Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from one or more sensors of the vehicle; processing, by a processor,the sensor data to determine object data indicating at least one element within a scene of an environment of the vehicle; processing, by the processor, the sensor data to determine a ground truth dataassociated with the element; determining, by the processor, an uncertainty model based on the ground truth data and the object data; training, by the processor, vehicle functions based on the uncertainty model; and controlling the vehicle based on the trained vehicle functions.
PERCEPTION UNCERTAINTY MODELING FROM ACTUAL PERCEPTION SYSTEMS FOR AUTONOMOUS DRIVING