Assessment of a vehicle control system
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.
1 . A method performed by a trajectory monitoring system of a vehicle for assessment of a vehicle control system of one of an advanced driver-assistance system, ADAS, and autonomous driving, AD, system of the vehicle, the method comprising:
determining in view of a reference system a planned vehicle trajectory adapted to be executed by the vehicle control system during a predeterminable time period;
determining following at least one of initiation and completion of the time period, an actual vehicle trajectory of the vehicle during the time period in view of the reference system, the actual vehicle trajectory being determined at least in part based on data received from an on-board vehicle perception system;
mapping, based on the reference system, the planned vehicle trajectory and the actual vehicle trajectory;
determining an accuracy deviation measure indicating deviation between the mapped actual vehicle trajectory and the mapped planned vehicle trajectory;
selecting a threshold level for a deviation exceedance criteria from a plurality of threshold levels by:
determining a criticality of the accuracy deviation measure, the criticality being based on a closeness of an object in a vicinity of the vehicle; and
selecting the threshold level from the plurality of threshold levels based on the determined criticality of the accuracy deviation measure; and
communicating acknowledgment data indicative of the accuracy deviation measure based on at least a portion of the accuracy deviation measure fulfilling the deviation exceedance criteria corresponding to the selected threshold level.
2 . The method according to claim 1 , wherein the determining an accuracy deviation measure is based on comparison of at least a first actual vehicle position of the actual vehicle trajectory, at an at least first time point (t 1 ), with at least a first planned vehicle position of the planned vehicle trajectory at the at least first time point (t 1 ).
3 . The method according to claim 1 , wherein the communicating acknowledgment data comprises at least one of:
transmitting the acknowledgment data to a remote entity, the acknowledgment data comprising data reflecting at least one of the planned vehicle trajectory and the actual vehicle trajectory; and
transmitting the acknowledgment data to an on-board AD/ADAS control system adapted to control the one of the ADAS and AD system, the acknowledgment data comprising an indication to at least partly disable the ADAS or AD system.
4 . The method according to claim 3 , further comprising:
communicating, when at least a portion of the accuracy deviation measure fulfills further deviation exceedance criteria, further acknowledgment data, the deviation exceedance criteria differing from the further deviation exceedance criteria.
5 . The method according to claim 1 , further comprising:
communicating, when at least a portion of the accuracy deviation measure fulfills further deviation exceedance criteria, further acknowledgment data, the deviation exceedance criteria differing from the further deviation exceedance criteria.
6 . The method according to claim 5 , wherein the communicating further acknowledgment data comprises at least one of:
transmitting the further acknowledgment data to a remote entity, the further acknowledgment data comprising data reflecting the planned vehicle trajectory and/or the actual vehicle trajectory; and
transmitting the further acknowledgment data to an on-board AD/ADAS control system adapted to control the ADAS or AD system, the further acknowledgment data comprising an indication to at least partly disable the ADAS or AD system.
7 . A trajectory monitoring system of a vehicle for assessment of a vehicle control system of one of an advanced driver-assistance system, ADAS, and autonomous driving, AD, system of the vehicle, the trajectory monitoring system comprising:
a planned trajectory determining unit for:
determining in view of a reference system a planned vehicle trajectory adapted to be executed by the vehicle control system during a predeterminable time period, the actual vehicle trajectory being determined at least in part based on data received from an on-board vehicle perception system; and
mapping, based on the reference system, the planned vehicle trajectory;
an actual trajectory determining unit for:
determining 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; and
mapping, based on the reference system, the actual vehicle trajectory;
a deviation determining unit for determining an accuracy deviation measure indicating deviation between the mapped actual vehicle trajectory and the mapped planned vehicle trajectory and for selecting a threshold level for a deviation exceedance criteria from a plurality of threshold levels by:
determining a criticality of the accuracy deviation measure, the criticality being based on a closeness of an object in a vicinity of the vehicle; and
selecting the threshold level from the plurality of threshold levels based on the determined criticality of the accuracy deviation measure; and
an acknowledgment communicating unit for communicating acknowledgment data indicative of the accuracy deviation measure based on at least a portion of the accuracy deviation measure fulfilling the deviation exceedance criteria corresponding to the selected threshold level.
8 . The trajectory monitoring system according to claim 7 , wherein the deviation determining unit is configured to determine the accuracy deviation measure based on comparison of at least a first actual vehicle position of the actual vehicle trajectory, at an at least first time point (t 1 ), with at least a first planned vehicle position of the planned vehicle trajectory at the at least first time point (t 1 ).
9 . The trajectory monitoring system according to claim 7 , wherein the acknowledgment communicating unit is configured to at least one of:
transmit the acknowledgment data to a remote entity, the acknowledgment data comprising data reflecting at least one of the planned vehicle trajectory and the actual vehicle trajectory; and
transmit the acknowledgment data to an on-board AD/ADAS control system configured to control the one of the ADAS and AD system, the acknowledgment data comprising an indication to at least partly disable the one of the ADAS and AD system.
10 . The trajectory monitoring system according to claim 7 , further comprising:
a further acknowledgment communicating unit for communicating, when at least a portion of the accuracy deviation measure fulfills further deviation exceedance criteria, further acknowledgment data, the deviation exceedance criteria differing from the further deviation exceedance criteria.
11 . The trajectory monitoring system according to claim 9 , further comprising:
a further acknowledgment communicating unit for communicating, when at least a portion of the accuracy deviation measure fulfills further deviation exceedance criteria, further acknowledgment data, the deviation exceedance criteria differing from the further deviation exceedance criteria.
12 . The trajectory monitoring system according to claim 10 , wherein the further acknowledgment communicating unit is configured to at least one of:
transmit the further acknowledgment data to a remote entity, the further acknowledgment data comprising data reflecting the planned vehicle trajectory and/or the actual vehicle trajectory; and
transmit the further acknowledgment data to an on-board AD/ADAS control system configured to control the ADAS or AD system, the further acknowledgment data comprising an indication to at least partly disable the one of the ADAS and AD system.
13 . The trajectory monitoring system according to claim 7 , wherein the trajectory monitoring system is comprised in a vehicle.
14 . A computer storage medium storing a computer program containing computer program code that when executed causes one of a computer and a processor to perform a method for assessment of a vehicle control system of one of an advanced driver-assistance system, ADAS, and autonomous driving, AD, system of the vehicle, the method comprising:
determining in view of a reference system a planned vehicle trajectory adapted to be executed by the vehicle control system during a predeterminable time period;
determining following at least one of initiation and completion of the time period, an actual vehicle trajectory of the vehicle during the time period in view of the reference system, the actual vehicle trajectory being determined at least in part based on data received from an on-board vehicle perception system;
mapping, based on the reference system, the planned vehicle trajectory and the actual vehicle trajectory;
determining an accuracy deviation measure indicating deviation between the mapped actual vehicle trajectory and the mapped planned vehicle trajectory;
selecting a threshold level for a deviation exceedance criteria from a plurality of threshold levels by:
determining a criticality of the accuracy deviation measure, the criticality being based on a closeness of an object in a vicinity of the vehicle; and
selecting the threshold level from the plurality of threshold levels based on the determined criticality of the accuracy deviation measure; and
communicating acknowledgment data indicative of the accuracy deviation measure based on at least a portion of the accuracy deviation measure fulfilling the deviation exceedance criteria corresponding to the selected threshold level.
15 . The computer storage medium according to claim 14 , wherein the determining an accuracy deviation measure is based on comparison of at least a first actual vehicle position of the actual vehicle trajectory, at an at least first time point (t 1 ), with at least a first planned vehicle position of the planned vehicle trajectory at the at least first time point (t 1 ).