Detecting sensor degradation by actively controlling an autonomous vehicle

摘要

Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.

主权项

1. An apparatus, comprising:
a computer-readable memory; a radar detection unit configured to detect an observed vehicle in a driving environment of the autonomous vehicle; and one or more processors, in communication with the sensor and the computer-readable memory, the one or more processors configured to:
introduce a perturbation to a yaw value of the autonomous vehicle, wherein the perturbation causes a movement of the autonomous vehicle;detect a lateral speed of the observed vehicle;determine whether the detected lateral speed of the observed vehicle is within a range of expected lateral speeds of the observed vehicle;determine that the radar detection unit is operating outside of normal operating parameters if the observed lateral speeds are not within the range of expected lateral speeds; andperform an action in response to a determination that the radar detection unit is operating outside of normal operating parameters.