US 12,365,352 B2
Method for determining an object's position using different items of sensor information
Doris Pflueger, Stuttgart (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/753,656
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Aug. 13, 2020, PCT No. PCT/EP2020/072804
§ 371(c)(1), (2) Date Mar. 10, 2022,
PCT Pub. No. WO2021/047856, PCT Pub. Date Mar. 18, 2021.
Claims priority of application No. 10 2019 213 916.7 (DE), filed on Sep. 12, 2019.
Prior Publication US 2022/0289220 A1, Sep. 15, 2022
Int. Cl. B60W 50/06 (2006.01); G01S 5/02 (2010.01)
CPC B60W 50/06 (2013.01) [G01S 5/0294 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A method for determining a position of an object using different sensor information items, comprising:
reading the sensor information items into a Kalman filter;
fusing the sensor information items using the Kalman filter to determine (i) estimated values for states and (ii) information associated with the estimated values indicating an accuracy of the estimated values;
monitoring the Kalman filter by estimating an accuracy probability that an estimation error lies within an error band +ε, where ε is a maximum acceptable error, the accuracy probability being estimated by (i) deriving bounds for a plurality of conditional probabilities, (ii) determining an upper bound for the accuracy probability based on the bounds for the plurality of conditional probabilities, and (iii) estimating the accuracy probability based on the upper bound, conditions of the plurality of conditional probabilities respectively depending on other estimation errors from at least one earlier time step; and
performing, with a controller of a motor vehicle, an autonomous driving operation of the motor vehicle based on the determined position of the object,
wherein monitoring includes determining the upper bound for the accuracy probability with a following formula:

OG Complex Work Unit Math