A method of evaluating a planning function of an autonomous driving vehicle includes receiving, at an autonomous driving simulation platform, a record file recorded by an ADV while autonomous driving on a road segment; based on the record file, operation of a dynamic model of the ADV over the road segment during the one or more driving scenarios is simulated in the autonomous driving simulation platform. The method further includes comparing between each planned trajectory generated by a planning module of the dynamic model after an initial period of time and each trajectory stored in a buffer; and modifying a performance score generated by a planning performance analyzer in the autonomous driving simulation platform based on a result of the comparison.
评估自主驾驶车辆的规划功能的方法包括在自主驾驶模拟平台处接收由ADV在路段上自主驾驶时记录的记录文件;基于记录文件,在自主驾驶模拟平台中模拟ADV的动态模型在路段上在一个或多个驾驶场景期间的操作。方法进一步包括在由动态模型的规划模块在初始时间段之后生成的每个规划轨迹与存储在缓冲器中的每个轨迹之间进行比较;并且基于比较的结果,修正由自主驾驶模拟平台中的规划性能分析器生成的性能分数。
Method and system for evaluating planning function of autonomous driving vehicle
评估自主驾驶车辆的规划功能的方法及系统
2022-11-11
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 |
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