A modified Kalman filter may include one or more neural networks to augment or replace components of the Kalman filter in such a way that the human interpretability of the filter's inner functions is preserved. The neural networks may include a neural network to account for bias in measurement data, a neural network to account for unknown controls in predicting a state of an object, a neural network ensemble that is trained differently based on different sensor data, a neural network for determining the Kalman gain, and/or a set of Kalman filters including various neural networks that determine independent estimated states, which may be fused using Bayesian fusion to determine a final estimated state.


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    Title :

    INTERPRETABLE KALMAN FILTER COMPRISING NEURAL NETWORK COMPONENT(S) FOR AUTONOMOUS VEHICLES


    Contributors:

    Publication date :

    2024-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H03H IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS , Scheinwiderstandsnetzwerke, z.B. Resonanzkreise



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