Conversion of driving logs to simulations for autonomous vehicle testing and validation
AssigneeZoox, Inc.
InventorsJames Graham Dolan, Jonathan Michael Edward Hogins, Marianna Hajar Neubauer
Life of this patent
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Abstract
Techniques are described herein for converting driving logs to driving simulations and for analysis and improvement of said conversion. Log data may be received and an object may be identified. It may be determined that a plurality of models does not contain a sufficient model for representing the object in a driving simulation, and a machine-generated model may be generated for representing the object in the driving simulation. A driving simulation may then be generated including the model.
Claims20
A system comprising:
- one or more processors;
- and
- non-transitory memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform actions including:
- accessing a driving log associated with an autonomous vehicle in an environment, the driving log comprising data indicating an object;
- determining that a database of validated models of simulated objects lacks a validated simulation model for simulating the object based at least in part on comparing data of the driving log corresponding to the object and data associated with the database;
- generating, based at least in part on the determining that the database lacks the validated simulation model, a first, machine-generated simulation model for simulating the object based at least in part on sensor data in the driving log corresponding to the object, wherein the sensor data includes visual or geometric data;
- and
- generating a first driving simulation including the machine-generated simulation model and based at least in part on the driving log.
A method, comprising:
- receiving, by a processor, log data associated with a vehicle in an environment;
- identifying, by the processor, an object in the environment based at least in part on the log data;
- determining, by the processor and based at least in part on the log data, that a plurality of simulation models does not contain a sufficient simulation model for representing the object in a driving simulation;
- and
- generating, by the processor and based at least in part on the plurality of simulation models not containing the sufficient simulation model, a machine-generated simulation model of a simulated object for representing the object in the driving simulation wherein the simulation model is generated based at least in part on the log data;
- and
- generating, by the processor, the driving simulation including the simulation model of the simulated object based at least in part on the log data.
One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform actions including:
- receiving, by a processor, log data associated with a vehicle in an environment;
- identifying, by the processor, an object in the environment based at least in part on the log data;
- determining, by the processor and based at least in part on the log data, that a plurality of simulation models does not contain a sufficient simulation model for representing the object in a driving simulation;
- and
- generating, by the processor and based at least in part on the plurality of simulation models not containing the sufficient simulation model, a machine-generated simulation model of a simulated object for representing the object in the driving simulation wherein the simulation model is generated based at least in part on the log data;
- and
- generating, by the processor, the driving simulation including the simulation model of the simulated object based at least in part on the log data.
Dependencies are inferred from the claim text.