Robust numerically stable Kalman filter for autonomous vehicles
Robust numerically stable Kalman filter for autonomous vehicles
- New search for: BOSSE MICHAEL CARSTEN
- New search for: COSTANTINO ADRIAN MICHAEL
- New search for: DAS SUBHASIS
- New search for: PAPI FRANCESCO
- New search for: BOSSE MICHAEL CARSTEN
- New search for: COSTANTINO ADRIAN MICHAEL
- New search for: DAS SUBHASIS
- New search for: PAPI FRANCESCO
The techniques discussed herein include modifying a Kalman filter to additionally include a loss component that dampens the effect measurements with large errors (or measurements indicating states that are rather different than the predicted state) have on the Kalman filter and, in particular, the updated uncertainty and/or updated prediction. In some examples, the techniques include scaling a Kalman gain based at least in part on a loss function that is based on the innovation determined by the Kalman filter. The techniques additionally or alternatively include a reformulation of a Kalman filter that ensures that the uncertainties determined by the Kalman filter remain symmetric and positive definite.
Document information
Robust numerically stable Kalman filter for autonomous vehicles
2023-10-17
Patent
Electronic Resource
English
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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