METHOD AND ARRANGEMENT FOR MONITORING AND ADAPTING THE PERFORMANCE OF A FUSION SYSTEM OF AN AUTONOMOUS VEHICLE

摘要

Disclosed herein is a method and arrangement for monitoring and adapting the performance of a fusion system (1) of an autonomous road vehicle (2). A drivable area (6) is determined by combining a localization function and high density map (7) data. Information on surrounding objects (8) is determined, comprising determining the localization and classifying the surrounding objects (8), estimating their physical property states, and assigning them extension descriptions. Information on the drivable area (6) and surrounding objects (8) is condensed into observed areas (9), monitored by sensors (5) of the environmental perception function with a predetermined degree of certainty, and prioritized objects (8), represented by classes, state estimates and extension descriptions. Having the fusion system (1) monitor itself retrospectively by evaluating its current determinations of drivable area (6), prioritized objects (8) and observed areas (9) against its previous determinations thereof, and if a previous determination differ more than a predetermined amount from a current determination, adapting the fusion system (1) to account for that discrepancy.