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 the calculated perceived ground live and determine a probabilistic perceived uncertainty distribution from the perceived ground live based on a set of learning parameters learned from a set of actual perceived outputs generated using perceived slices to be modeled. Simulated scenes are run based on a time series of such perceived outputs (with modeled perceived errors), but may also be directly re-run based on perceived ground truth (without perceived errors). This may, for example, determine whether a perceptual error is a cause of a certain unexpected decision within a planner by determining whether this decision is also made in a simulated scene when the perceptual error is "closed".
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,并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。基于此类(具有建模的感知误差的)感知输出的时间序列来运行模拟场景,但也可以基于(没有感知误差的)感知地面实况来直接重新运行模拟场景。例如,这可以通过确定当感知误差被“关闭”时在模拟场景中是否也做出这种决策,来确定感知误差是否是规划器内的某个意外决策的原因。
Performance testing of robotic systems
机器人系统的性能测试
2022-04-05
Patent
Electronic Resource
Chinese
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G06V |