Perception simulation for improved autonomous vehicle control
First Claim
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1. A system comprising:
- a data processor; and
a perception simulation module, executable by the data processor, the perception simulation module being configured to perform a perception simulation operation for autonomous vehicles, the perception simulation operation being configured to;
receive perception data from a plurality of sensors of an autonomous vehicle;
configure the perception simulation operation based on a comparison of the perception data against ground truth data;
generate simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors, wherein simulating errors related to the physical constraints of one or more of the plurality of sensors includes applying an occlusion beyond which the one or more of the plurality of sensors cannot detect objects; and
provide the simulated perception data to a motion planning system for the autonomous vehicle.
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Abstract
A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: receiving perception data from a plurality of sensors of an autonomous vehicle; configuring the perception simulation operation based on a comparison of the perception data against ground truth data; generating simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors; and providing the simulated perception data to a motion planning system for the autonomous vehicle.
129 Citations
7 Claims
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1. A system comprising:
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a data processor; and a perception simulation module, executable by the data processor, the perception simulation module being configured to perform a perception simulation operation for autonomous vehicles, the perception simulation operation being configured to; receive perception data from a plurality of sensors of an autonomous vehicle; configure the perception simulation operation based on a comparison of the perception data against ground truth data; generate simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors, wherein simulating errors related to the physical constraints of one or more of the plurality of sensors includes applying an occlusion beyond which the one or more of the plurality of sensors cannot detect objects; and provide the simulated perception data to a motion planning system for the autonomous vehicle. - View Dependent Claims (2)
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3. A method comprising:
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receiving perception data from a plurality of sensors of an autonomous vehicle; configuring the perception simulation operation based on a comparison of the perception data against ground truth data; generating simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors, wherein simulating errors related to the physical constraints of one or more of the plurality of sensors includes applying an occlusion beyond which the one or more of the plurality of sensors cannot detect objects; and providing the simulated perception data to a motion planning system for the autonomous vehicle. - View Dependent Claims (4)
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5. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
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receive perception data from a plurality of sensors of an autonomous vehicle; configure the perception simulation operation based on a comparison of the perception data against ground truth data; generate simulated perception data by simulating errors related to the physical constraints of one or more of the plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors, wherein simulating errors related to the physical constraints of one or more of the plurality of sensors includes applying an occlusion beyond which the one or more of the plurality of sensors cannot detect objects; and provide the simulated perception data to a motion planning system for the autonomous vehicle. - View Dependent Claims (6, 7)
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Specification