| CPC B60W 60/00272 (2020.02) [B60W 60/0016 (2020.02); B60W 60/0017 (2020.02); B60W 2420/403 (2013.01); B60W 2554/4049 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving sensor data captured by a physical vehicle located at a first road segment in an environment, the sensor data comprising an object located at a second road segment different from the first road segment;
determining, based at least in part on a trajectory library, at least one trajectory segment associated with the object;
determining that the at least one trajectory segment is mapped to a trajectory associated with the object;
determining object data representing the object in the sensor data;
instantiating, based at least in part on the object data, a simulated environment comprising a simulated object at the second road segment, wherein a first road topology associated with the object in the environment is different than a second road topology associated with the simulated environment and the object is associated with a first orientation with respect to a road in the environment and the object is associated with a second orientation with respect to a simulated road that is different than the first orientation;
determining a location of a simulated autonomous vehicle in the simulated environment, wherein the location is associated with the second road segment and the simulated autonomous vehicle corresponds to the physical vehicle; and
determining a response of the simulated autonomous vehicle to the simulated object.
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