{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T11:43:20Z","timestamp":1772019800401,"version":"3.50.1"},"reference-count":47,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2020,4,29]],"date-time":"2020-04-29T00:00:00Z","timestamp":1588118400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Localization is one of the key components in the operation of self-driving cars. Owing to the noisy global positioning system (GPS) signal and multipath routing in urban environments, a novel, practical approach is needed. In this study, a sensor fusion approach for self-driving cars was developed. To localize the vehicle position, we propose a particle-aided unscented Kalman filter (PAUKF) algorithm. The unscented Kalman filter updates the vehicle state, which includes the vehicle motion model and non-Gaussian noise affection. The particle filter provides additional updated position measurement information based on an onboard sensor and a high definition (HD) map. The simulations showed that our method achieves better precision and comparable stability in localization performance compared to previous approaches.<\/jats:p>","DOI":"10.3390\/s20092544","type":"journal-article","created":{"date-parts":[[2020,4,29]],"date-time":"2020-04-29T13:23:45Z","timestamp":1588166625000},"page":"2544","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Self-Driving Car Location Estimation Based on a Particle-Aided Unscented Kalman Filter"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9558-7139","authenticated-orcid":false,"given":"Ming","family":"Lin","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, University of Ulsan, 93 Daehak-ro, Nam-gu, Ulsan 44610, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jaewoo","family":"Yoon","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, University of Ulsan, 93 Daehak-ro, Nam-gu, Ulsan 44610, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Byeongwoo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, University of Ulsan, 93 Daehak-ro, Nam-gu, Ulsan 44610, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Levinson, J., Montemerlo, M., and Thrun, S. 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