A noise shaping circuit and method for operating the same includes a first addition module that receives a digital input signal. A first filter module generates a first filtered output signal based on an output of the first addition module. A truncation module generates a truncated output signal based on first filtered output signal. A second filter module generates a second filtered output signal based on the truncated output signal. The second filtered output signal is an input to the first addition module.

 
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> Path estimation and confidence level determination system for a vehicle

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