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1. 发明公开

EP4036891A1 UNFORESEEN VEHICLE DRIVING SCENARIOS 审中-公开
公开(公告)号：EP4036891A1
公开(公告)日：2022-08-03
申请号：EP21154258.4
申请日：2021-01-29
申请人： Zenseact AB
发明人： FU, Junsheng , FEI, Zhennan , VAKILZADEH, Majid Khorsand
IPC分类号： G08G1/16 , G08G1/01 , H04W4/46 , B60W40/04 , G07C5/00
摘要： The present disclosure relates to a method performed by a scenario reconstruction system (1) for supporting assessment of unforeseen driving scenarios of a host vehicle (2). The scenario reconstruction system stores (1001) continuously and/or intermittently timestamped sensor data (3) comprising the host vehicle's geographical position and surroundings captured with support from one or more surrounding detecting sensors (22) onboard the host vehicle. The scenario reconstruction system further detects (1002) at a scenario time instance, involvement of the host vehicle in an unforeseen driving scenario, potentially involving one or more other objects (4). Moreover, the scenario reconstruction system derives (1003) from the timestamped sensor data, subsets (30) of sensor data, e.g. snapshots, pertinent plural separate timestamps prior - and potentially at and/or subsequent - the scenario time instance. The scenario reconstruction system further identifies (1004) one or more surrounding detecting sensors-provided entities (5) respectively present in the subsets pertinent at least two respective separate timestamps. Moreover, the scenario reconstruction system selects (1005) at least a first entity (6) out of the identified entities, fulfilling selection criteria. The scenario reconstruction system further communicates (1006) to the at least first selected entity, request data (8) prompting the at least first selected entity to provide stored timestamped sensor data (63) of its surroundings.
The disclosure also relates to a scenario reconstruction system in accordance with the foregoing, an arrangement - e.g. a vehicle and/or cloud server - comprising such a scenario reconstruction system, and a respective corresponding computer program product and non-volatile computer readable storage medium.

2. 发明公开

EP4095746A1 ADS PERCEPTION DEVELOPMENT 审中-公开
公开(公告)号：EP4095746A1
公开(公告)日：2022-11-30
申请号：EP21175499.9
申请日：2021-05-24
申请人： Zenseact AB
发明人： GYLLENHAMMAR, Magnus , ZANDÉN, Carl , VAKILZADEH, Majid Khorsand
IPC分类号： G06K9/62 , G06K9/00
摘要： The present disclosure relates to a method performed by an assessment system (1) for performance evaluation and updating of a PMUD (3) of an ego-vehicle (2) equipped with an ADS (21). The assessment system obtains (1001) world view data (221) from an ego-vehicle perception module (22) configured to generate the world view data based on sensor data obtained from one or more vehicle-mounted sensors (23); obtains (1002) other world view data (421) generated by an other perception module (42) of at least a first other vehicle (4) in the surrounding environment of the ego-vehicle (2); forms (1003) a joint world view by matching the world view data the other world view data in a common reference system; obtains (1004) perception data (30) from the PMUD, said PMUD being configured to generate the perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors, wherein the perception data is indicative of a perceptive parameter (300) of the surrounding environment of the ego-vehicle. The assessment system further matches (1005) the perception data to the formed joint world view; evaluates (1006) the obtained perception data in reference to the joint world view in order to determine an estimation deviation (3005) in an identified match between the perceptive parameter of the perception data and a corresponding perceptive parameter (5) in the joint world view; and updates (1007) one or more parameters of the perception model based on the estimation deviation.
The disclosure also relates to an assessment system in accordance with the foregoing, a vehicle comprising such an assessment system, and a respective corresponding computer program product and non-volatile computer readable storage medium.

3. 发明公开

EP4242989A1 DYNAMIC ADJUSTMENT OF AN EVENT SEGMENT LENGTH OF A VEHICLE EVENT RECORDING BUFFER 审中-实审
公开(公告)号：EP4242989A1
公开(公告)日：2023-09-13
申请号：EP22161065.2
申请日：2022-03-09
申请人： Zenseact AB
发明人： GYLLENHAMMAR, Magnus , VAKILZADEH, Majid Khorsand
IPC分类号： G07C5/08
摘要： The present disclosure relates to a method performed by a buffer segment length adjusting system (1) for dynamically adjusting an event segment length of data stored in an event recording buffer (3) of an Automated Driving System, ADS (21), of a vehicle (2). The buffer segment length adjusting system obtains (1001) sensor data of one or more sensors (22) onboard the vehicle. The buffer segment length adjusting system further identifies (1002), upon the sensor data rendering fulfilment - and/or a state of a software of the ADS rendering fulfilment - of event recording triggering criteria, conditions of a triggering event underlying the fulfilment. Moreover, the buffer segment length adjusting system determines (1003) at least a first current ADS-related operational condition. Furthermore, the buffer segment length adjusting system sets (1005) a respective start time point and end time point of - e.g. an event segment length of - said event recording buffer based on the triggering event conditions and the at least first current ADS-related operational condition.
The disclosure also relates to a buffer segment length adjusting system in accordance with the foregoing, a vehicle comprising such a buffer segment length adjusting system, and a respective corresponding computer program product and non-volatile computer readable storage medium.

4. 发明公开

EP4250257A1 EVENT BUFFER STORAGE PRIORITIZATION 审中-实审
公开(公告)号：EP4250257A1
公开(公告)日：2023-09-27
申请号：EP22163420.7
申请日：2022-03-22
申请人： Zenseact AB
发明人： GYLLENHAMMAR, Magnus , VAKILZADEH, Majid Khorsand
IPC分类号： G07C5/08
摘要： The present disclosure relates to a method performed by a buffer resources prioritizing system (1) for storage prioritization in an event buffer (3) configured to continuously collect operational data of an Automated Driving System, ADS (21), of a vehicle (2). The buffer resources prioritizing system obtains (1001) sensor data of one or more sensors (22) onboard the vehicle. The buffer resources prioritizing system further determines (1003), at least partly based on the sensor data, current ADS-related operational conditions at least comprising states of vehicle surroundings and internal states of the vehicle. Moreover, the buffer resources prioritizing system determines (1004) an upcoming scene predicted to evolve from the current operational conditions. Furthermore, the buffer resources prioritizing system deduces (1005) based on assessment of the predicted scene, a storage priority score (4) thereof reflecting predicted relevance of freezing event data (40) of the predicted scene in the event buffer.
The disclosure also relates to a buffer resources prioritizing system in accordance with the foregoing, a vehicle comprising such a buffer resources prioritizing system, and a respective corresponding computer program product and non-volatile computer readable storage medium.

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