Systems and Methods for Validating a Localization System of an Autonomous Vehicle
AssigneeAurora Operations, Inc.
InventorsMichael Samples, Robert Michael Zlot
Life of this patent
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Abstract
A localization system can be validated by: obtaining log data descriptive of a plurality of environmental and operational conditions associated with operation of the autonomous vehicle in an environment; augmenting the log data with one or more simulated anomalies; simulating operation of the localization system using the augmented data as input; obtaining simulation result data descriptive of a state of the localization system subsequent simulating the operation of the localization system; and determining a validation metric associated with the localization system based on the simulation result data.
Claims20
A computer-implemented method for validating a localization system of an autonomous vehicle, comprising:
- obtaining log data descriptive of a plurality of environmental and operational conditions associated with operation of the autonomous vehicle in an environment;
- augmenting the log data with one or more simulated anomalies attributed to at least one subsystem of a plurality of subsystems of the localization system;
- simulating operation of the localization system using the augmented log data as input;
- obtaining simulation result data descriptive of a state of the localization system based on simulating operation of the localization system using the augmented log data as input;
- determining a plurality of first metrics associated with the plurality of subsystems of the localization system based on the simulation result data;
- determining a second metric associated with the localization system based on the plurality of first metrics;
- and
- deploying the localization system onboard the autonomous vehicle, the localization system validated for operation in anomalous conditions corresponding to the one or more simulated anomalies.
A computing system, comprising:
- one or more processors;
- and
- one or more non-transitory, computer-readable media storing instructions that cause the one or more processors to perform operations comprising:
- obtaining log data descriptive of a plurality of environmental and operational conditions associated with operation of an autonomous vehicle in an environment;
- augmenting the log data with one or more simulated anomalies attributed to at least one subsystem of a plurality of subsystems of a localization system;
- simulating operation of the localization system using the augmented log data as input;
- obtaining simulation result data descriptive of a state of the localization system based on simulating operation of the localization system using the augmented log data as input;
- determining a plurality of first metrics associated with the plurality of subsystems of the localization system based on the simulation result data;
- determining a second metric associated with the localization system based on the plurality of first metrics;
- and
- deploying the localization system onboard the autonomous vehicle, the localization system validated for operation in anomalous conditions corresponding to the one or more simulated anomalies.
One or more non-transitory, computer-readable media storing instructions that cause one or more processors to perform operations comprising:
- obtaining log data descriptive of a plurality of environmental and operational conditions associated with operation of an autonomous vehicle in an environment;
- augmenting the log data with one or more simulated anomalies attributed to at least one subsystem of a plurality of subsystems of a localization system;
- simulating operation of the localization system using the augmented log data as input;
- obtaining simulation result data descriptive of a state of the localization system based on simulating operation of the localization system using the augmented log data as input;
- determining a plurality of first metrics associated with the plurality of subsystems of the localization system based on the simulation result data;
- determining a second metric associated with the localization system based on the plurality of first metrics;
- and
- deploying the localization system onboard the autonomous vehicle, the localization system validated for operation in anomalous conditions corresponding to the one or more simulated anomalies.
Dependencies are inferred from the claim text.