System and method for evaluating the perception system of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9679191-B1
Application number	US-201514792995-A
Country	US
Kind code	B1
Filing date	Jul 7, 2015
Priority date	Oct 5, 2010
Publication date	Jun 13, 2017
Grant date	Jun 13, 2017

Abstract

A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

First claim

The invention claimed is:

1. A method for optimizing object detection performed by autonomous vehicles, the method comprising:
receiving, by one or more computing devices having one or more processors, sensor data captured by a sensor of an autonomous vehicle, wherein the sensor data includes one or more first object labels applied by the autonomous vehicle, each of the one or more first object labels corresponding to an object of the sensor data;
receiving, by the one or more computing devices, one or more second object labels for the sensor data;
determining, by the one or more computing devices, a difference between a first value indicating a quantity of the one or more first object labels applied by the autonomous vehicle and a second value indicating a quantity of the one or more second object labels;
determining, by the one or more computing devices, whether the autonomous vehicle has met a predetermined missed object threshold corresponding to a maximum allowable quantity of object labels not applied by the autonomous vehicle by comparing the difference to the threshold; and
when the autonomous vehicle has met the threshold, generating a recommendation for an adjustment of at least one object detection parameter of at least one of a plurality of sensors in order to optimize object detection.

2. The method of claim 1 , wherein the one or more second object labels include labels generated at least in part by one or more processors of a second computing device.

3. The method of claim 1 , wherein the one or more second object labels include labels generated at least in part by a human operator.

4. The method of claim 1 , wherein the threshold is an absolute number of objects.

5. The method of claim 1 , wherein the threshold is a percentage of the one or more second object labels.

6. The method of claim 1 , further comprising displaying on a display device the recommendation.

7. The method of claim 1 , further comprising:
determining an accuracy value of the one or more first object labels by comparing label types of the one or more first object labels and label types of the one or more second object labels indicate, and
wherein the recommendation is further based on the accuracy value.

8. The method of claim 7 , further comprising:
determining whether the accuracy value meets an object label threshold, and
wherein the recommendation is generated further based on whether the accuracy value meets an object label threshold.

9. The method of claim 7 , further comprising:
for each given first object label of the one or more second object labels, determining an object label ratio based on (1) an intersection of a given second object label and the given first object label and (2) an area of a union of the given first object label and the given second object label, and
wherein determining the accuracy value is further based on any determined object label ratios.

10. The method of claim 9 , further comprising:
using any determined object label ratios to determine a mean object label ratio value, and
wherein determining the accuracy value is further based on the mean object label ratio value.

11. A system for optimizing object detection performed by autonomous vehicles, the system comprising one or more computing devices having one or more processors configured to:
receive sensor data captured by an autonomous vehicle, wherein the sensor data includes one or more first object labels applied by the autonomous vehicle, each of the one or more first object labels corresponding to an object of the sensor data;
receive one or more second object labels for the sensor data;
determine a difference between a first value indicating a quantity of the one or more first object labels applied by the autonomous vehicle and a second value indicating a quantity of the one or more second object labels;
determine whether the autonomous vehicle has met a predetermined missed object threshold corresponding to a maximum allowable quantity of object labels not applied by the autonomous vehicle by comparing the difference to the threshold; and
when the autonomous vehicle has met the threshold, generate a recommendation for an adjustment of at least one object detection parameter of at least one of a plurality of sensors in order to optimize object detection.

12. The system of claim 11 , wherein the one or more second object labels include labels generated at least in part by one or more processors of a second computing device.

13. The system of claim 11 , wherein the one or more second object labels include labels generated at least in part by a human operator.

14. The system of claim 11 , further comprising:
determining an accuracy value of the one or more first object labels by comparing label types of the one or more first object labels and label types of the one or more second object labels indicate, and
wherein the recommendation is further based on the accuracy value.

15. The system of claim 14 , further comprising:
determining whether the accuracy value meets an object label threshold, and
wherein the recommendation is generated further based on whether the accuracy value meets an object label threshold.

16. A non-transitory, tangible recording medium on which instructions are stored, the instructions, when executed by one or more processors of one or more computing devices, cause the one or more processors to perform a method for optimizing object detection performed by autonomous vehicles, the method comprising:
receiving sensor data captured by an autonomous vehicle, wherein the sensor data includes one or more first object labels applied by the autonomous vehicle, each of the one or more first object labels corresponding to an object of the sensor data;
receiving one or more second object labels for the sensor data;
determining a difference between a first value indicating a quantity of the one or more first object labels applied by the autonomous vehicle and a second value indicating a quantity of the one or more second object labels;
determining whether the autonomous vehicle has met a predetermined missed object threshold corresponding to a maximum allowable quantity of object labels not applied by the autonomous vehicle by comparing the difference to the threshold; and
when the autonomous vehicle has met the threshold, generating a recommendation for an adjustment of at least one object detection parameter of at least one of a plurality of sensors in order to optimize object detection.

17. The system of claim 14 , wherein the one or more processors are further configured to:
for each given first object label of the one or more second object labels, determine an object label ratio based on (1) an intersection of a given second object label and the given first object label and (2) an area of a union of the given first object label and the given second object label, and
determine the accuracy value further based on any determined object label ratios.

18. The system of claim 17 , wherein the one or more processors are further configured to:
use any determined object label ratios to determine a mean object label ratio value, and
determine the accuracy value further based on the mean object label ratio value.

19. The medium of claim 16 , wherein the method further comprises:
determining an accuracy value of the one or more first object labels by comparing label types of the one or more first object labels and label types of the one or more second object labels indicate, and
wherein the recommendation is further b

Assignees

• Waymo Llc

Inventors

• Zhu Jiajun
• Urmson Christopher Paul
• Haehnel Dirk
• Fairfield Nathaniel
• Smith Russell Leigh

Classifications

• B60W2552/05

  Type of road, e.g. motorways, local streets, paved or unpaved roads · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• G05B2219/2637

  Vehicle, car, auto, wheelchair · CPC title

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title