Vehicle, Apparatus, Computer Program and Method for at Least Partially Compensating for an Observation Error When Estimating the Course of a Road

A method for compensating for an observation error when estimating a course of a road in an environment of a vehicle, comprising:

• obtaining a state function for mapping the estimated course of the road;
• obtaining environment measurement data of the environment of the vehicle;
• capturing information about the observation error;
• determining a transform by transforming the state function or the environment measurement data based on the captured information about the observation error to compensate for the observation error;
• and
• adapting the estimated course of the road using the transform.

A non-transitory computer-readable medium comprising instructions operable, when executed by one or more computing systems, to:

• obtain a state function for mapping an estimated course of a road;
• obtain environment measurement data of the environment of a vehicle;
• capture information about an observation error;
• determine a transform by transforming the state function or the environment measurement data based on the captured information about the observation error to compensate for the observation error;
• and
• adapt the estimated course of the road using the transform.

An apparatus comprising:

• one or more interfaces for communication;
• and
• a processor configured to control the one or more interfaces and configured to:
• obtain a state function for mapping an estimated course of a road;
• obtain environment measurement data of the environment of a vehicle;
• capture information about an observation error;
• determine a transform by transforming the state function or the environment measurement data based on the captured information about the observation error to compensate for the observation error;
• and
• adapt the estimated course of the road using the transform.