A state estimation apparatus for estimating, based on an output of an image sensor, an estimated value of an estimation target using a Kalman filter extracts, from the output of the image sensor, an observation to the Kalman filter. The state estimation apparatus also obtains, from the output of a vehicular motion sensor that is different from the image sensor, a time update input related to the state of the estimation target. The time update input is used by the Kalman filter. The state estimation apparatus obtains, based on the observation and the time update input, the estimated value of the state of the estimation target using the Kalman filter. The Kalman filter is comprised of system noise to which a previously defined correction has been added. The previously defined correction addresses variations of an error in the vehicular motion sensor.
STATE ESTIMATING METHOD AND APPARATUS
2018-05-17
Patent
Elektronische Ressource
Englisch
DRIVER STATE ESTIMATING APPARATUS AND DRIVER STATE ESTIMATING METHOD
Europäisches Patentamt | 2021
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