US 12,441,337 B2
End-to-end perception perturbation modeling system for a vehicle
Rodolfo Valiente Romero, Calabasas, CA (US); Hyukseong Kwon, Thousand Oaks, CA (US); Marcus James Huber, Saline, MI (US); Alireza Esna Ashari Esfahani, Novi, MI (US); and Michael Cui, Winnetka, CA (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jun. 15, 2023, as Appl. No. 18/335,758.
Prior Publication US 2024/0416929 A1, Dec. 19, 2024
Int. Cl. B60W 50/02 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 50/0205 (2013.01) [B60W 50/0097 (2013.01); B60W 60/001 (2020.02); B60W 2554/80 (2020.02); B60W 2555/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. An end-to-end perception perturbation modeling system for a vehicle, the end-to-end perception perturbation modeling system comprises:
one or more controllers storing a detection model in memory, wherein the detection model includes a plurality of detection model plots that each indicate a probability value that an object in an environment surrounding the vehicle is detected based on a current weather condition and a distance measured between the vehicle and the object detected in the environment surrounding the vehicle, and wherein the one or more controllers execute instructions to:
receive an input state of the vehicle, wherein the input state is observed during non-inclement weather conditions and indicates one or more vehicle states, the current weather condition, and the distance;
determine a probability value corresponding to the current weather condition and the distance based on the detection model;
execute a simulation based on the probability value, wherein the simulation determines a probability the object located in the environment is detected based on the current weather condition and the distance, and wherein the simulation is executed by:
drawing a random number;
comparing the random number with the probability value; and
in response to determining the random number is equal to or greater than the probability value, determine the object is detected and the probability is true; and
in response to determining the probability the object located in the environment indicates the object will be detected, determine a perturbed state of the vehicle observed during the current weather condition, wherein the perturbed state of the vehicle indicates the probability that the object located in the environment is detected, and wherein the end-to-end perception perturbation modeling system is integrated with a trajectory prediction system and a final motion planner of an autonomous driving system that execute trajectory prediction and final motion planning of the vehicle based on the probability the object located in the environment is detected.