A computer system receives scenario data generated using a trajectory planner to control an ego agent responsive to at least one other agent in a real or simulated scenario. A test oracle provides predetermined extractor functions for extracting time-varying numerical signals from the scenario data and predetermined assessor functions for assessing the extracted time-varying signals. The test oracle applies, to the scenario data, a rule graph comprising extractor nodes and assessor nodes. Each extractor node applies one of the predetermined extractor functions to the scenario data to extract an output in the form of a time-varying numerical signal. Each assessor node has one or more child nodes, each child node being one of the extractor nodes or another of the assessor nodes, and the assessor node applies one of the predetermined assessor functions to the output(s) of its child node(s). The test oracle provides an output graph comprising the output of at least one of the assessor nodes and the output(s) of at least one of its child node(s).
PERFORMANCE TESTING FOR TRAJECTORY PLANNERS
2024-02-08
Patent
Electronic Resource
English
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 |
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