A processing system for a motorized mobile system includes at least one sensor to measure one or more kinematic states of an object proximate to the motorized mobile system and at least one processor to use at least one state estimation filter and at least one object kinematic model. The processor uses the at least one state estimation filter and the at least one object kinematic model to predict a first kinematic state estimate of the object based on a prior knowledge of state for the object and output the predicted first kinematic state estimate of the object from the state estimation filter for use by at least one other process of the motorized mobile system, wherein the at least one other process causes one or more actions to be taken by the motorized mobile system based on the predicted first kinematic state estimate of the object. The processor further uses the at least one state estimation filter and the at least one object kinematic model to receive a measured kinematic state of the object observed by the sensor, use the predicted first kinematic state estimate of the object and the measured kinematic state of the object observed by the sensor to determine a second kinematic state estimate of the object, and use the second kinematic state estimate of the object as an input to the state estimation filter using the object kinematic model to predict another kinematic state estimate of the object.
Systems and Methods for Enhanced Autonomous Operations of A Motorized Mobile System
2019-10-10
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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