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 modeled perceptual slice includes an online error estimator, and the computer system is configured to use the PSPM to obtain a predicted online error estimate of the perceptual output in response to the perceptual ground truth. This recognizes that on-line perceptual error estimates may themselves experience errors.

    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。建模的感知切片包括在线误差估计器,且计算机系统被配置成使用PSPM以响应于感知地面实况来获得感知输出的预测的在线误差估计。这认识到,在线感知误差估计本身可能经受误差。


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    Title :

    Performance testing of robotic systems


    Additional title:

    机器人系统的性能测试


    Contributors:

    Publication date :

    2022-04-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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