US 11,775,706 B2
Deterministic agents for simulation
Andrew Best, Los Altos, CA (US); and Liang Fok, Los Altos, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Nov. 16, 2020, as Appl. No. 17/98,847.
Prior Publication US 2022/0156432 A1, May 19, 2022
Int. Cl. G06F 30/20 (2020.01); G06F 30/27 (2020.01)
CPC G06F 30/20 (2020.01) [G06F 30/27 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method of simulation of an ego vehicle using deterministic agents, comprising:
obtaining a set of deterministic agents for the simulation of the ego vehicle;
executing the simulation of the ego vehicle using deterministic agents of the set of deterministic agents to provide simulated traffic in the simulation, wherein behavior of at least one deterministic agent of the set of deterministic agents is based on rules and further based on a plurality of primitive behaviors that are configured in a sequence and that are executed in the simulation to determine agent performance;
determining and outputting a current state of the simulation;
determining an agent action based on the determined current state; and
requesting an update of the at least one deterministic agent of the set of deterministic agents based on the determined agent action, wherein the update of the at least one deterministic agent of the set of deterministic agents comprises reordering the sequence of the plurality of primitive behaviors.