TY - JOUR
T1 - Task-specific performance evaluation of UGVs
T2 - Case studies at the IVFC
AU - Huang, Wuling
AU - Wen, Ding
AU - Geng, Jason
AU - Zheng, Nan Ning
N1 - Publisher Copyright:
© 2000-2011 IEEE.
PY - 2014/10/1
Y1 - 2014/10/1
N2 - 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.
AB - 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.
KW - Autonomy levels
KW - Unmanned ground vehicle (UGV)
KW - comprehensive evaluation methods
KW - driving tasks analysis
KW - performance evaluation
UR - https://www.scopus.com/pages/publications/84907658012
U2 - 10.1109/TITS.2014.2308540
DO - 10.1109/TITS.2014.2308540
M3 - 文章
AN - SCOPUS:84907658012
SN - 1524-9050
VL - 15
SP - 1969
EP - 1979
JO - IEEE Transactions on Intelligent Transportation Systems
JF - IEEE Transactions on Intelligent Transportation Systems
IS - 5
M1 - 6910343
ER -