Recently, most cars are equipped with Global Navigation Satellite System (GNSS), whose deviation on a map can be larger than several meters. For level 2 automated driving, Adaptive Cruise Control (ACC) and Advanced Emergency Braking system (AEBS) require higher accuracy of self-location. In this paper, we propose a Moving Horizon Estimation (MHE) that fuses an external sensor and GNSS to improve vehicle localization performance on a map. It is shown that the proposed method can improve the

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... ated vehicle position on the map and suppress sensor misrecognition, especially when the external sensor's observation is within the evaluation horizon of MHE.