| CPC B60W 30/095 (2013.01) [B60W 40/105 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2554/4041 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
non-transitory computer-readable media storing instructions that when executed by the one or more processors, cause the system to perform operations comprising:
receiving log data associated with an operation of a vehicle in a physical environment, wherein the log data includes a trajectory associated with the vehicle and a first position of the vehicle at a first time in the physical environment;
executing a driving simulation, wherein executing the driving simulation comprises controlling a simulated vehicle in a simulated environment to follow the trajectory associated with the vehicle in the physical environment;
receiving simulation data associated with the driving simulation, wherein the simulation data includes a second position of the simulated vehicle in the simulated environment at a second time corresponding to the first time in the physical environment;
determining a lateral position error associated with the driving simulation, wherein the lateral position error represents a lateral position difference between the first position of the vehicle in the physical environment and the second position of the simulated vehicle in the simulated environment;
determining a longitudinal position error associated with the driving simulation, wherein the longitudinal position error represents a longitudinal position difference between the first position of the vehicle in the physical environment and the second position of the simulated vehicle in the simulated environment;
determining a modified safety buffer associated with a second simulated vehicle in a second driving simulation, based at least in part on the lateral position error and the longitudinal position error; and
controlling an execution of the second driving simulation based at least in part on the modified safety buffer.
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