for the purpose of highly accurate vehicle yaw angle estimation. This study proposed a new yaw angle estimation method with only one sensor module. The effectiveness of the proposed method was confirmed with a real car experiment.