Autonomous vehicle simulation system for analyzing motion planners

Patent metadata

Field	Value
Publication number	US-10877476-B2
Application number	US-201715827452-A
Country	US
Kind code	B2
Filing date	Nov 30, 2017
Priority date	Nov 30, 2017
Publication date	Dec 29, 2020
Grant date	Dec 29, 2020

Abstract

An autonomous vehicle simulation system for analyzing motion planners is disclosed. A particular embodiment includes: receiving map data corresponding to a real world driving environment; obtaining perception data and configuration instructions and data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration instructions and data; receiving vehicle control messages from an autonomous vehicle control system; and simulating the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

First claim

What is claimed is:

1. A system comprising:
a data processor;
a map data simulation module, executable by the data processor, and configured to receive map data corresponding to a real world driving environment;
a dynamic vehicle simulation module, executable by the data processor, and configured to
obtain perception data and configuration instructions and data including pre-defined parameters and executables, wherein the configuration instructions and data define a specific driving behavior for each of a plurality of simulated dynamic vehicles,
generate simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration instructions and data,
generate a target position, speed, and heading for each of the plurality of simulated dynamic vehicles at a specific point in time using the simulated perception data and the configuration instructions and data,
generate, for each of the plurality of simulated dynamic vehicles, a trajectory to transition the vehicle from its current position, speed, and heading to the target position, speed, and heading, and
provide, for each of the generated trajectories, simulated perception data messages to an autonomous vehicle perception data processing module; and

an autonomous vehicle simulation module, executable by the data processor, and configured to receive vehicle control messages from an autonomous vehicle control system, and simulate the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

2. The system of claim 1 including an autonomous vehicle analytics module configured to collect and generate analytics data and vehicle state information corresponding to an analysis of the vehicle control messages received from the autonomous vehicle control system.

3. The system of claim 1 including an autonomous vehicle motion recording and playback module configured to obtain and generate vehicle motion recording data corresponding to the movement and behavior of the simulated real world autonomous vehicle and the vehicle control messages received from the autonomous vehicle control system.

4. The system of claim 1 wherein the configuration instructions and data represent at least one simulated dynamic vehicle with an aggressive driving behavior and at least one simulated dynamic vehicle with a conservative driving behavior.

5. The system of claim 1 wherein the dynamic vehicle simulation module uses a rule based process and corresponding data structures to generate the target position, speed, and heading corresponding to the specific behavior of each simulated dynamic vehicle based on the configuration instructions and data corresponding to each simulated dynamic vehicle.

6. The system of claim 1 wherein the autonomous vehicle simulation module is configured to receive vehicle modeling data representing characteristics of the real world autonomous vehicle being simulated.

7. The system of claim 1 wherein the vehicle control messages are used for analyzing a control system of an autonomous vehicle.

8. A method comprising
receiving map data corresponding to a real world driving environment;
obtaining perception data and configuration instructions and data including pre-defined parameters and executables, wherein the configuration instructions and data define a specific driving behavior for each of a plurality of simulated dynamic vehicles;
generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration instructions and data;
generating a target position, speed, and heading for each of the plurality of simulated dynamic vehicles at a specific point in time using the simulated perception data and the configuration instructions and data;
generating, for each of the plurality of simulated dynamic vehicles, a trajectory to transition the vehicle from its current position, speed, and heading to the target position, speed, and heading;
providing, for each of the generated trajectories, simulated perception data messages to an autonomous vehicle perception data processing module;
receiving vehicle control messages from an autonomous vehicle control system; and
simulating the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

9. The method of claim 8 including collecting recorded motion data related to the performance of the autonomous vehicle control system within the simulation.

10. The method of claim 8 including enabling playback of vehicle motion recording data corresponding to the movement and behavior of the simulated real world autonomous vehicle and the vehicle control messages received from the autonomous vehicle control system.

11. The method of claim 8 wherein the configuration instructions and data represent at least one simulated dynamic vehicle with a specific driving behavior exhibited by steep acceleration and deceleration rates.

12. The method of claim 8 including receiving vehicle modeling data representing characteristics of the real world autonomous vehicle being simulated, the vehicle modeling data including a type of vehicle, and characteristics of a vehicle control subsystem.

13. The method of claim 8 including using the vehicle control messages to analyze a control system of an autonomous vehicle and determining the validity and appropriateness of the vehicle control messages under the circumstances presented by the simulation.

14. The method of claim 8 , wherein the configuration instructions and data represent at least one simulated dynamic vehicle with a specific driving behavior exhibited by maintenance of a greater distance from other neighboring vehicles.

15. The method of claim 8 , wherein the target position, speed, and heading are generated using a rule-based process and data structures corresponding to the rule-based process.

16. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
receive map data corresponding to a real world driving environment;
obtain perception data and configuration instructions and data including pre-defined parameters and executables, wherein the configuration instructions and data define a specific driving behavior for each of a plurality of simulated dynamic vehicles;
generate simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration instructions and data;
generate a target position, speed, and heading for each of the plurality of simulated dynamic vehicles at a specific point in time using the simulated perception data and the configuration instructions and data;
generate, for each of the plurality of simulated dynamic vehicles, a trajectory to transition the vehicle from its current position, speed, and heading to the target position, speed, and heading;
provide, for each of the generated trajectories, simulated perception data messages to an autonomous vehicle perception data processing module;
receive vehicle control messages from an autonomous vehicle control system;
and
simulate the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.

17. The non-transitory machine-useable storage medium of claim 16 embodying instructions which, when execut

Assignees

• Tusimple Inc

Inventors

• Liu Liu
• Wang Yuwei
• Sun Xing
• Zhao Yufei
• Lin Wutu

Classifications

• G06F11/3698 Primary

  Environments for analysis, debugging or testing of software · CPC title

• G05D1/692

  involving a plurality of disparate vehicles · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/227

  Handing over between remote control and on-board control; Handing over between remote control arrangements · CPC title

• G06F11/3668

  Testing of software · CPC title