Vehicle heading estimation

Abstract

A method for vehicle heading estimation during autonomous driving may comprise measuring (102), by an inertial measurement unit of a vehicle, a vehicle heading while the vehicle is driving a straight line, thereby obtaining a vehicle measured heading. In response to the measuring, a vehicle reference heading may be retrieved (102) from a high-definition map via a wireless communication network. The vehicle reference heading may be compared (103) with the vehicle measured heading, thereby obtaining (104) an estimated heading error between the vehicle reference heading and the vehicle measured heading. The estimated heading error may be used (105) for controlling one or more vehicle control functions.