Simulation-based method to evaluate perception requirement for autonomous driving vehicles

摘要

In one embodiment, a system is designed to determine the requirement of a perception range for a particular type of vehicles and a particular planning and control technology. A shadow filter is used to connect a scenario based simulator and a PnC module, and tuning the parameters (e.g. decreasing the filter range, tuning the probability of obstacles to be observed among frames) of shadow filter to mimic the real world perceptions with a limited range and reliabilities. Based on the simulation results (e.g., a failure rate, smoothness, etc.), the system is able to determine the required perception distance for the current PnC module. A PnC module represents a particular autonomous driving planning and control technology for a particular type of autonomous driving vehicles. Notice that the PnC module is replaceable so that this method is suitable for different PnC algorithms representing different autonomous driving technologies.