A method and system for evaluating planning performance of an autonomous driving vehicle are disclosed. The method includes the following operations: at an analysis application, receiving a record file for a driving scene in an area recorded by the ADV, and a high-definition map matched with the area; extracting a planning message and a sensing message from the record file; and aligning the planning message and the perception message based on their timestamps. The method further includes calculating a single performance score for each planning cycle of the ADV of the driving scenario based on the planning message; calculating the weight of each planning cycle based on the sensing message and the high-definition map; a weighted score for the driving scene is then calculated based on the single performance score and its corresponding weight.
公开一种评估自主驾驶车辆的规划性能的方法及系统。方法包括以下操作:在分析应用处,接收由ADV记录的针对区域中的驾驶场景的记录文件,以及与区域匹配的高清地图;从记录文件中提取规划消息和感知消息;并基于它们的时间戳对齐规划消息和感知消息。方法进一步包括基于规划消息为驾驶场景的ADV的每个规划周期计算单个性能分数;基于感知消息和高清地图计算每个规划周期的权重;然后基于单个性能分数及其相应的权重计算驾驶场景的加权分数。
Method and system for evaluating planning performance of autonomous driving vehicle
评估自主驾驶车辆的规划性能的方法及系统
2022-09-30
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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