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公开(公告)号：WO2022223816A1
公开(公告)日：2022-10-27
申请号：PCT/EP2022/060764
申请日：2022-04-22
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , FERRI, Marco
Abstract: A computer-implemented method of evaluating the performance of a trajectory planner for a mobile robot in a real or simulated scenario, the method comprising: receiving scenario ground truth of the scenario, the scenario ground truth generated using the trajectory planner to control an ego agent of the scenario responsive to at least one other agent of the scenario, and comprising an ego trace of the ego agent and an agent trace of the other agent; evaluating the ego trace, by a test oracle, in order to assign at least one time series of test results to the ego agent, the time-series of test results pertaining to at least one performance evaluation rule; extracting one or more predetermined blame assessment parameters based on the agent trace; and applying one or more predetermined blame assessment rules to the blame assessment parameters, and thereby determining whether failure on the at least one performance evaluation rule is acceptable.
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公开(公告)号：WO2021245201A1
公开(公告)日：2021-12-09
申请号：PCT/EP2021/064938
申请日：2021-06-03
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , REDFORD, John
Abstract: A computer-implemented method of evaluating the performance of a full or partial autonomous vehicle (AV) stack in simulation, the method comprising: applying an optimization algorithm to a numerical performance function defined over a scenario space, wherein the numerical performance function quantifies the extent of success or failure of the AV stack as a numerical score, and the optimization algorithm searches the scenario space for a driving scenario in which the extent of failure of the AV stack is substantially maximized; wherein the optimization algorithm evaluates multiple driving scenarios in the search space over multiple iterations, by running a simulation of each driving scenario in a simulator, in order to provide perception inputs to the AV stack, and thereby generate at least one simulated agent trace and a simulated ego trace reflecting autonomous decisions taken in the AV stack in response to the simulated perception inputs, wherein later iterations of the multiple iterations are guided by the results of previous iterations of the multiple iterations, with the objective of finding the driving scenario for which the extent of failure of the AV stack is maximized.
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公开(公告)号：WO2021245152A1
公开(公告)日：2021-12-09
申请号：PCT/EP2021/064829
申请日：2021-06-02
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , HENDERSON, Robbie
IPC: G06Q50/30
Abstract: A computer system for analysing driving scenes in relation to an autonomous vehicle (AV) operational design domain (ODD), the computer system comprising: an input configured to receive a definition of the ODD in a formal ontology language; a scene processor configured to receive data of a driving scene and extract a scene representation therefrom, the data comprising an ego trace, at least one agent trace, and environmental data about an environment in which the traces were captured or generated, wherein the scene representation is an ontological representation of both static and dynamic elements of the driving scene extracted from the traces and the environmental data, and expressed in the same formal ontology language as the ODD; and a scene analyzer configured to match the static and dynamic elements of the scene representation with corresponding elements of the ODD, and thereby determine whether or not the driving scene is within the defined ODD.
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公开(公告)号：WO2023088679A1
公开(公告)日：2023-05-25
申请号：PCT/EP2022/080559
申请日：2022-11-02
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , NARASIMHAMURTHY, Monal
IPC: G06F11/36
Abstract: For generating driving scenarios for testing an autonomous vehicle planner in a simulation environment, a scenario model comprises a scenario variable and a distribution associated with the scenario variable. The scenario variable is a road layout variable. Multiple sampled values of the scenario variable are computed based on the distribution associated the scenario variable. Based on the scenario model, multiple driving scenarios are generated for testing an autonomous vehicle planner in a simulation environment, each driving scenario comprising a road layout generated using a sampled value of said multiple sampled values of the scenario variable.
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Patent Agency Ranking
公开(公告)号：WO2022258657A1
公开(公告)日：2022-12-15
申请号：PCT/EP2022/065484
申请日：2022-06-08
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , FERRI, Marco , GRAVES, Ben , CRUICKSHANK, Jamie
Abstract: A computer system for rendering a graphical user interface for visualising runs of a driving scenario in which an ego agent navigates a road layout, comprising an input configured to receive a map of the road layout and run data comprising a sequence of timestamped ego agent states and a time-varying numerical score quantifying the performance of the ego agent with respect a set of run evaluation rules; and a rendering component configured to cause a graphical user interface to display, for each rule: a plot of the time-varying numerical score, and a marker denoting a selected time index of the plot, the marker movable along the time axis to change the selected time index; and a scenario visualization comprising a visualization of the run at the selected time index, whereby moving the marker along the time axis causes the scenario visualisation to update as the time index is changed.
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公开(公告)号：WO2022180241A1
公开(公告)日：2022-09-01
申请号：PCT/EP2022/054868
申请日：2022-02-25
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain
Abstract: A computer system for testing the performance of a stack for planning ego vehicle trajectories in real or simulated driving scenarios, the computer system comprising: at least a first input configured to receive (i) scenario ground truth and (ii) internal state data of the stack, the scenario ground truth and internal state data generated using the stack to control an ego agent responsive to at least one other agent in the simulated driving scenario; at least a second input configured to receive a defined operational design domain (ODD); a test oracle configured to apply one or more driving rules to the scenario ground truth for evaluating the performance of the stack in the scenario, and provide an output for each of the driving rules indicating whether that driving rule has been complied with; wherein the one or more driving rules include at least one ODD-based response rule, the test oracle configured to apply the ODD-based response rule by: processing the scenario ground truth over multiple time steps, to determine whether or not the scenario is within the defined ODD at each time step, and thereby detecting a change in the scenario that takes the scenario outside of the defined ODD, and processing the internal state data, to determine whether a required state change occurred within the stack, within a required time interval, the output for the at least one ODD-based response rule indicating whether or not the required state change occurred within the required time interval.
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公开(公告)号：WO2023078938A1
公开(公告)日：2023-05-11
申请号：PCT/EP2022/080564
申请日：2022-11-02
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , FERRI, Marco
Abstract: A computer-implemented method of evaluating the performance of a trajectory planner for a mobile robot in a scenario, in which the trajectory planner is used to control the mobile robot responsive to at least one other agent of the scenario the method comprising: determining a scenario parameter set for the scenario and a likelihood of the scenario parameter set; computing an impact score for a failure event or near failure event between the mobile robot and the other agent occurring in the scenario instance, the impact score quantifying severity of the failure event or near failure event; and computing a risk score for the instance of the scenario based on the impact score and the likelihood of the scenario parameter set.
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公开(公告)号：WO2022171819A1
公开(公告)日：2022-08-18
申请号：PCT/EP2022/053413
申请日：2022-02-11
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , REDFORD, John , HYMAN, David , VERETENNICOV, Constantin
IPC: G06F11/36
Abstract: A computer-implemented method of evaluating the performance of a trajectory planner for a mobile robot in a real or simulated scenario, comprises receiving scenario ground truth of the scenario, the scenario ground truth generated using the trajectory planner to control an ego agent of the scenario responsive to at least one scenario element of the scenario. One or more performance evaluation rules for the scenario and at least one activation condition for each performance evaluation rule are received. A test oracle processes the scenario ground truth to determine whether the activation condition of each performance evaluation rule is satisfied over multiple time steps of the scenario. Each performance evaluation rule is evaluated by the test oracle, to provide at least one test result, only when its activation condition is satisfied.
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公开(公告)号：WO2022171812A1
公开(公告)日：2022-08-18
申请号：PCT/EP2022/053406
申请日：2022-02-11
Applicant: FIVE AI LIMITED
Inventor： WHITESIDE, Iain , HYMAN, David , VERETENNICOV, Constantin
IPC: G06F11/36
Abstract: A computer system receives scenario data generated using a trajectory planner to control an ego agent responsive to at least one other agent in a real or simulated scenario. A test oracle provides predetermined extractor functions for extracting time-varying numerical signals from the scenario data and predetermined assessor functions for assessing the extracted time-varying signals. The test oracle applies, to the scenario data, a rule graph comprising extractor nodes and assessor nodes. Each extractor node applies one of the predetermined extractor functions to the scenario data to extract an output in the form of a time-varying numerical signal. Each assessor node has one or more child nodes, each child node being one of the extractor nodes or another of the assessor nodes, and the assessor node applies one of the predetermined assessor functions to the output(s) of its child node(s). The test oracle provides an output graph comprising the output of at least one of the assessor nodes and the output(s) of at least one of its child node(s).
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