Patent ID: 8078373

Claim:
A recursive method for predicting dynamics of a vehicle moving on a road, the dynamics of the vehicle including a plurality of vehicle parameters provided by sensors on the vehicle, said method comprising: performing the following operations by a processor on the vehicle; generating a preview of a path to be followed by the vehicle, where the preview of the path is generated based on actual values of the plurality of vehicle parameters; obtaining predicted values of at least one of the plurality of vehicle parameters corresponding to the actual values of the at least one of the plurality of vehicle parameters, where the predicted values are obtained based on a target path to be followed by the vehicle on the road, wherein the target path is obtained based on a plurality of road parameters; obtaining a corrected value of at least one of the plurality of vehicle parameters corresponding to the actual values of each of the vehicle parameters, where the corrected value is obtained based on minimizing the difference between the previewed path and the target path to be followed by the vehicle on the road; predicting the dynamics of the vehicle based on the corrected values of the at least one of the plurality of vehicle parameters; and repeating the steps of generating the preview of the path, obtaining the corrected value of the at least one of the plurality of vehicle parameters and predicting the dynamics of the vehicle, wherein the steps are repeated after a pre-defined interval of time, and wherein the actual values of the at least one of the plurality of vehicle parameters is replaced by the predicted values of the at least one of the plurality of vehicle parameters.