US 12,151,710 B2
System and method of spoofing a planning stack of an autonomous vehicle
Can Cui, San Francisco, CA (US); Vigneshram Krishnamoorthy, San Francisco, CA (US); Sasanka Nagavalli, Cupertino, CA (US); and Nenad Uzunovic, San Carlos, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed on Dec. 27, 2021, as Appl. No. 17/562,918.
Prior Publication US 2023/0202522 A1, Jun. 29, 2023
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0015 (2020.02) [B60W 2554/20 (2020.02); B60W 2554/402 (2020.02); B60W 2556/00 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining labels associated with various aspects of right-of-way interactions between an autonomous vehicle and an agent, wherein the right-of-way interactions occur when a human driver takes over for the autonomous vehicle and performs the right-of-way interactions;
running an autonomous vehicle stack that is untrained for processing right-of-way interactions between the autonomous vehicle and the agent;
injecting the labels into the autonomous vehicle stack; and
determining, based on the injecting of the labels into the autonomous vehicle stack, a performance of the autonomous vehicle stack.