Autonomous vehicle simulation system for analyzing motion planners

A method, comprising:

• obtaining perception data that includes data related to a first vehicle detected by sensors located on a second vehicle;
• generating, using the perception data, a simulated perception data comprising a simulated vehicle corresponding to the first vehicle;
• generating, based on the perception data, a simulation of the simulated vehicle with a driving behavior;
• generating a plurality of trajectories from a current position of the simulated vehicle to a target position of the simulated vehicle;
• selecting, from the plurality of trajectories, a trajectory on which the simulated vehicle is to be transitioned from the current position to the target position;
• and
• sending the trajectory and the simulated perception data of the simulated vehicle to an autonomous vehicle system.

A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by one or more processors, causing an apparatus to implement a method, comprising:

• obtaining perception data that includes data related to a first vehicle detected by sensors located on a second vehicle;
• generating, using the perception data, a simulated perception data comprising a simulated vehicle corresponding to the first vehicle;
• generating, based on the perception data, a simulation of the simulated vehicle with a driving behavior;
• generating a plurality of trajectories from a current position of the simulated vehicle to a target position of the simulated vehicle;
• selecting, from the plurality of trajectories, a trajectory on which the simulated vehicle is to be transitioned from the current position to the target position;
• and
• sending the trajectory and the simulated perception data of the simulated vehicle to an autonomous vehicle system.