US 11,814,070 B1
Simulated driving error models
Antonio Prioletti, Redwood City, CA (US); Subhasis Das, Menlo Park, CA (US); Minsu Jang, San Mateo, CA (US); and He Yi, Mountain View, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Sep. 30, 2021, as Appl. No. 17/490,503.
Int. Cl. B60W 60/00 (2020.01); G07C 5/00 (2006.01); G05B 17/02 (2006.01); B60W 50/00 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 50/00 (2013.01); G05B 17/02 (2013.01); G07C 5/008 (2013.01); B60W 2050/0028 (2013.01); B60W 2050/0083 (2013.01); B60W 2554/402 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving log data associated with an autonomous vehicle traversing an environment;
receiving ground truth data associated with the environment
determining, based at least in part on a signal from a planning system of the autonomous vehicle or a driving corridor, that an object represented in at least one of the log data or ground truth data is a relevant object;
determining, for the relevant object, a difference between a ground truth attribute associated with the ground truth data and an attribute from the log data;
determining, based at least in part on the difference, an error model;
determining, based at least in part on the error model, a response of an autonomous vehicle controller to a simulation scenario,
wherein determining the response of the autonomous vehicle controller to the simulation scenario comprises instantiating, based at least in part on the object being a relevant object, a simulated object corresponding to the object in the simulation scenario; and
transmitting, based at least in part on the response of the autonomous vehicle controller to the simulation scenario, the autonomous vehicle controller to the autonomous vehicle to control the autonomous vehicle.