System for generating generalized simulation scenarios

A method comprising:

• receiving log data associated with a vehicle;
• assigning a first region and a second region to the log data;
• identifying a first object within the log data;
• associating the first object with the first region based at least in part on a position of the first object relative to a position of the vehicle and a position of the first region relative to the position of the vehicle;
• categorizing a portion of log data as a first type of arrangement based at least in part on the first object being associated with the first region;
• aggregating the log data with additional log data, the additional log data being of the first type of arrangement;
• generating, based at least in part on the aggregated log data, a statistical model;
• determining a scenario based at least in part on the statistical model, the scenario comprising a second object to be represented in a simulation;
• and
• executing the scenario to determine a response of a simulated vehicle controller to the scenario.

A method comprising:

• determining, based on log data associated with a vehicle, first data representing a first state of objects in an environment associated with the vehicle;
• determining, based on the first data, a statistical model, the statistical model is based at least in part on a frequency of occurrence of the log data corresponding to the first state of objects in a discretized representation;
• sampling the statistical model to determine a simulation parameter;
• and
• determining a simulated response of a vehicle controller to a simulation based at least in part on the simulation parameter.