Vehicle State Estimation and Prediction

Autonomous driving feedback control loops [2], [3], [4], [5], [6], [7], [8], [9],;10], [11] and decision-making systems [12], [13], [14], [15] depend on the effectiveness of information collection and learning the knowledge of vehicle motions, including the ego-vehicle and other nearby vehicles. Knowing the information, the autonomous vehicles can estimate the behaviors and future positions of others so as to determine the way of behaving in current traffic scenario. Therefore, the knowledge of vehicles at current moment on motions and states are particularly essential for autonomous driving. As for autonomous vehicles driving on the road, the sensor suite deployed on them commonly includes GPS, IMU, Lidars, Cameras and Radars. With the information collected from GPS and IMU, the ego vehicle can measure its states, including the global position, the heading angle that shows the orientation, the linear velocity and angular velocity as well as acceleration.