Augmented extended Kalman filter with cooperative Bayesian filtering and multi‐models fusion for precise vehicle localisations
Bibliographic record
Abstract
Self‐localisation is vital for autonomous vehicles. In this study, the authors present an augmented extended Kalman filter (AEKF) framework for intelligent vehicle localisation applications. Compared to the previous approach, the proposed AEKF is enhanced through a model fusion, which incorporates a constant velocity model, constant acceleration model, constant turn rate and velocity, and constant turn rate and acceleration model by using the Takagi–Sugeno fuzzy inference technique, where the typical prediction procedure in the extended Kalman filter is modified by a fusion of those various motion models for the state estimation. Furthermore, they proposed a flexible cooperative Bayesian filter to incorporate the data from nearby‐vehicles’ position and lateral distance from the host vehicle to the lane lines, to improve the raw global positioning system (GPS) performance under multi‐sensor observation environments. They conduct simulation experiments under vividly, near‐realistic scenarios with random traffic‐flows to show the superiorities of the proposed framework when compared with the consumer‐grade GPS implementation. The results show that the obtained positioning enhancement can significantly reduce the positioning error from the original larger than 5 m to the sub‐meter level under various scenarios.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.003 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".