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 that stores a change in a movement characteristic of an autonomous vehicle; a sensor configured to detect an object 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:
receive a first sensor reading from the sensor based on a first detection of the object in the driving environment;determine first state information for the object based on the received first sensor reading;change the movement characteristic of the autonomous vehicle based on the stored change in the movement characteristic of the autonomous vehicle;determine expected state information based on the first state information and the change in the movement characteristic of the autonomous vehicle;receive a second sensor reading from the sensor based on a second detection of the object in the driving environment;determine second state information for the object based on the received second sensor reading;determine sensor degradation in the sensor by comparing the second state information with the expected state information;determine a level of severity of the sensor degradation based on one or more types of state information, wherein in determining the level of severity the one or more processors are further configured to:
determine a deviation value from comparing the second state information with the expected state information;compare the determined deviation value with a deviation threshold value; anddetermine at least one of a magnitude by which the determined deviation value exceeds the deviation threshold value, and a number of deviation thresholds that are exceeded for different types of state information;determine whether the level of severity of the sensor degradation meets a first predetermined level or a second predetermined level;perform a first action if the severity of the sensor degradation is at the first level; andperform a different action if the severity of the sensor degradation is at the second level.