ADS perception development

An assessment system for performance evaluation and updating of a Perception Module Under Development, PMUD, of an ego-vehicle equipped with an Automated Driving System, ADS, the assessment system comprising:

• a world view obtaining unit configured to obtain world view data from an ego-vehicle perception module configured to generate the world view data based on sensor data obtained from one or more vehicle-mounted sensors;
• an other world view obtaining unit configured to obtain other world view data generated by another perception module of at least a first other vehicle in a surrounding environment of the ego-vehicle;
• a joint world view forming unit configured to form a joint world view by matching the world view data and the other world view data in a common reference system;
• a PMUD data obtaining unit configured to obtain perception data from the PMUD, the PMUD being configured to generate the perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors, the perception data being indicative of a perceptive parameter of the surrounding environment of the ego-vehicle;
• a matching unit configured to match the perception data to the formed joint world view;
• an estimation deviation determining unit configured to evaluate the obtained perception data in reference to the joint world view in order to determine an estimation deviation in an identified match between the perceptive parameter of the perception data and a corresponding perceptive parameter in the joint world view;
• a parameter updating unit configured to update one or more parameters of the perception model based on the estimation deviation;
• and
• a parameter transmitting unit configured to transmit the one or more updated parameters of the perception model of the PMUD to a remote entity.

A computer storage medium storing a computer program containing computer program code that when executed causes one of a computer and a processor to perform a method for performance evaluation and updating of a Perception Module Under Development, PMUD, of an ego-vehicle equipped with an Automated Driving System, ADS, the method comprising:

• obtaining world view data from an ego-vehicle perception module configured to generate the world view data based on sensor data obtained from one or more vehicle-mounted sensors;
• obtaining other world view data generated by another perception module of at least a first other vehicle in a surrounding environment of the ego-vehicle;
• forming a joint world view by matching the world view data and the other world view data in a common reference system;
• obtaining perception data from the PMUD, the PMUD being configured to generate the perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors, the perception data being indicative of a perceptive parameter of the surrounding environment of the ego-vehicle;
• matching the perception data to the formed joint world view;
• evaluating the obtained perception data in reference to the joint world view in order to determine an estimation deviation in an identified match between the perceptive parameter of the perception data and a corresponding perceptive parameter in the joint world view;
• updating one or more parameters of the perception model based on the estimation deviation;
• and
• transmitting the one or more updated parameters of the perception model of the PMUD to a remote entity.