Abstract: The disclosure relates to the technical field of batteries, and discloses a cathode material and a preparation method thereof, a cathode plate and an O3-type layered sodium ion battery. The chemical formula of the cathode material is NaM1-x-y-zNixFeyMnzO2, wherein M comprises a first metal element, and the first metal element has at least one f electron orbital. Ni, Fe and Mn elements in the cathode material are elements containing a d electron orbital. By doping the element M, on the one hand, the f electron orbital and the d electron orbitals are mutually entangled, properties of the cathode material are synergistically improved, so that the structure and air stability of the material are improved; and on the other hand, interaction of all elements in the material can be facilitated, so that ions can move away from original positions to generate vacancies, ion diffusion channels of sodium ions are enlarged, and the rate capability of the material is improved.

Abstract: Disclosed are systems and techniques for controlling one or more operations of a vehicle. For example, according to some aspects, a process may include determining a path associated with the vehicle and determining at least two points on the path located closest to a pose of the vehicle. The process may include determining a measurement point on a segment between at least two points that is closest to the pose of the vehicle. The process may further include determining a lateral offset, a heading offset, and/or a curvature of the path based on at least two points and the measurement point.

Abstract: An example yaw rate related method includes: obtaining a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least one of the plurality of measurements of yaw rate in response to: a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle; or a determination that the vehicle is stationary.

Abstract: Provided are methods for vehicle state estimation based on sensor data, which can include receiving the sensor data generated by one or more sensors, calculating a cornering stiffness value associated with the vehicle, predicting a lateral velocity value associated with the vehicle based on the cornering stiffness value, and outputting a set of vehicle state variables indicative of a current state of the vehicle at least by inputting the lateral velocity value into a recursive filter. Some methods described also include updating the cornering stiffness value based on the set of vehicle state variables, updating the lateral velocity value based on the updated cornering stiffness value, and updating the set of vehicle state variables based on the updated lateral velocity value. Systems and computer program products are also provided.