| CPC G05D 1/0221 (2013.01) [B60W 30/095 (2013.01); B60W 30/18163 (2013.01); G05D 1/0044 (2013.01); G05D 1/0088 (2013.01); G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] | 20 Claims |
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1. A method of generating a vehicle motion planning simulation scenario, the method comprising, by a processor:
receiving, from a first data store containing a plurality of simulation scenarios, a base simulation scenario that includes features of a scene through which a vehicle may travel;
generating an augmentation element that comprises a simulated behavior for an object in the scene by:
accessing a second data store in which behavior probabilities are mapped to object types to retrieve a set of behavior probabilities for the object, and
applying a randomization function to the behavior probabilities to select the simulated behavior for the object;
adding the augmentation element to the base simulation scenario to yield an augmented simulation scenario; and
applying the augmented simulation scenario to an autonomous vehicle motion planning model to train the motion planning model in which the motion planning model:
simulates movement of the vehicle along a planned trajectory,
in response to a perception system of the vehicle detecting the augmentation element, selects a continued trajectory for the vehicle, wherein the continued trajectory is either the planned trajectory or an alternate trajectory, and
causes the vehicle to move along the continued trajectory.
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