Vehicle, device, computer program and method for estimating a road profile
AssigneeBayerische Motoren Werke Aktiengesellschaft
InventorsFrank Keidel, Tilman Nowak, Alexander Born, Sean Brown
Life of this patent
Estimating the term…
Abstract
Systems, methods, and apparatuses are provided for estimating a road profile in surroundings of a vehicle by using a state function that describes the road profile and a Bayes filter for adapting the state function based on surroundings measurement data. Sensor-captured surroundings measurement data is received. Information about an uncertainty regarding at least either the state function or the sensor-captured surroundings measurement data is received. The information is taken as a basis for adapting a state inaccuracy that influences an attenuation of the Bayes filter.
Claims15
A method for controlling an autonomous vehicle, comprising:
- controlling an automated guidance of the vehicle based on a road profile estimated using a state function describing the road profile and a Bayes filter that adapts the state function based on sensor-captured surroundings measurement data;
- receiving the sensor-captured surroundings measurement data;
- receiving information about an uncertainty of the state function or the sensor-captured surroundings measurement data;
- and
- adapting a state inaccuracy that influences an attenuation of the Bayes filter based on the information.
A device comprising:
- one or more interfaces for communication;
- and
- a data processing circuit configured to:
- supervise the one or more interfaces and to use the one or more interfaces to:
- receive sensor-captured surroundings measurement data;
- receive information about an uncertainty regarding at least either a state function that describes an estimated road profile or the sensor-captured surroundings measurement data;
- and
- take the information as a basis for adapting a state inaccuracy that influences an attenuation of a Bayes filter for adapting the state function based on surroundings measurement data.
Dependencies are inferred from the claim text.