US 10,896,122 B2 · Using divergence to conduct log-based simulations

Abstract

The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.

Claims20

Dependent claims

A system for testing software for operating a vehicle in an autonomous driving mode, the system comprising one or more processors configured to:

run a first simulation using log data collected by a vehicle operating in an autonomous driving mode, wherein the first simulation is run using the software to control a first simulated vehicle;
compare one or more characteristics of the first simulated vehicle with one or more characteristics of the vehicle from the log data in order to determine a divergence point;
use the divergence point to determine a handover time for a second simulation, the handover time corresponding to a time in the second simulation at which the software is allowed to take control of a second simulated vehicle of the second simulation;
run the second simulation using the log data, wherein the second simulation is run using the handover time and the software to control the second simulated vehicle;
and
determine whether the software is able to complete the second simulation without a particular type of event occurring in the second simulation.

3 more elements

Dependencies are inferred from the claim text.

Using divergence to conduct log-based simulations

Life of this patent

Using divergence to conduct log-based simulations

Life of this patent

Abstract

Claims20