US 11,814,059 B1
Simulating autonomous driving using map data and driving data
Andreas Christian Reschka, Foster City, CA (US); Guillermo Duenas Arana, Chicago, IL (US); Collin MacGregor, Foster City, CA (US); and Gonzalo Javier Rey, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Apr. 5, 2019, as Appl. No. 16/376,842.
Int. Cl. G06F 30/20 (2020.01); B60W 50/04 (2006.01); G05D 1/02 (2020.01); B60W 40/09 (2012.01); B60W 50/00 (2006.01)
CPC B60W 50/045 (2013.01) [B60W 40/09 (2013.01); G05D 1/0274 (2013.01); G06F 30/20 (2020.01); B60W 2050/0031 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating simulation scenarios, the computer-implemented method comprising:
receiving map data about a region including a drivable surface;
receiving driving data generated by a vehicle driving in a portion of the region, the driving data including object interactions within an environment of the vehicle;
determining, based at least in part on the map data, a plurality of road segments of the region, a first road segment of the plurality of road segments including a portion of the drivable surface and having first attributes associated with the first road segment;
determining, based at least in part on the map data, a second road segment of the plurality of road segments, the second road segment having second attributes associated with the second road segment;
determining, based at least in part on the first attributes and the second attributes, a difference between the first road segment and the second road segment;
determining that the difference is less than or equal to a threshold difference;
determining, based at least in part on the difference being less than or equal to the threshold difference, that the object interactions are applicable for testing a vehicle control system in the second road segment;
generating, based at least in part on the difference being less than or equal to the threshold difference, a plurality of simulation scenarios for testing the vehicle control system in the second road segment, wherein a scenario of the plurality of simulation scenarios is based at least in part on the object interactions; and
validating the vehicle control system using the plurality of simulation scenarios.