US 11,755,396 B2
Generating autonomous vehicle simulation data from logged data
John Michael Wyrwas, Cupertino, CA (US); Jessica Elizabeth Smith, Pittsburgh, PA (US); and Simon Box, San Francisco, CA (US)
Assigned to AURORA OPERATIONS, INC., Mountain View, CA (US)
Filed by Aurora Operations, Inc., Mountain View, CA (US)
Filed on Apr. 20, 2022, as Appl. No. 17/725,045.
Application 17/725,045 is a continuation of application No. 17/483,506, filed on Sep. 23, 2021, granted, now 11,354,468.
Application 17/483,506 is a continuation of application No. 17/186,577, filed on Feb. 26, 2021, granted, now 11,200,359, issued on Nov. 23, 2021.
Application 17/186,577 is a continuation of application No. 17/119,214, filed on Dec. 11, 2020.
Claims priority of provisional application 62/988,303, filed on Mar. 11, 2020.
Prior Publication US 2022/0245312 A1, Aug. 4, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 30/15 (2020.01); G06F 30/27 (2020.01); G07C 5/00 (2006.01); G06F 11/07 (2006.01); G07C 5/08 (2006.01); G06F 18/214 (2023.01); G06F 18/21 (2023.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G06F 11/0739 (2013.01) [G06F 18/2155 (2023.01); G06F 18/2185 (2023.01); G06F 30/15 (2020.01); G06F 30/27 (2020.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); G07C 5/008 (2013.01); G07C 5/0841 (2013.01); G05D 1/0088 (2013.01); G05D 1/0221 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An autonomous vehicle apparatus that comprises one or more computers to operate an autonomous vehicle using a machine learning model, wherein the machine learning model is trained at least in part using a simulation scenario, wherein the simulation scenario is generated by:
receiving logged data of the autonomous vehicle;
generating augmented data from the logged data, the augmented data describing an actor in an environment of the autonomous vehicle, the actor having an associated actor type and an actor motion behavior characteristic; and
generating the simulation scenario from the augmented data.