Hybrid simulation system for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11208113-B2
Application number	US-201916428805-A
Country	US
Kind code	B2
Filing date	May 31, 2019
Priority date	May 31, 2019
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

Techniques are disclosed for performing hybrid simulation operations with an autonomous vehicle. A method of testing autonomous vehicle operations includes receiving, by a computer, a pre-configured scenario that includes one or more simulation parameters and one or more initial condition parameters, sending, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at an operative condition, and in response to determining that the autonomous vehicle is operating at the operative condition, performing a simulation with the one or more simulated objects and the autonomous vehicle to test a response of the autonomous vehicle.

First claim

What is claimed is:

1. A method of testing autonomous vehicle operation, comprising:
receiving, by a computer, a pre-configured scenario that includes:
one or more simulation parameters that indicate presence of one or more simulated objects in an environment that includes an autonomous vehicle, and
one or more initial condition parameters that indicate an operative condition in which the autonomous vehicle is to be operated when a simulation is performed to test the autonomous vehicle;

sending, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at the operative condition;
in response to determining, by the computer, that the autonomous vehicle is operating at the operative condition:
performing, based on the one or more simulation parameters, the simulation with the one or more simulated objects and the autonomous vehicle;
receiving, from the autonomous vehicle, a status information that indicates a response of the autonomous vehicle to the simulation with the one or more simulated objects; and
determining that the autonomous vehicle passed the simulation based on a comparison of the response of the autonomous vehicle to an expected response of the autonomous vehicle.

2. The method of claim 1 , wherein the computer determines that the autonomous vehicle is operating at the operative condition by:
receiving, from the autonomous vehicle, another status information that indicates a current driving condition of the autonomous vehicle; and
determining that that the current driving condition is same as the operative condition.

3. The method of claim 1 , further comprising:
resending the control signals to the autonomous vehicle in response to determining that the autonomous vehicle is not operating at the operative condition.

4. The method of claim 1 , wherein the one or more simulation parameters that indicate presence of the one or more simulated objects include a first set of one or more locations of one or more vehicles or a second set of one or more locations of one or more pedestrians.

5. The method of claim 1 , wherein the one or more initial condition parameters include a position, a rotation, a speed, or an acceleration of the autonomous vehicle.

6. The method of claim 1 , wherein the control signals include a steering angle that controls an amount of steering of the autonomous vehicle, a throttle value that controls a speed of the autonomous vehicle, a brake value to control an amount of braking engaged by the autonomous vehicle, a clutch indication to press or release the clutch of the autonomous vehicle, or a gear shifting information to switch engine gears of the autonomous vehicle.

7. The method of claim 1 , wherein the autonomous vehicle is a semi-trailer truck.

8. A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising:
receiving a pre-configured scenario that includes:
one or more simulation parameters that indicate presence of one or more simulated objects in an environment that includes an autonomous vehicle, and
one or more initial condition parameters that indicate an operative condition in which the autonomous vehicle is to be operated when a simulation is performed to test the autonomous vehicle;

sending, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at the operative condition;
in response to determining that the autonomous vehicle is operating at the operative condition:
performing, based on the one or more simulation parameters, the simulation with the one or more simulated objects and the autonomous vehicle;
receiving, from the autonomous vehicle, a status information that indicates a response of the autonomous vehicle to the simulation with the one or more simulated objects; and
determining that the autonomous vehicle passed the simulation based on a comparison of the response of the autonomous vehicle to an expected response of the autonomous vehicle.

9. The non-transitory computer readable program storage medium of claim 8 , wherein the autonomous vehicle is determined to operate at the operative condition by causing the processor to implement the method further comprising:
receiving, from the autonomous vehicle, another status information that indicates a current driving condition of the autonomous vehicle; and
determining that that the current driving condition is same as the operative condition.

10. The non-transitory computer readable program storage medium of claim 8 , wherein the processor is caused to implement the method further comprising:
resending the control signals to the autonomous vehicle in response to determining that the autonomous vehicle is not operating at the operative condition.

11. The non-transitory computer readable program storage medium of claim 8 , wherein the one or more simulation parameters that indicate presence of the one or more simulated objects include a first set of one or more locations of one or more vehicles or a second set of one or more locations of one or more pedestrians.

12. The non-transitory computer readable program storage medium of claim 8 , wherein the one or more initial condition parameters include a position, a rotation, a speed, or an acceleration of the autonomous vehicle.

13. The non-transitory computer readable program storage medium of claim 8 , wherein the control signals include a steering angle that controls an amount of steering of the autonomous vehicle, a throttle value that controls a speed of the autonomous vehicle, a brake value to control an amount of braking engaged by the autonomous vehicle, a clutch indication to press or release the clutch of the autonomous vehicle, or a gear shifting information to switch engine gears of the autonomous vehicle.

14. The non-transitory computer readable program storage medium of claim 8 , wherein the autonomous vehicle is a semi-trailer truck.

15. A system for testing autonomous vehicle operation, comprising:
an autonomous vehicle;
a computer configured to:
receive a pre-configured scenario that includes:
one or more simulation parameters that indicate presence of one or more simulated objects in an environment that includes an autonomous vehicle, and
one or more initial condition parameters that indicate an operative condition in which the autonomous vehicle is to be operated when a simulation is performed to test the autonomous vehicle;

send, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at the operative condition;
in response to a determination that the autonomous vehicle is operating at the operative condition:
perform, based on the one or more simulation parameters, the simulation with the one or more simulated objects and the autonomous vehicle;
receive, from the autonomous vehicle, a status information that indicates a response of the autonomous vehicle to the simulation with the one or more simulated objects; and
determine that the autonomous vehicle passed the simulation based on a comparison of the response of the autonomous vehicle to an expected response of the autonomous vehicle.

16. The system of claim 15 , wherein the processor is configured to determine that the autonomous vehicle is operating at the operative condition by having the processor being configured to:
receive, from the aut

Assignees

• Tusimple Inc

Inventors

• Yang Yixin

Classifications

• B60W2710/02

  Clutches · CPC title

• B60W30/18

  Propelling the vehicle · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• G01M17/007 Primary

  Wheeled or endless-tracked vehicles (G01M17/08 takes precedence) · CPC title

• G05B23/0213

  Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols · CPC title