US 12,240,487 B2
Platform for perception system development for automated driving systems
Magnus Gyllenhammar, Pixbo (SE); Carl Zandén, Lindome (SE); and Majid Khorsand Vakilzadeh, Mölndal (SE)
Assigned to Zenseact AB, Gothenburg (SE)
Filed by ZENSEACT AB, Gothenburg (SE)
Filed on Feb. 16, 2022, as Appl. No. 17/672,791.
Claims priority of application No. 21158017 (EP), filed on Feb. 19, 2021.
Prior Publication US 2022/0266856 A1, Aug. 25, 2022
Int. Cl. B60W 60/00 (2020.01); G06V 10/74 (2022.01); G06V 10/80 (2022.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [G06V 10/74 (2022.01); G06V 10/803 (2022.01); G06V 20/56 (2022.01); B60W 2555/00 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A method performed by a computing system for performance evaluation of a perception-development module of a vehicle, wherein the vehicle is equipped with an Automated Driving System (ADS), the method comprising:
storing, during a time period, a first set of perception data obtained from a perception module of the vehicle, the perception module being configured to generate the first set of perception data based on sensor data obtained from one or more vehicle-mounted sensors during the time period;
forming, by post-processing the first set of perception data, a baseline worldview indicative of a scenario in a surrounding environment of the vehicle during the time period;
obtaining a second set of perception data from the perception-development module, wherein the perception-development module is configured to generate the second set of perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors during the time period;
wherein the second set of perception data is indicative of a perceptive parameter of the surrounding environment of the vehicle during the time period;
matching the second set of perception data to the formed baseline worldview in order to identify a match between the perceptive parameter of the second set of perception data and a corresponding perceptive parameter in the baseline worldview;
evaluating the obtained second set of perception data in reference to the baseline worldview in order to determine a cost function indicative of a performance of the perception-development module based on the identified match between the perceptive parameter of the second set of perception data and a corresponding perceptive parameter in the baseline worldview;
updating one or more parameters of the perception model of the perception-development module by means of an optimization algorithm configured to minimize a calculated cost function; and wherein the post-processing of the first set of perception data comprises
running a portion of the first set of perception data through a backwards filter configured to align a set of perceptive parameters of the first set of perception data at an intermediate time point of the time period based on a development of state(s) of the set of perceptive parameters from the intermediate time point to a second time point of the time period.