A receding horizon state estimator estimates state of a vehicle such as to reduce total communication cost of acquiring external measurements over a prediction horizon, in which state estimation accuracy for a time step is a function of state estimation accuracy for a previous time step. For each time step of the prediction horizon, estimator selects a subset of external sensors with external measurements sufficient to estimate the state with accuracy satisfying the constraint on state estimation accuracy for the corresponding time step while reducing a total communication cost of acquiring the external measurements over the prediction horizon. The estimator requests the external measurements from the subset of external sensors determined for a current time step and estimates the state of the vehicle using the internal and the requested external measurements.
Receding horizon state estimator
2021-09-21
Patent
Elektronische Ressource
Englisch
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G07C TIME OR ATTENDANCE REGISTERS , Zeit- oder Anwesenheitskontrollgeräte |
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