| CPC B60W 60/001 (2020.02) [B60W 40/09 (2013.01); B60W 50/0097 (2013.01); B60W 50/06 (2013.01); G05D 1/0088 (2013.01); B60W 2510/18 (2013.01)] | 21 Claims |
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20. A system including one or more processors that execute instructions, stored in an associated memory, the instructions when executed by the one or more processors evaluate manual driving data using an autonomous vehicle control system by emulating an autonomous vehicle control system response using previously captured historical manual driving data, the system comprising:
capturing multiple instances of manual driving data, the multiple instances of manual driving data including at least a first instance of manual driving data and a second instance of manual driving data that are captured during control of a vehicle by a manual driver, wherein the second instance of manual driving data is captured succeeding the first instance of manual driving data, and wherein the second instance indicates a next trajectory of the vehicle that followed a trajectory of the vehicle from the first instance;
storing the multiple instances of manual driving data;
subsequent to the storing, for a first iteration of a plurality of iterations:
identifying the first instance of manual driving data from the stored multiple instances of manual driving data, the first instance of manual driving data being previously captured during control of the vehicle by the manual driver and comprising:
first vehicle trajectory data that defines one or more aspects of the trajectory of the vehicle controlled by the manual driver, and
corresponding first environmental data that defines one or more aspects of an environment of the vehicle for the first instance;
emulating the autonomous vehicle control system response using the previously captured manual driving data by processing the first instance of manual driving data as input, using the autonomous vehicle control system, to generate a predicted next instance of autonomous vehicle control system trajectory data defining one or more aspects of a predicted trajectory that is predicted to follow the trajectory from the first instance of manual driving data;
determining manual driving latency based upon the first instance of manual driving data, the second instance of manual driving data and the generated predicted next instance of autonomous vehicle control system trajectory data;
comparing (a) the predicted next instance of autonomous vehicle control system trajectory data to (b) the second instance of manual driving data, the second instance of manual driving data being previously captured during the control of the vehicle by the manual driver, and following the first instance of manual driving data, wherein the second instance of manual driving data comprises second vehicle trajectory data that defines one or more aspects of the next trajectory, of the vehicle controlled by the manual driver, that followed the trajectory from the first instance and wherein the comparing further is based upon the determined manual driving latency;
determining a difference measure based on the comparing; and
evaluating the manual driving data based on the difference measure from the plurality of iterations, comprising:
identifying, based on the difference measure from the plurality of iterations, one or more particular portions of the manual driving data to be excluded from the manual driving data, and
providing the manual driving data that excludes the one or more particular portions, wherein the providing causes training of an additional autonomous vehicle control system.
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