The invention discloses a definition and online monitoring method and system for an automatic driving operation design domain, and the method comprises the steps: taking a lane keeping function as an example, obtaining an observation data set, building a structure cause and effect graph between the lane line detection precision of an automatic driving system and the elements of the operation design domain according to the observation data set, fitting a causal transmission path (namely a structural causal equation) of the structural causal diagram according to the observation sample; various operating environment combinations are obtained according to the operating parameter space of the self-driving automobile, anti-fact reasoning is conducted on the automatic driving performance (taking lane line detection precision as an example) under the various operating environment combinations by applying the obtained structural equation, and the environment combination with the anti-fact calculation result larger than a threshold value is selected to represent a design operating domain; if the lane line detection precision in the automatic driving performance expression indexes is continuously smaller than a set threshold value, a function degradation strategy is started or a driver is reminded to take over. The safety of the automatic driving automobile is effectively improved through ODD online monitoring.
本发明公开了面向自动驾驶操作设计域的定义和在线监控方法及系统,以车道保持功能为例,所述方法包括:获取观测数据集,根据观测数据集建立自动驾驶系统的车道线检测精度与操作设计域要素之间的结构因果图,并根据观察样本拟合结构因果图的因果传递路径(即结构因果方程);根据自动驾驶汽车的运行参数空间获取各种运行环境组合,应用已经获取的结构方程对各种运行环境组合下的自动驾驶性能(以车道线检测精度为例)进行反事实推理,选择反事实计算结果大于阈值的环境组合表征设计运行域;若自动驾驶性能表现指标中的车道线检测精度持续小于设定阈值,启用功能降级策略或者提醒驾驶人接管。本发明通过ODD在线监控有效提高自动驾驶汽车的安全性。
Definition and online monitoring method and system for automatic driving operation design domain
面向自动驾驶操作设计域的定义和在线监控方法及系统
2023-12-29
Patent
Electronic Resource
Chinese
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