Simulating virtual objects
First Claim
1. A system for testing a vehicle using virtual objects, the system comprising:
- one or more memories storing virtual object data, first behavior plan for a virtual object of the virtual object data, and alternative second behavior plan for the virtual object wherein the first behavior plan and the alternative second behavior plan each define different paths for the virtual object;
one or more testing computing devices in communication with the one or more memories, the one or more processors being configured to;
randomly select one of the first behavior plan or the alternative second behavior plan,generate simulated sensor data for the virtual object based on the randomly selected one of the first behavior plan or the alternative behavior plan, andsend the simulated sensor data to one or more controlling computing devices, andthe one or more controlling computing devices in communication with the one or more memories, the one or more computing devices being configured to;
receive real sensor data corresponding to real objects in the vehicle'"'"'s environment detected by one or more sensors of the vehicle;
receive, from the one or more testing computing devices, the simulated sensor data corresponding to the virtual object being in the vehicle'"'"'s environment, such that the one or more controlling computing devices identify the virtual object as a real object in the vehicle'"'"'s environment that is executing the randomly selected one of the first behavior plan or the alternative second behavior plan even when the virtual object does not exist in the vehicle'"'"'s environment; and
maneuver the vehicle based on both the real object data and the simulated sensor data to test a maneuvering response of the vehicle.
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Accused Products
Abstract
An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle'"'"'s environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle'"'"'s environment. The virtual object represents a real object that is not in the vehicle'"'"'s environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.
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Citations
20 Claims
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1. A system for testing a vehicle using virtual objects, the system comprising:
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one or more memories storing virtual object data, first behavior plan for a virtual object of the virtual object data, and alternative second behavior plan for the virtual object wherein the first behavior plan and the alternative second behavior plan each define different paths for the virtual object; one or more testing computing devices in communication with the one or more memories, the one or more processors being configured to; randomly select one of the first behavior plan or the alternative second behavior plan, generate simulated sensor data for the virtual object based on the randomly selected one of the first behavior plan or the alternative behavior plan, and send the simulated sensor data to one or more controlling computing devices, and the one or more controlling computing devices in communication with the one or more memories, the one or more computing devices being configured to; receive real sensor data corresponding to real objects in the vehicle'"'"'s environment detected by one or more sensors of the vehicle; receive, from the one or more testing computing devices, the simulated sensor data corresponding to the virtual object being in the vehicle'"'"'s environment, such that the one or more controlling computing devices identify the virtual object as a real object in the vehicle'"'"'s environment that is executing the randomly selected one of the first behavior plan or the alternative second behavior plan even when the virtual object does not exist in the vehicle'"'"'s environment; and maneuver the vehicle based on both the real object data and the simulated sensor data to test a maneuvering response of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for testing a vehicle using virtual objects, the method comprising:
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randomly selecting, by one or more testing computing devices, one of a first behavior plan for a virtual object or alternative second behavior plan for the virtual object, wherein the first behavior plan and the alternative second behavior plan each define different paths for the virtual object, generating, by the one or more testing computing devices, simulated sensor data for the virtual object based on the randomly selected one of the first behavior plan or the alternative behavior plan, and sending, by the one or more testing computing devices, the simulated sensor data to one or more controlling computing devices, and receiving, by one or more controlling computing devices, real sensor data corresponding to real objects in the vehicle'"'"'s environment detected by one or more sensors of the vehicle; receiving, from the one or more testing computing devices by the one or more controlling computing devices, the simulated sensor data corresponding to the virtual object being in the vehicle'"'"'s environment, such that the one or more controlling computing devices identify the virtual object as a real object in the vehicle'"'"'s environment that is executing the randomly selected one of the first behavior plan or the alternative second behavior plan even when the virtual object does not exist in the vehicle'"'"'s environment; and maneuvering, by the one or more controlling computing devices, the vehicle based on both the real object data and the simulated sensor data to test a maneuvering response of the vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification