Vehicle prediction module evaluation and training

A system, comprising:

• one or more non-transitory computer-readable storage media including instructions;
• and
• one or more processors coupled to the storage media, the one or more processors configured to execute the instructions to:
• access perception data generated based on first sensor data captured by one or more sensors associated with a vehicle, wherein the perception data is associated with an environment external of the vehicle;
• generate first prediction data with respect to the environment using a prediction module based on the perception data;
• capture second sensor data of the environment using the one or more sensors associated with the vehicle while the vehicle is operating according to a first planned trajectory based on the first prediction data, wherein the first planned trajectory is generated based on the first prediction data and a path planning parameter associated with the environment;
• and
• generate a computer simulation for evaluating the prediction module, wherein to generate comprises:
• generate second prediction data with respect to the environment based on the second sensor data;
• based on the second prediction data and the path planning parameter associated with the environment, generate a second planned trajectory for the vehicle;
• and
• subsequent to determining that a difference between the first planned trajectory and the second planned trajectory fails to satisfy predetermined prediction criteria:
• identify, based on the second prediction data and the second planned trajectory, at least one object within the environment for which the prediction module underperforms relative to the predetermined prediction criteria based on the difference;
• and
• update the prediction module based on the identified at least one object and data associated with the second prediction data.

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors of a computing device, cause the one or more processors to:

• access perception data generated based on first sensor data captured by one or more sensors associated with a vehicle, wherein the perception data is associated with an environment external of the vehicle;
• generate first prediction data with respect to the environment using a prediction module based on the perception data;
• capture second sensor data of the environment using the one or more sensors associated with the vehicle while the vehicle is operating according to a first planned trajectory based on the first prediction data, wherein the first planned trajectory is generated based on the first prediction data and a path planning parameter associated with the environment;
• and
• generate a computer simulation for evaluating the prediction module, wherein to generate comprises:
• generate second prediction data with respect to the environment based on the second sensor data;
• based on the second prediction data and the path planning parameter associated with the environment, generate a second planned trajectory for the vehicle;
• and
• subsequent to determining that a difference between the first planned trajectory and the second planned trajectory fails to satisfy predetermined prediction criteria:
• identify, based on the second prediction data and the second planned trajectory, at least one object within the environment for which the prediction module underperforms relative to the predetermined prediction criteria based on the difference, and
• update the prediction module based on the identified at least one object and data associated with the second prediction data.