Method of testing control system software of an AV, including receiving sensor data of the environment surrounding the AV (real-world or simulated), receiving control commands for the AV from the stack, intercepting the control command and imposing a restriction on the dynamic performance (e.g. acceleration, deceleration, steering angle, steering rate, velocity, or throttle) if the command exceeds a predetermined testing threshold (fig 3), and logging 28 the interception event 26 (terminology used in specification is “bug”). The restricted control command may then be actuated. The dynamic limit of the vehicle may be restricted to reduce the testing precautions and testers required. The sensors may be a RADAR, LiDAR, or a camera, the footage/video around the event (e.g. ±15 seconds) may be snipped and retained for investigation. The event may be classified into categories for trend analysis by machine learning. A user interface may display sensor inputs, control commands, and event category; and may receive description of the event from the user for generating an event ticket.
A computer-implemented method, a transistory or non-transistory computer-readable medium, and an autonomous vehicle
2023-01-11
Patent
Electronic Resource
English
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