| CPC B60W 50/035 (2013.01) [B60W 60/0015 (2020.02); G05B 17/02 (2013.01); G07C 5/008 (2013.01); G07C 5/085 (2013.01); B60W 2050/0088 (2013.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
receiving log data associated with a vehicle, the log data representing a driving scenario of the vehicle operating in an environment;
determining a log time within the log data at which the vehicle diverges from a trajectory generated by a route planning component of the vehicle;
executing a simulation representing the driving scenario, wherein executing the simulation includes:
controlling a simulated vehicle to follow the trajectory within the simulation, from a first simulation time associated with the log time, to a second simulation time after the first simulation time; and
determining, at the second simulation time, a distance between the simulated vehicle and a simulated object within the simulation;
determining, based at least in part on the distance, a success condition associated with the simulation;
determining a response of a safety system to a simulated driving scenario, based at least in part on the success condition; and
configuring an autonomous vehicle to use the safety system, based at least in part on the response of the safety system to the simulated driving scenario.
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