Method for filtering the driving route based on distributed Kalman filter for stabilization of route tracking of autonomous vehicles

A processor-implemented driving path filtering method comprising:

• recognizing, by a driving path filtering system, a position of a vehicle;
• recognizing, by the driving path filtering system, a lane of a road;
• generating, by the driving path filtering system, a map-based path for the vehicle to travel on, based on a result of recognizing the position of the vehicle;
• generating, by the driving path filtering system, a lane-based path based on a result of recognizing the lane of the road;
• performing, by the driving path filtering system, path noise filtering with respect to the generated map-based path or the generated lane-based path using a path noise removal filtering module;
• and
• controlling, by the driving path filtering system, a steering of the vehicle based on the generated map-based path or the generated lane-based path onto which the path noise filtering is performed,
• wherein the performing the path noise filtering comprises:
• filtering, using a first local filter, the map-based path;
• filtering, using a second local filter, the lane-based path;
• receiving, using a master filter, as an input, a result of filtering through the first local filter or the second local filter;
• correcting an error associated with the map-based path or the lane-based path by removing a noise corresponding to the error associated with the map-based path or the lane-based path;
• and
• providing a result of the removing the noise back to each of the first local filter and the second local filter.