Patent ID: 8489317

Claim:
A method for predicting future states of a vehicle by combining an unscented transform (UT) with numerical integration (NI), the method comprising: selecting a model, by one or more processors, having n states reflecting dynamic features of the vehicle; inputting, as the UT, noisy sensor measurements representing a current state of the vehicle, by one or more processors, to generate (2n+1) sigma points X i , where i=0, . . . , 2n, each of the sigma points having n states; performing, as the NI, (2n+1) numerical integrations by one or more processors, each integration including propagating the n-states of the respective sigma points X i through the non-linear function Y i =f(X i ); and combining, by one or more processors, the propagated sigma points to generate the predicted future states of the vehicle, wherein the predicted future states of the vehicle are generated only when there is no measurement update or process noise so that an unscented transform is applied only to a stochastic state.