Perception uncertainty modeling from actual perception systems for autonomous driving
AssigneeGM Global Technology Operations LLC
InventorsHYUKSEONG KWON, KYUNGNAM KIM
Life of this patent
Estimating the term…
Abstract
Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from one or more sensors of the vehicle; processing, by a processor, the sensor data to determine object data indicating at least one element within a scene of an environment of the vehicle; processing, by the processor, the sensor data to determine a ground truth data associated with the element; determining, by the processor, an uncertainty model based on the ground truth data and the object data; training, by the processor, vehicle functions based on the uncertainty model; and controlling the vehicle based on the trained vehicle functions.
Claims20
A method of controlling an autonomous vehicle, comprising:
- receiving sensor data from one or more sensors of the vehicle;
- processing, by a processor, the sensor data to determine object data indicating at least one element within a scene of an environment of the vehicle;
- processing, by the processor, the sensor data to determine a ground truth data associated with the element;
- determining, by the processor, an uncertainty model based on the ground truth data and the object data;
- training, by the processor, vehicle functions based on the uncertainty model;
- and
- controlling the vehicle based on the trained vehicle functions.
A training system for an autonomous vehicle, comprising:
- a non-transitory computer readable medium comprising:
- a first module configured to, by a processor, receive sensor data from one or more sensors of the vehicle, process the sensor data to determine object data indicating at least one element within a scene of an environment of the vehicle, and process the sensor data to determine a ground truth data associated with the element;
- a second non-transitory module configured to, by a processor, determine an uncertainty model based on the ground truth data and the object data;
- and
- a third module configured to, by a processor, generate perception system data based on the uncertainty model and training vehicle functions of a vehicle controller based on the generated perception system data.
An autonomous vehicle, comprising:
- a plurality of sensors disposed about the vehicle and configured to sense an exterior environment of the vehicle and to generate sensor signals;
- and
- a control module configured to, by a processor, process the sensor signals to determine object data indicating at least one element within a scene of an environment of the vehicle, process the sensor data to determine a ground truth data associated with the element, determine, an uncertainty model based on the ground truth data and the object data, train vehicle functions based on the uncertainty model, and control the vehicle based on the trained vehicle functions.
Dependencies are inferred from the claim text.