US 11,989,116 B1
Collision evaluation for log-based simulations
Carl Nygaard, Sunnyvale, CA (US); Alexander Ruben Stacey McCarthy, San Francisco, CA (US); and James Stout, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 7, 2022, as Appl. No. 17/834,389.
Application 17/834,389 is a continuation of application No. 17/007,611, filed on Aug. 31, 2020, granted, now 11,385,991.
Application 17/007,611 is a continuation of application No. 16/107,023, filed on Aug. 21, 2018, granted, now 10,795,804, issued on Oct. 6, 2020.
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 11/36 (2006.01)
CPC G06F 11/3664 (2013.01) [G06F 11/3684 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
retrieving, by one or more processors of one or more server computing devices, log data stored by a storage system, the log data including sensor data generated by a perception system of a vehicle operating in an autonomous driving mode, the log data defining one or more agents;
accessing, by the one or more processors, autonomous control software stored by the storage system;
accessing, by the one or more processors, a plurality of model agents stored by the storage system;
modifying, by the one or more processors, the retrieved log data by replacing at least one of the one or more agents with one of the plurality of model agents;
running, by the one or more processors, a simulation by inputting the modified log data to a perception system of the simulated vehicle controlled by the autonomous control software;
validating, by the one or more processors, the autonomous control software based on one or more results of the simulation; and
sending, by the one or more processors, the validated autonomous control software to the vehicle so that the vehicle can be operated in the autonomous driving mode.