Generating autonomous vehicle testing data through perturbations and adversarial loss functions

A computing system comprising:

• one or more processors;
• and
• one or more computer-readable medium storing instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising:
• (a) obtaining sensor data descriptive of a traffic scenario comprising a subject vehicle and one or more actors in an environment;
• (b) selecting one or more perturbation values from a defined perturbation search space;
• (c) generating a perturbed trajectory for a first actor of the one or more actors in the environment based on the one or more perturbation values by:
• creating a set of physically feasible trajectories for the first actor;
• generating an initial perturbed trajectory for the first actor based on the one or more perturbation values;
• and projecting the initial perturbed trajectory onto the set of physically feasible trajectories to generate the perturbed trajectory;
• and
• (d) generating simulated sensor data descriptive of the perturbed trajectory for the first actor in the environment.

An autonomous vehicle control system comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable medium storing:
• (i) one or more machine-learned models, wherein the one or more machine-learned models have been learned via performance of machine learning algorithms on one or more training examples comprising simulated sensor data;
• and (ii) instructions for execution by the one or more processors to cause the one or more processors to perform operations to generate the simulated sensor data, the operations comprising:
• (a) obtaining sensor data descriptive of a traffic scenario comprising a subject vehicle and one or more actors in an environment;
• (b) selecting one or more perturbation values from a defined perturbation search space;
• (c) generating a perturbed trajectory for a first actor of the one or more actors in the environment based on the one or more perturbation values by:
• creating a set of physically feasible trajectories for the first actor;
• generating an initial perturbed trajectory for the first actor based on the one or more perturbation values;
• and projecting the initial perturbed trajectory onto the set of physically feasible trajectories to generate the perturbed trajectory;
• and
• (d) generating simulated sensor data descriptive of the perturbed trajectory for the first actor in the environment.