Automated driving systems and control logic using sensor fusion for intelligent vehicle control

A method for controlling an automated driving operation of a motor vehicle, the method comprising:

• determining, via a vehicle controller of the motor vehicle, path plan data for the motor vehicle, the path plan data including a vehicle location and a predicted route;
• receiving, from a distributed network of sensing devices of the motor vehicle, sensor data indicative of an object position and object dynamics of a target object, each of the sensing devices generating a respective portion of the sensor data with respect to a respective coordinate frame;
• conditioning the received sensor data to interrelate the respective coordinate frames of the sensing devices with a common coordinate frame;
• classifying the respective portion of the sensor data received from each of the onboard sensing devices to correlate related ones of the respective portions of the sensor data;
• determining a preliminary fused cut-in/cut-out prediction value;
• processing the preliminary fused cut-in/cut-out prediction value with a correction Kalman filter to remediate sensor gain and sensor error;
• processing the preliminary fused cut-in/cut-out prediction value with a prediction Kalman filter to estimate position and velocity of the target object;
• applying a sensor fusion module to the received sensor data to determine a threat confidence value predictive of intrusion of the target object with respect to the motor vehicle;
• determining, via the resident vehicle controller, if the threat confidence value is greater than a first calibrated threshold value;
• and
• transmitting, via the resident vehicle controller in response to the threat confidence value being greater than the first calibrated threshold value, a first command signal to a first vehicle dynamics system to take a first preventive action.