{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1389052",
  "publishedAt": "2025-10-22T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "ANHUI NIO AUTONOMOUS DRIVING TECH CO LTD [CN]"
  ],
  "textContent": "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.",
  "title": "MULTI-SENSOR FUSION METHOD BASED ON AUTONOMOUS DRIVING, APPARATUS, MEDIUM AND VEHICLE"
}