MULTI-SENSOR FUSION METHOD BASED ON AUTONOMOUS DRIVING, APPARATUS, MEDIUM AND VEHICLE

The disclosure relates to the technical field of autonomous driving, and specifically provides a multi-sensor fusion method based on autonomous driving, an apparatus, a medium, and a vehicle, which are intended to solve the problem of how to effectively suppress corresponding state quantities when some state dimensions need to be disabled during multi-sensor fusion, without affecting other states. In the method, when there is a first target state quantity that requires state suppression, in a propagation phase of Kalman filtering, a state transition matrix for the first target state quantity's self-dimension is set as an identity matrix, and state transition matrices for dimensions related to both the first target state quantity and a second target state quantity are set as a zero matrix; and in an update phase, a Jacobian matrix of the first target state quantity is set as a zero matrix, and a Kalman gain matrix of the first target state quantity is set as a zero matrix, thereby avoiding an impact of suppression of the first target state quantity on covariance of the second target state quantity.