Sensitivity and Performance Evaluation of Multiple-Model State Estimation Algorithms for Autonomous Vehicle Functions

Algorithm 1

Extended Kalman filter.

Initialize variables: ,

for to do

 Predict

   Compute Jacobian

   Predict state

   Predict covariance

 Update

   Compute Jacobian

   Residual

   Residual covariance

   Kalman gain

   Update state

   Update covariance

end for