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Task-Specific Performance Evaluation of UGVs: Case Studies at the IVFC

机译：UGV的特定任务绩效评估：IVFC的案例研究

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摘要

Performance evaluation is considered as an important part of the unmanned ground vehicle (UGV) development; it helps to discover research problems and improves driving safety. In this paper, a task-specific performance evaluation model of UGVs applied in the Intelligent Vehicle Future Challenge (IVFC) annual competitions is discussed. It is defined in functional levels with a formal evaluation process, including metrics analysis, metrics preprocessing, weights calculation, and a technique for order of preference by similarity to ideal solution and fuzzy comprehensive evaluation methods. IVFC 2012 is selected as a case study and overall performances of five UGVs are evaluated with specific analyzed autonomous driving tasks of environment perception, structural on-road driving, unstructured zone driving, and dynamic path planning. The model is proved to be helpful in IVFC serial competition UGVs performance evaluation.
机译：性能评估被认为是无人地面车辆（UGV）发展的重要组成部分。它有助于发现研究问题并提高驾驶安全性。本文讨论了在智能汽车未来挑战赛（IVFC）年度竞赛中应用的无人货车的特定任务性能评估模型。它在功能级别上通过正式的评估过程进行定义，包括度量分析，度量预处理，权重计算以及通过与理想解决方案和模糊综合评估方法相似的偏好顺序技术。选择IVFC 2012作为案例研究，并通过对环境感知，结构性公路驾驶，非结构性区域驾驶和动态路径规划的特定分析自动驾驶任务评估了五辆无人驾驶汽车的总体性能。实践证明，该模型对IVFC系列竞赛UGV的性能评估有帮助。

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