VEHICLE STATE ESTIMATION AUGMENTING SENSOR DATA FOR VEHICLE CONTROL AND AUTONOMOUS DRIVING
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United States of America Patent
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Issued Date -
Jul 13, 2023
app pub date -
Jan 5, 2022
filing date -
Jan 5, 2022
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Abstract
Provided are methods for vehicle state estimation based on sensor data, which can include receiving the sensor data generated by one or more sensors, calculating a cornering stiffness value associated with the vehicle, predicting a lateral velocity value associated with the vehicle based on the cornering stiffness value, and outputting a set of vehicle state variables indicative of a current state of the vehicle at least by inputting the lateral velocity value into a recursive filter. Some methods described also include updating the cornering stiffness value based on the set of vehicle state variables, updating the lateral velocity value based on the updated cornering stiffness value, and updating the set of vehicle state variables based on the updated lateral velocity value. Systems and computer program products are also provided.
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