公开(公告)号：WO2023017090A1

公开(公告)日：2023-02-16

申请号：PCT/EP2022/072473

申请日：2022-08-10

Applicant: FIVE AI LIMITED

Inventor： GAFFNEY, Brian ,  BARRETO, Luis ,  MEISTER, Roland

IPC: G06F30/15 ,  G06F30/20 ,  G06F11/36 ,  G06F111/10 ,  B60W50/00

Abstract: A method of testing a candidate perception setup for an autonomous vehicle, comprising: receiving ground truth of a driving scenario run; providing a time-sequence of ground truth snapshots of the driving scenario run, wherein a decision making component independent of the ego agent determines a first time-sequence of decisions for the ground truth snapshots; providing a time-sequence of ablated snapshots of the driving scenario run, each ablated snapshot generated so as to cause a perception error that is representative of the candidate perception setup, wherein the decision making component determines a second time-sequence of decisions for the ablated snapshots; and computing a similarity measure between the first and second time-sequences of decisions denoting an extent to which the candidate perception setup caused a change in one or more decisions points of the second time-sequence relative to the first time-sequence, a decision point occurring when a decision changes between adjacent timesteps.