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 calculated perceived ground live t; a probabilistic perceptual uncertainty distribution in the form of p (et), p (et, c) is determined from the perceptual ground live t based on the set of learning parameters, where p (et, c) represents the probability that the perceptual slice computes a particular perceptual output e given the computed perceptual ground live t and one or more confounding factors c, and p (et, c) represents the probability that the perceptual slice computes the particular perceptual output e given the computed perceptual ground live t and one or more confounding factors c. The method comprises the following steps: (1) modeling perceptual slices to be modeled, and a probabilistic perceptual uncertainty distribution is defined over a range of possible perceptual outputs, learning parameters from a set of actual perceptual outputs generated using the perceptual slices to be modeled, where each confounding factor is a variable of the PSPM, the value of which characterizes a physical condition, p (et, c) depending on the variable.
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t;基于学习参数的集合从感知地面实况t确定形式为p(e|t)、p(e|t,c)的概率感知不确定性分布,其中p(e|t,c)表示在给定所计算的感知地面实况t和一个或更多个混杂因素c的情况下感知切片计算特定感知输出e的概率,并且概率感知不确定性分布是在可能的感知输出的范围上定义的,从使用要被建模的感知切片生成的实际感知输出集合中学习参数,其中,每个混杂因素均是PSPM的变量,变量的值表征物理条件,p(e|t,c)依赖于变量。
Performance testing of robotic systems
机器人系统的性能测试
2022-04-08
Patent
Electronic Resource
Chinese
IPC: | G06V / 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 |