公开(公告)号：US20220222982A1

公开(公告)日：2022-07-14

申请号：US17607284

申请日：2020-05-11

Applicant: ZENUITY AB

Inventor： Feng LIU ,  Majid Khorsand VAKILZADEH

IPC: G07C5/08 ,  G06T19/00

Abstract: Method and server for supporting generation of scenarios for testing autonomous driving and/or advanced driver assistance system, AD/ADAS, functionality for real world vehicles. A server (101; 500) provides (301) a virtual environment (200) simulating an environment relevant for operation of vehicles having said AD/ADAS functionality and in which is operating: fully computer controlled movable virtual objects (230a-c), human controlled movable virtual objects (220a-c) and at least one virtual AD/ADAS vehicle (210) operating according to said AD/ADAS functionality. The server (101; 500) allows devices (101-103) to remotely connect to the server (105; 500) and users of said devices (101-103) to, via user interfaces of the devices (101-103), control said human controlled movable virtual objects (220a-c), respectively, in the virtual environment (200), and thereby cause generation of scenarios that said at least one virtual AD/ADAS vehicle (210) is subjected to.

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

IPC: B60W60/00 ,  B60W40/10

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.

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

Inventor： Magnus GYLLENHAMMAR ,  Majid Khorsand VAKILZADEH ,  Carl ZANDÉN ,  Andreas Valencia FALKOVÉN

IPC: B60W60/00 ,  G07C5/08 ,  G07C5/00 ,  G05D1/02 ,  G05D1/00 ,  B60W50/035

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.