# US 11,897,516 B2 · Apparatus and method for simulation of autonomous vehicle

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- Number: US 11,897,516 B2
- Document ID: US11897516B2
- Status: Granted
- Kind: B2
- Application number: 17/518,425
- Filed: 2021-11-03
- Published: 2022-06-23
- Granted: 2024-02-13
- Earliest claimed: 2020-12-17
- Assignees: Hyundai Motor Company; Kia Corporation
- Applicants: Hyundai Motor Company; Kia Corporation
- Inventors: Hong Cho
- Web page: https://patentgrep.com/patent/US11897516B2

## CPC

- B60W 60/0027: {using trajectory prediction for other traffic participants}
- G06F 11/3698: Environments for analysis, debugging or testing of software
- G06F 11/3696: {Methods or tools to render software testable}
- B60W 2554/4041: Position
- B60W 2554/4042: Longitudinal speed
- B60W 2554/4043: Lateral speed
- B60W 2554/4045: Intention, e.g. lane change or imminent movement
- B60W 2554/801: Lateral distance
- B60W 2554/802: Longitudinal distance
- B60W 2554/803: Relative lateral speed
- B60W 2554/804: Relative longitudinal speed
- G06F 30/15: Vehicle, aircraft or watercraft design
- G06F 30/20: Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

A method for simulation of an autonomous vehicle includes preparing a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment of the autonomous vehicle. The method further includes performing a normal driving in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given, and performing an event driving in which the surrounding vehicle performs the event given based on a setting value of the parameter.

## Claims

### Claim 1

A method for simulation of an autonomous vehicle, comprising:
preparing, by a controller, a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment to simulate the autonomous vehicle;
performing, by the controller in the simulation environment, a normal driving in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given; and
performing, by the controller in the simulation environment, an event driving in which the surrounding vehicle performs the event given based on a setting value of the parameter,
wherein when a plurality of surrounding vehicles are present, the plurality of surrounding vehicles performs events in a predetermined order, and
wherein the order of preforming the given event of the plurality of surrounding vehicles is determined according to a type and a degree of risk of the given event of each of the plurality of surrounding vehicles.

### Claim 2 (depends on 1)

The method of claim 1, wherein the preparing of the setting of the parameter further includes calculating a distance related to the event of the surrounding vehicle based on precise map data, and calculating the number of surrounding vehicles based on user input data.

### Claim 3 (depends on 1)

The method of claim 1, wherein the setting of the parameter and the initial value includes:
setting, by the controller, a starting driving lane of the autonomous vehicle;
setting, by the controller, a starting relative position between the autonomous vehicle and the surrounding vehicle; and
setting, by the controller, a condition for the event to be performed by the surrounding vehicle.

### Claim 4 (depends on 3)

The method of claim 3, wherein the setting of the condition for the event to be performed by the surrounding vehicle comprises at least one of:
a safe distance between the autonomous vehicle and the surrounding vehicle;
a relative speed of the surrounding vehicle relative to the autonomous vehicle;
a type of the event;
a degree of risk of the event;
an acceleration of the surrounding vehicle when the event is performed; and
a lane change time of the surrounding vehicle when the event is performed.

### Claim 5 (depends on 1)

The method of claim 1, wherein the normal driving includes a follow mode in which the surrounding vehicle travels along the autonomous vehicle.

### Claim 6 (depends on 5)

The method of claim 5, wherein the surrounding vehicle performing the follow mode is in a waiting state while following the autonomous vehicle before performing the event given.

### Claim 7 (depends on 1)

The method of claim 1, further comprising generating a plurality of events in response to a plurality of different degrees of risk by changing the degree of risk to a plurality of different values.

### Claim 8

An apparatus for simulation of an autonomous vehicle, comprising:
a communicator configured to communicate with a simulation apparatus, the autonomous vehicle, and a surrounding vehicle; and
a controller configured to:
prepare a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment to simulate the autonomous vehicle,
perform a normal driving in the simulation environment in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given, and
perform an event driving in the simulation environment in which the surrounding vehicle performs the event given based on a setting value of the parameter,
wherein when a plurality of surrounding vehicles are present, the plurality of surrounding vehicles performs events in a predetermined order, and
wherein the order of preforming the given event of the plurality of surrounding vehicles is determined according to a type and a degree of risk of the given event of each of the plurality of surrounding vehicles.

### Claim 9 (depends on 8)

The apparatus of claim 8, wherein the controller is configured to calculate a distance related to the event of the surrounding vehicle based on precise map data, and calculate the number of surrounding vehicles based on user input data when preparing the setting.

### Claim 10 (depends on 8)

The apparatus of claim 8, wherein the setting of the parameter and the initial value includes:
setting, by the controller, a starting driving lane of the autonomous vehicle;
setting, by the controller, a starting relative position between the autonomous vehicle and the surrounding vehicle; and
setting, by the controller, a condition for the event to be performed by the surrounding vehicle.

### Claim 11 (depends on 10)

The apparatus of claim 10, wherein the setting of the condition for the event to be performed by the surrounding vehicle comprises at least one of:
a safe distance between the autonomous vehicle and the surrounding vehicle;
a relative speed of the surrounding vehicle relative to the autonomous vehicle;
a type of the event;
a degree of risk of the event;
an acceleration of the surrounding vehicle when the event is performed; and
a lane change time of the surrounding vehicle when the event is performed.

### Claim 12 (depends on 8)

The apparatus of claim 8, wherein the normal driving includes a follow mode in which the surrounding vehicle travels along the autonomous vehicle.

### Claim 13 (depends on 12)

The apparatus of claim 12, wherein the surrounding vehicle performing the follow mode is in a waiting state while following the autonomous vehicle before performing the event given.

### Claim 14 (depends on 8)

The apparatus of claim 8, wherein the controller is further configured to generate a plurality of events in response to a plurality of different degrees of risk by changing the degree of risk to a plurality of different values.

### Claim 15

A method for simulation of an autonomous vehicle, comprising:
preparing, by a controller, a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment to simulate the autonomous vehicle;
performing, by the controller in the simulation environment, a normal driving in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given; and
performing, by the controller in the simulation environment, an event driving in which the surrounding vehicle performs the event given based on a setting value of the parameter; wherein
when a plurality of surrounding vehicles are present, an order of preforming the given event in the plurality of surrounding vehicles is determined by a type and a degree of risk of the given event, and
a plurality of events corresponding to a plurality of different degrees of risk is generated by changing the degree of risk to a plurality of different values.

### Claim 16

An apparatus for simulation of an autonomous vehicle, comprising:
a communicator configured to communicate with a simulation apparatus, the autonomous vehicle, and a surrounding vehicle; and
a controller configured to:
prepare a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment of to simulate the autonomous vehicle,
perform a normal driving in the simulation environment in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given, and
perform an event driving in the simulation environment in which the surrounding vehicle performs the event given based on a setting value of the parameter, wherein
when a plurality of surrounding vehicles are present, an order of preforming the given event in the plurality of surrounding vehicles is determined by a type and a degree of risk of the given event, and
a plurality of events corresponding to a plurality of different degrees of risk is generated by changing the degree of risk to a plurality of different values.