Abstract: A computer-implemented method of evaluating the performance of a trajectory planner in simulation comprises miming first instances of a scenario in a simulator, the first instances run with a first set of parameterizations of the scenario, the trajectory planner used to control an ego agent responsive in each scenario instance; evaluating performance of the trajectory planner in each scenario instance, thereby computing a set of test results for the first set of scenario parameterizations; identifying at least one target parameterization of the first set based on the set of test results; and based on the target parameterization, determining a second set of parameterizations of the scenario for miming second instances of the scenario for exploring a subspace of the parameter space in the vicinity of the target parameterization.

Abstract: Herein, a “perception statistical performance model” (PSPM) for modeling a perception slice of a runtime stack for an autonomous vehicle or other robotic system may be used e.g. for safety/performance testing. A PSPM is configured to: receive a computed perception ground truth t; determine from the perception ground truth t, based on a set of learned parameters, a probabilistic perception uncertainty distribution of the form p(e|t), p(e|t,c), in which p(e|t,c) denotes the probability of the perception slice computing a particular perception output e given the computed perception ground truth t and the one or more confounders c, and the probabilistic perception uncertainty distribution is defined over a range of possible perception outputs, the parameters learned from a set of actual perception outputs generated using the perception slice to be modeled, wherein each confounder is a variable of the PSPM whose value characterized a physical condition on which p(e|t,c) depends.

Abstract: Herein, a “perception statistical performance model” (PSPM) for modelling a perception slice of a runtime stack for an autonomous vehicle or other robotic system may be used e.g. for safety/performance testing. A PSPM is configured to receive a computed perception ground truth, and determine from the perception ground truth, based on a set of learned parameters, a probabilistic perception uncertainty distribution, the parameters learned from a set of actual perception outputs generated using the perception slice to be modelled. A simulated scenario is run based on a time series of such perception outputs (with modelled perception errors), but can also be re-run based on perception ground truths directly (without perception errors). This can, for example, be way to ascertain whether perception error was the cause of some unexpected decision within the planner, by determining whether such a decision is also taken in the simulated scenario when perception error is “switched off”.

Abstract: A method for allocating bandwidth to communication according to a first communication protocol, the method comprising identifying bandwidth that is allocated to a communication channel for communication according to a second communication protocol and which forms a guard band of the communication channel and allocating the identified bandwidth to communication according to the first communication protocol, said allocation being performed non-uniformly across the identified bandwidth such that an allocation of a first portion of the identified bandwidth, which is located closer to a communication according to the second communication protocol than a second portion of the identified bandwidth, is constrained to a greater extent than an allocation of the second portion of the identified bandwidth.

Abstract: A method for allocating bandwidth to communication according to a first communication protocol, the method comprising identifying bandwidth that is allocated to a communication channel for communication according to a second communication protocol and which forms a guard band of the communication channel and allocating the identified bandwidth to communication according to the first communication protocol, said allocation being performed non-uniformly across the identified bandwidth such that an allocation of a first portion of the identified bandwidth, which is located closer to a communication according to the second communication protocol than a second portion of the identified bandwidth, is constrained to a greater extent than an allocation of the second portion of the identified bandwidth.