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 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, the parameters being learned from a set of actual perceptual outputs generated using perceptual slices to be modeled. The PSPM includes a time-dependent model such that the perceived output sampled at the current moment depends on at least one of: an earlier one of the perceived outputs sampled at the previous moment, and an earlier one of the perceived ground live calculated for the previous moment.
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。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。PSPM包括时间依赖模型,使得在当前时刻采样的感知输出取决于以下至少一项:在前一时刻采样的感知输出中的较早一个、以及针对前一时刻计算的感知地面实况中的较早一个。
Performance testing of robotic systems
机器人系统的性能测试
2022-04-01
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |