US 12,291,240 B1
System for simulating an autonomous vehicle using a trajectory library and log data
Andres Guillermo Morales Morales, San Francisco, CA (US); Samir Parikh, Los Gatos, CA (US); and Kai Zhenyu Wang, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Nov. 18, 2021, as Appl. No. 17/529,866.
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/00184 (2020.02) [B60W 60/0016 (2020.02); B60W 60/0017 (2020.02); B60W 2552/20 (2020.02); B60W 2552/30 (2020.02)] 20 Claims
OG exemplary drawing
 
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 one or more processors to perform operations comprising:
receiving a trajectory for a simulated object in a simulated environment;
receiving an attribute of the simulated object;
determining, based at least in part on the trajectory and the attribute, a trajectory segment in a library of trajectory segments, wherein the trajectory segment represents log data captured by a physical vehicle in an environment;
determining a fitness associated with at least one of a first length or a first orientation represented by the trajectory segment and at least one of a second length or a second orientation represented by the trajectory;
determining an adjusted trajectory segment based on modifying at least one of the first length or the first orientation, wherein modifying at least one of the first length or the first orientation is based on the fitness;
generating aggregated log data including the adjusted trajectory segment;
instantiating the simulated object in the simulated environment based at least in part on the aggregated log data; and
determining a response of a simulated autonomous vehicle to motion of the simulated object along the trajectory in the simulated environment.