Large scale distributed simulation for realistic multiple-agent interactive environments

• US 10,474,790 B2
• Filed: 06/02/2017
• Issued: 11/12/2019
• Est. Priority Date: 06/02/2017
• Status: Active Grant

• Current Assignee: TuSimple, Inc. (TuSimple Holdings, Inc.)
• Original Assignee: TuSimple, Inc. (TuSimple Holdings, Inc.)
• Inventors: Sun, Xing, Lin, Wutu, Zhao, Yufei, Liu, Liu
• Primary Examiner(s): Shah, Kamini S
• Application Number:
  US15/612,976
• Publication Number:
  US 20180349547A1
• Time in Patent Office: 893 Days
• Field of Search: 703 6
• CPC Class Codes: G01C 21/3815 Road data
• CPC Class Codes: G01C 21/3841 Data obtained from two or more sources, e.g. probe vehicles
• CPC Class Codes: G06F 30/15 Vehicle, aircraft or watercraft design
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G06F 9/46 Multiprogramming arrangements
• CPC Class Codes: G06F 9/4881 Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
• CPC Class Codes: G06N 3/006 based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
• CPC Class Codes: G06N 5/04 Inference or reasoning models

Abstract

A system and method for large scale distributed simulation for realistic multiple-agent interactive environments are disclosed. A particular embodiment includes: generating a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated; assigning a processing task to at least one of a plurality of distributed computing devices to generate vehicle trajectories for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario; and updating a state and trajectory of each of the plurality of simulated vehicles based on processed data received from the plurality of distributed computing devices.

Claims

1. A system comprising:

a data processor;

a plurality of distributed computing devices in data communication with the data processor via a data network; and

a distributed multiple-agent simulation module, executable by the data processor, the distributed multiple-agent simulation module being configured to perform a distributed multiple-agent simulation operation for autonomous vehicle simulation, the distributed multiple-agent simulation operation being configured to;

generate a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated;

assign, by use of the data network, a processing task to each of the plurality of distributed computing devices to cause each of the distributed computing devices to use their own computing resources to generate vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario and the assigned processing tasks;

receive via the data network from each of the distributed computing devices processed data including vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of the plurality of simulated vehicles;

manage the processing tasks assigned and processed data received from each of the distributed computing devices, the managing including recording a particular distributed computing device as non-responsive or inactive when data from the particular distributed computing device is not received within a pre-defined time window and re-assigning the processing task originally assigned to the non-responsive distributed computing device to another distributed computing device; and

update a state and trajectory of each of the plurality of simulated vehicles based on the processed data received from the plurality of distributed computing devices.

2. The system of claim 1 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems and a plurality of distributed process systems.

3. The system of claim 1 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems, wherein each distributed computing system is wholly dedicated to the computing requirements for a different single vehicle in simulation.

4. The system of claim 1 wherein the plurality of distributed computing devices includes a plurality of distributed process systems, each having a plurality of distributed processes, wherein each distributed process is wholly dedicated to the computing requirements for a different single vehicle in simulation.

5. The system of claim 1 wherein the distributed multiple-agent simulation operation is performed over multiple iterations.

6. The system of claim 1 wherein the distributed multiple-agent simulation operation being further configured to receive an array of sensor information gathered at various traffic locations by a real world data collection system.

7. The system of claim 1 wherein the distributed multiple-agent simulation operation being further configured to provide predicted traffic trajectory information for configuring a control system in an autonomous vehicle.

8. A method comprising:

interfacing with a plurality of distributed computing devices in data communication with a data processor via a data network;

generating, by use of the data processor, a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated;

assigning, by use of the data processor and the data network, a processing task to each of the plurality of distributed computing devices to cause each of the distributed computing devices to use their own computing resources to generate vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario and the assigned processing tasks;

receiving via the data network from each of the distributed computing devices processed data including vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of the plurality of simulated vehicles;

managing the processing tasks assigned and processed data received from each of the distributed computing devices, the managing including recording a particular distributed computing device as non-responsive or inactive when data from the particular distributed computing device is not received within a pre-defined time window and re-assigning the processing task originally assigned to the non-responsive distributed computing device to another distributed computing device; and

updating a state and trajectory of each of the plurality of simulated vehicles based on the processed data received from the plurality of distributed computing devices.

9. The method of claim 8 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems and a plurality of distributed process systems.

10. The method of claim 8 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems, wherein each distributed computing system is wholly dedicated to the computing requirements for a different single vehicle in simulation.

11. The method of claim 8 wherein the plurality of distributed computing devices includes a plurality of distributed process systems, each having a plurality of distributed processes, wherein each distributed process is wholly dedicated to the computing requirements for a different single vehicle in simulation.

12. The method of claim 8 wherein the method is performed over multiple iterations.

13. The method of claim 8 including receiving an array of sensor information gathered at various traffic locations by a real world data collection system.

14. The method of claim 8 including providing predicted traffic trajectory information for configuring a control system in an autonomous vehicle.

15. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:

interface with a plurality of distributed computing devices in data communication with a data processor via a data network;

generate, by use of the data processor, a vicinal scenario for each simulated vehicle in an iteration of a simulation, the vicinal scenarios corresponding to different locations, traffic patterns, or environmental conditions being simulated;

assign, by use of the data processor, a processing task to each of the plurality of distributed computing devices to cause each of the distributed computing devices to use their own computing resources to generate vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of a plurality of simulated vehicles of the simulation based on the vicinal scenario and the assigned processing tasks;

receive via the data network from each of the distributed computing devices processed data including vehicle trajectories and data corresponding to simulated vehicle or driver behaviors for each of the plurality of simulated vehicles;

manage the processing tasks assigned and processed data received from each of the distributed computing devices, the managing including recording a particular distributed computing device as non-responsive or inactive when data from the particular distributed computing device is not received within a pre-defined time window and re-assigning the processing task originally assigned to the non-responsive distributed computing device to another distributed computing device; and

update a state and trajectory of each of the plurality of simulated vehicles based on the processed data received from the plurality of distributed computing devices.

16. The machine-useable storage medium of claim 15 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems and a plurality of distributed process systems.

17. The machine-useable storage medium of claim 15 wherein the plurality of distributed computing devices includes a plurality of distributed computing systems, wherein each distributed computing system is wholly dedicated to the computing requirements for a different single vehicle in simulation.

18. The machine-useable storage medium of claim 15 wherein the plurality of distributed computing devices includes a plurality of distributed process systems, each having a plurality of distributed processes, wherein each distributed process is wholly dedicated to the computing requirements for a different single vehicle in simulation.

19. The machine-useable storage medium of claim 15 being further configured to receive an array of sensor information gathered at various traffic locations by a real world data collection system.

20. The machine-useable storage medium of claim 15 being further configured to provide predicted traffic trajectory information for configuring a control system in an autonomous vehicle.