Table 4.

Comparison results of the short-distance trajectory with various driving behaviors.

No.	Duration	Methods	Distance	RMSE
Figure 19	76.105	GPS	218.940	7.105
		GPS + IMU	216.019	4.657
		GPS + IMU + CAN	218.946	-
		Proposed method	213.382	2.341
Figure 20	60.885	GPS	136.538	1.491
		GPS + IMU	142.303	1.139
		GPS + IMU + CAN	131.749	-
		Proposed method	130.997	0.941