Multi-sensor degradation test method based on time synchronization error and calibration drift

Abstract

The present application belongs to the technical field of automatic driving test, and in particular to a multi-sensor degradation test method based on time synchronization error and calibration drift. The present application establishes a unified degradation parameter containing fixed delay, linear clock drift, random jitter, frame loss, repeated frame, translation drift and angle drift. According to the degradation parameter, the sensor data pairing and coordinate transformation relationship are modified, the degradation data is sent into the measured fusion system, the cross-sensor alignment error, fusion perception error, planning control risk and fault diagnosis response are calculated. Through low-cost offline test, the obvious safety or failure area is screened out, and then the range is iteratively narrowed between the safe and failure results, only the critical scene is upgraded to high-fidelity closed-loop test, the safety boundary of single and combined degradation is determined with fewer test times, and the degradation tolerance boundary and regression test database are generated. The present application can efficiently evaluate the reliability of the multi-sensor fusion system under the conditions of time and space degradation.

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