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1.发明申请公开(公告)号：US20220019713A1
公开(公告)日：2022-01-20
申请号：US17374054
申请日：2021-07-13
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid KHORSAND VAKILZADEH , Andreas FALKOVÉN , Joakim OLSSON , Kilian ZWIRGLMAIER , Cagdas ULAS
IPC: G06F30/20 , B60W50/00 , B60W60/00 , B60W30/09 , B60W30/095 , B60R16/023
Abstract: Computer-implemented methods and processing systems for estimating a probability of failure for different severity levels for an Automated Driving System (ADS) feature in a virtual test environment are provided. The estimation of a probability of crash of different severities may be enabled by utilizing a limit state function (LSF) that attains increasingly negative or positive values after crash (e.g., when TTC=0 or PET=0). This may be achieved by defining a function for severity that is more negative for more severe crashes. The LSF may include a function of the delta speed at collision (i.e., minus delta speed at collision).
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公开(公告)号：US20210354708A1
公开(公告)日：2021-11-18
申请号：US17320262
申请日：2021-05-14
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid KHORSAND VAKILZADEH , Andreas FALKOVÉN
Abstract: A method and system for enabling online perception performance evaluation for an ego-vehicle are disclosed. Method includes obtaining sensor data from a perception system of the ego-vehicle, where the sensor data includes information about at least one object in surrounding environment of ego-vehicle. Method includes obtaining communication data from an external vehicle in surrounding environment of ego-vehicle, where obtained communication data includes at least one physical attribute of external vehicle. Method includes comparing obtained at least one physical attribute of the external vehicle with information about at least one object in order to find an object of at least one object that matches at least one physical attribute. Then, if a match for at least one physical attribute is found, method further includes obtaining world view data indicative of world view of external vehicle, forming a common reference system between the ego-vehicle and external vehicle.
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公开(公告)号：US20210323577A1
公开(公告)日：2021-10-21
申请号：US17232318
申请日：2021-04-16
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid KHORSAND VAKILZADEH , Andreas FALKOVÉN
Abstract: The present disclosure relates to methods and system for managing an Automated Driving System of a vehicle. Moreover, the disclosure presents a use of statistical modelling that is utilized to determine if the conditions and/or requirements of the operational design domain (ODD) are met, whereby the ADS validity may be determined. In more detail, the present disclosure relates to the utilization of nearby vehicles' ADS s to reciprocally share their locally updated statistical models. If the statistical models, from the two ADS, collectively show that the baseline statistical model is not valid at this point in time the appropriate actions from each ADS can be taken.
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公开(公告)号：US20220089192A1
公开(公告)日：2022-03-24
申请号：US17477920
申请日：2021-09-17
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Håkan SIVENCRONA
IPC: B60W60/00 , B60W30/095 , B60W40/04 , B60W50/14
Abstract: A control system and a method for estimating a risk exposure of an automated driving system (ADS) of a vehicle. Obtaining an actuation capability of the vehicle, wherein the obtained actuation capability includes an uncertainty estimation for the actuation capability. Obtaining a location of free-space areas in the surrounding environment of the vehicle, wherein the obtained location of free-space areas comprises an uncertainty estimation for the estimated location of free-space areas. Forming a risk map of the surrounding environment of the vehicle based on the obtained actuation capability and the obtained location of free-space areas, wherein the risk map includes a risk parameter for each of a plurality of area segments included in the surrounding environment of the vehicle. Determining a total risk value of the ADS based on the risk parameters of a set of area segments intersected by at least one planned path of the ADS.
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公开(公告)号：US20220089151A1
公开(公告)日：2022-03-24
申请号：US17477906
申请日：2021-09-17
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Håkan SIVENCRONA
Abstract: A path planning method and system for a vehicle. The method includes obtaining risk map of a surrounding environment of vehicle. Risk map is formed based on an actuation capability of the vehicle and location of free-space areas in the surrounding environment, actuation capability including uncertainty estimation for actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas. Risk map includes risk parameter for each of a plurality of area segments included in the surrounding environment of the vehicle. Obtaining at least one candidate path for vehicle, determining total risk value for each candidate path based on risk parameters of a set of area segments intersected by the at least one path, selecting a candidate path, of at least one candidate path, fulfilling a risk value criterion, and generating, at an output, a first signal indicative of selected candidate path.
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Patent Agency Ranking
公开(公告)号：US20210394794A1
公开(公告)日：2021-12-23
申请号：US17337121
申请日：2021-06-02
Applicant: Zenuity AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid Khorsand VAKILZADEH
Abstract: The present disclosure relates to a method performed by a trajectory monitoring system of a vehicle for assessment of a vehicle control system of an advanced driver-assistance system, ADAS, or autonomous driving, AD, system of the vehicle. The trajectory monitoring system determines in view of a reference system a planned vehicle trajectory adapted to be executed by the vehicle control system during a predeterminable time period (T). The trajectory monitoring system furthermore determines following initiation and/or completion of the time period, an actual vehicle trajectory of the vehicle during the time period in view of the reference system. Moreover, the trajectory monitoring system determines an accuracy deviation measure indicating deviation between the actual vehicle trajectory and the planned vehicle trajectory. The trajectory monitoring system further communicates acknowledgment data indicative of the accuracy deviation measure.
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公开(公告)号：US20210118245A1
公开(公告)日：2021-04-22
申请号：US17075181
申请日：2020-10-20
Applicant: Zenuity AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDEN
Abstract: A field monitor system of a vehicle for performance monitoring and evaluation of an ADAS or autonomous driving feature of the vehicle. The field monitor system stores, during a time period ranging from a first time point to a second time point, a range of perception data on which the ADAS or autonomous driving feature is pertinent derived from a perception system adapted to estimate surroundings of the vehicle. The field monitor system determines ground truth intermediate data at the intermediate time point. The ground truth intermediate data reflects estimates of vehicle surroundings at the intermediate time point conditional on the portion of the range of perception data. The field monitor system determines an accuracy deviation measure indicating deviation between the ground truth intermediate data and the intermediate perception data. The field monitor system further communicates acknowledgement data when the accuracy deviation measure exceeds a performance threshold.
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公开(公告)号：US20240043036A1
公开(公告)日：2024-02-08
申请号：US18254419
申请日：2020-11-26
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid KHORSAND VAKILZADEH
CPC classification number: B60W60/0011 , B60W60/0053 , B60W40/02 , B60W50/00 , B60W2050/0005 , B60W2556/20 , B60W2556/35 , B60W2556/45
Abstract: The present disclosure relates to a method for augmenting capabilities of an Automated Driving System (ADS) of a vehicle. The method includes locally processing, by means of a perception module of the ADS, sensor data obtained from one or more sensors of the vehicle in order to generate a local world-view of the ADS, wherein the sensor data includes information about a surrounding environment of the vehicle. The method further includes transmitting sensor data including information about the surrounding environment of the vehicle to a remote system, and receiving off-board processed data from the remote system, the off-board processed data being indicative of a supplementary world-view of the ADS. Furthermore, the method includes forming an augmented world-view of the ADS based on the generated local world-view and the supplementary world-view.
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公开(公告)号：US20210325901A1
公开(公告)日：2021-10-21
申请号：US17232331
申请日：2021-04-16
Applicant: ZENUITY AB
Inventor： Magnus GYLLENHAMMAR , Carl ZANDÉN , Majid KHORSAND VAKILZADEH , Andreas FALKOVÉN
IPC: G05D1/02
Abstract: Systems and methods for monitoring and managing an Automated Driving System, ADS, of a vehicle is proposed herein. In more detail, the disclosure proposes a system in the vehicle to discern the state of the environment and map it towards a statistical model used for safety assurance. Given this data it is further proposed to conduct updates to the statistical model in the ADS and to transmit the updates of the model rather than the entire sensor data, the trajectories of the surrounding objects or detailed measurements of the environment. Thus, the proposed solution allows for capturing all the events that the ADS is exposed to for updating the global model used for safety assurance of all the ADSs in the vehicle fleet.
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公开(公告)号：US20210221403A1
公开(公告)日：2021-07-22
申请号：US17154202
申请日：2021-01-21
Applicant: Zenuity AB
Abstract: An apparatus and method performed by a perception comparing system of a vehicle for perception performance evaluation of an ADAS or ADS. The perception comparing system establishes communication with a secondary vehicle determined and/or estimated to be positioned within a potential range of surrounding detecting sensors on-board the vehicle. The system derives perception data from a perception system of the ADAS or ADS. The system receives secondary perception data from a secondary perception system of a secondary ADAS or ADS of the secondary vehicle and determines a discrepancy output based on comparison of at least a portion of the both of perception data and the secondary perception data. The system communicates acknowledgement data when at least a portion of the discrepancy output fulfils discrepancy exceedance criteria and/or when the vehicle is perceivable in the secondary perception data but the secondary vehicle not is locatable in the perception data.
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