Adaptive Kalman filter method for accurate estimation of forward path geometry of an automobile
US6718259B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 2, 2002 |
| Grant date | Apr 6, 2004 |
| Priority date | — |
| Expiry date | Oct 2, 2022 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2552/53
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention provides a method and apparatus for estimation of vehicle forward path geometry utilizing an adaptive Kalman filter bank and a two-clothoid road model. The invention provides that each of a plurality of Kalman filters, utilizing the latest available measurement vector Yk at time k, estimates the state vector Xk and error covariance matrix Pk. The outputs of filter 504a, 504b, and 504c denoted as as Xkj and Pkj, are provided to a plurality of weighting elements, which calculate weight factors, Wkj 506a, 506b, and 506c for each filter. The weight factor of each filter is the probability that the upcoming road geometry matches the road model hypothesized in the filter. After being assigned a weighted value, the weighted value road models are fused in a fusion element 508, and a weighted output road geometry model is provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.