Systems and methods for predictions of state and uncertainty of objects for a motorized mobile system

A processing system for a motorized mobile system comprising:

• 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 recursive state estimation filter and at least one object kinematic model to repeatedly:
• predict a first kinematic state estimate of the object based on a prior knowledge of state for the object;
• output the first predicted kinematic state estimate of the object from the state estimation filter for use by at least one first process of the motorized mobile system, wherein the at least one other first process causes one or more actions to be taken by the motorized mobile system based on the first predicted kinematic state estimate of the object;
• receive a measured kinematic state of the object observed by the sensor;
• use the first predicted 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;
• use the second kinematic state estimate of the object as an input to the state estimation filter to predict another first kinematic state estimate of the object, wherein the other first kinematic state estimate of the object is output from the state estimation filter for use by the at least one first process of the motorized mobile system, wherein the at least one first process causes one or more actions to be taken by the motorized mobile system based on the other first predicted first kinematic state estimate of the object;
• predict a first uncertainty estimate of state based on a prior knowledge of uncertainty of state;
• output the first predicted uncertainty estimate of state from the state estimation filter for use by at least one second process of the motorized mobile system, wherein the at least one second process causes one or more actions to be taken by the motorized mobile system based on the first predicted uncertainty estimate of state;
• use the first predicted uncertainty estimate of state and the measured kinematic state of the object observed by the sensor to determine a second uncertainty estimate of state;
• and
• use the second uncertainty estimate of state as another input to the state estimation filter to predict another first uncertainty estimate of state, wherein the other first predicted uncertainty estimate of state is output from the state estimation filter for use by the at least one second process of the motorized mobile system, wherein the at least one second process causes one or more actions to be taken by the motorized mobile system based on the other first predicted uncertainty estimate of state.