US 11,767,030 B1Granted

Scenario simulation execution within a truncated parameter space

AssigneeZoox, Inc.

InventorsGerrit Bagschik, Andraz Kavalar, Anne-Claire Elisabeth Marie Le Henaff

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Abstract

Techniques are discussed herein for determining truncated simulation regions within a parameter space of simulation scenarios, such as driving scenarios used to analyze and evaluate the responses of autonomous vehicle controllers. Using non-sampling-based parameter selection techniques, parameterized scenarios may be executed as simulations to determine the truncated simulation region. Sampling-based parameter selection techniques may be used to determine additional parameterized scenarios, which may be compared to the truncated simulation region. Parameterized scenarios within the truncated simulation region may be executed as simulations and scenarios outside of the truncated simulation region may be excluded, and the aggregated results may be analyzed to determine scenario/vehicle performance metrics across the scenario parameter space.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
receiving scenario data including a parameter space associated with a driving scenario, the parameter space including a first parameter range associated with a first scenario parameter, and a second parameter range associated with a second scenario parameter;
determining, based at least in part on a failed simulation of the driving scenario, a simulation region within the parameter space, wherein the simulation region includes a first subrange of the first parameter range and a second subrange of the second parameter range;
receiving a first set of scenario parameters, including a first value associated with the first scenario parameter and a second value associated with the second scenario parameter;
determining that the first set of scenario parameters is within the simulation region, by comparing the first value to the first subrange and comparing the second value to the second subrange;
determining a first simulation result by executing a first simulation of the driving scenario using the first set of scenario parameters, wherein executing the first simulation is based at least in part on determining that the first set of scenario parameters is within the simulation region;
and
determining a vehicle safety metric associated with the driving scenario, based at least in part on the first simulation result.

7 more elements

One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

receiving data identifying a parameter space associated with a scenario, the parameter space defined by a parameter range of a scenario parameter;
determining a region within the parameter space, based at least in part on a scenario failure, the region including a subrange of the parameter range;
receiving a set of scenario parameters, including a value associated with the scenario parameter;
determining that the set of scenario parameters is within the region, by comparing the value to the subrange;
and
executing, based at least in part on determining that the set of scenario parameters is within the region, a first simulation of the scenario using the set of scenario parameters to determine a first simulation result.

3 more elements

Dependencies are inferred from the claim text.