US 12,227,195 B2
Hypothesis inference for vehicles
Junsheng Fu, Nödinge (SE); and Axel Beauvisage, Gothenburg (SE)
Assigned to ZENSEACT AB, Gothenburg (SE)
Filed by ZENSEACT AB, Gothenburg (SE)
Filed on Dec. 27, 2022, as Appl. No. 18/146,576.
Claims priority of application No. 21218005 (EP), filed on Dec. 28, 2021.
Prior Publication US 2023/0202497 A1, Jun. 29, 2023
Int. Cl. B60W 50/06 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01)
CPC B60W 50/06 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 60/001 (2020.02); G01C 21/3815 (2020.08); B60W 2552/53 (2020.02); B60W 2554/404 (2020.02); B60W 2555/60 (2020.02); B60W 2556/00 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method for determining a state of a vehicle on a road portion having two or more lanes, the vehicle comprising an Automated Driving System (ADS) feature, the method comprising:
obtaining map data associated with the road portion;
obtaining positioning data indicating a position of the vehicle on the road;
obtaining sensor data from a sensor system of the vehicle;
initializing a filter per lane of the road portion based on the obtained map data, the obtained positioning data, and the obtained sensor data, wherein each filter indicates an estimated state of the vehicle on the road portion;
selecting one of the initialized filters by means of a trained machine-learning algorithm configured to use the obtained map data, the obtained positioning data, the obtained sensor data, and each estimated state as indicated by each filter as input and to output a single selected initialized filter indicative of a current state of the vehicle on the road portion;
controlling the ADS feature of the vehicle based on the selected initialized filter.