A "Perceptual Statistical Performance Model" (PSPM) that models perceptual slices of a runtime stack of an autonomous vehicle or other robotic system may be used herein, e.g., for safety/performance testing. The first PSPM is configured to: receive a computed perceived ground live; a probabilistic perceptual uncertainty distribution is determined from perceptual ground truth based on a set of learning parameters learned from a set of actual perceptual outputs generated using perceptual slices to be modeled in order to calculate a first time series of perceptual outputs. A second time series of perceptual outputs is calculated using a second PSPM that models a second perceptual slice of the runtime stack, the first PSPM being learned from the first sensor modality of the perceptual slice and the data of the time series, and the second PSPM being independently learned from the second sensor modality of the second perceptual slice and the data of the second time series.
本文可以使用对自动驾驶车辆或其他机器人系统的运行时堆栈的感知切片进行建模的“感知统计性能模型”(PSPM),例如,用于安全/性能测试。第一PSPM被配置为:接收计算的感知地面实况;基于学习参数的集合从感知地面实况确定概率感知不确定性分布,参数是从使用要被建模的感知切片生成的实际感知输出集合学习的,以便计算感知输出的第一时间序列。使用对运行时堆栈的第二感知切片建模的第二PSPM来计算感知输出的第二时间序列,第一PSPM从感知切片的第一传感器模态和时间序列的数据中学习,以及第二PSPM独立地从第二感知切片的第二传感器模态和第二时间序列的数据中学习。
Performance testing of robotic systems
机器人系统的性能测试
2022-04-01
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |