US 10,896,116 B1Granted

Detecting performance regressions in software for controlling autonomous vehicles

AssigneeWaymo LLC

InventorAleksandar Rumenov Gabrovski

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Abstract

The disclosure relate to detecting performance regressions in software used to control autonomous vehicles. For instance, a simulation may be run using a first version of the software. While the simulation is running, CPU and memory usage by one or more functions of the first version of the software may be sampled. The sampled CPU and memory usage may be compared to CPU or memory usage by each of the one or more functions in a plurality of simulations each running a corresponding second version of the software. Based on the comparisons, an anomaly corresponding to a performance regression in the first version of the software relating to one of the one or more functions may be identified. In response to detecting the anomaly, the first version of the software and the one of the one or more functions may be flagged for review.

Claims20

Dependent claims

A method of detecting performance regressions in software used to control autonomous vehicles, the method comprising:

running, by one or more processors, a first simulation using a first version of the software that controls a simulated vehicle through a driving situation;
running, by the one or more processors, a plurality of second simulations using a second version of the software that controls a simulated vehicle through the driving situation, wherein the second version of the software is different than the first version of the software;
while the first simulation is running, sampling, by the one or more processors, central processing unit (CPU) time for one or more functions of the first version of the software;
comparing, by the one or more processors, the sampled CPU time by each of the one or more functions of the first version of the software during the first simulation to CPU time by each of the one or more functions in the second version of the software during each of the plurality of second simulations;
based on the comparison, detecting, by the one or more processors, an anomaly corresponding to a performance regression in the first version of the software relating to one of the one or more functions;
and
in response to detecting the anomaly, flagging, by one or more processors, the first version of the software and the one of the one or more functions for review.

4 more elements

Dependencies are inferred from the claim text.