ADS PERCEPTION DEVELOPMENT

An assessment system for performance evaluation and updating of a PMUD of an ego-vehicle. The assessment system obtains world view data from a perception module configured to generate the world view data based on sensor data obtained from vehicle-mounted sensors; obtains other world view data generated by another perception module; forms a joint world view by matching the world view data the other world view data; and obtains perception data based on a perception model and sensor data obtained from one or more vehicle-mounted sensors. The assessment system further matches the perception data to the formed joint world view; evaluates the obtained perception data in reference to the joint world view to determine an estimation deviation in an identified match between the perceptive parameter of the perception data and a corresponding perceptive parameter in the joint world view; and updates parameters of the perception model based on the estimation deviation.