US 12,240,484 B1
Vehicle operation and/or simulation decision registry
Prateek Chandresh Shah, San Francisco, CA (US); Rick Zhang, San Mateo, CA (US); Wentao Zhong, Foster City, CA (US); and Jeremy Schwartz, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 24, 2021, as Appl. No. 17/184,559.
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); G05B 13/02 (2006.01); G05B 17/02 (2006.01); G06F 16/22 (2019.01); G07C 5/08 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/04 (2013.01); G05B 13/0265 (2013.01); G05B 17/02 (2013.01); G06F 16/2272 (2019.01); G07C 5/085 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method comprising:
receiving data associated with autonomous operation of a vehicle in an environment;
determining, by a first component from among a plurality of components of the vehicle and based at least in part on the data:
(1) a first output of the first component, wherein the first output is associated with the autonomous operation of the vehicle; and
(2) ancillary data identifying a second output of a second component (a) that the first component used to generate the first output and (b) from among one or more outputs received by the first component from one or more of the plurality of components;
populating a first data structure of a plurality of data structures based at least in part on the first output and the ancillary data, wherein another one of the plurality of data structures is associated with the second output;
detecting, based at least in part on the first data structure, a transient determination associated with operating the vehicle, wherein detecting the transient determination is based at least in part on determining that a duration associated with the first output is less than a threshold duration;
determining, based at least in part on the plurality of data structures and the transient determination, a trace representing at least one of a first characterization of factors that influenced the first output of the first component or a second characterization of a manner in which the first output affected the second output of the second component; and
controlling the vehicle based at least in part on the trace.