| CPC G08G 1/166 (2013.01) [G08G 1/164 (2013.01); G08G 1/167 (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:
executing a driving simulation associated with an environment, the driving simulation including an observed simulated agent controlled by a first agent controller and an observing simulated agent controlled by a second agent controller, wherein the driving simulation is associated with an autonomous vehicle controller;
at a first time point in the driving simulation, determining a first trajectory of the observed simulated agent associated with the first time point, and determining a second trajectory of the observing simulated agent associated with the first time point;
storing the first trajectory of the observed simulated agent associated with the first time point in a first buffer component;
storing the second trajectory of the observing simulated agent associated with the first time point in a second buffer component;
at a second time point in the driving simulation after the first time point, determining, by the second agent controller, a reaction of the observing simulated agent based at least in part on the first trajectory of the observed simulated agent associated with the first time point, a time period between the first time point and the second time point being a reaction delay;
controlling, by the second agent controller, the observing simulated agent in the driving simulation based at least in part on the reaction; and
transmitting the autonomous vehicle controller to a vehicle based at least in part on an output of the driving simulation, wherein the vehicle is configured to use the autonomous vehicle controller to traverse a driving environment.
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