Hybrid simulation system for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12583469-B2
Application number	US-202318479711-A
Country	US
Kind code	B2
Filing date	Oct 2, 2023
Priority date	May 31, 2019
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

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 vehicle operation, comprising:
receiving, by a computer in a vehicle, a set of parameters that indicates a presence of a simulated object in a simulation to be performed with the vehicle, wherein the set of parameters indicates a condition in which the vehicle is to be operated when the simulation is performed; receiving, prior to performing the simulation, a first status information that indicates a first status of the vehicle; determining, prior to performing the simulation, that the vehicle is not operating at the condition based on the first status information; and causing the vehicle to operate in the condition by: controlling at least one of an amount of steering of the vehicle, a speed or an acceleration of the vehicle, an amount of braking or deceleration engaged by the vehicle, a state of a clutch of the vehicle, or switching of engine gears of the vehicle by sending, prior to performing the simulation and in response to the determining, one or more control signals based on the set of parameters.

2 . The method of claim 1 , further comprising:
receiving, by the computer, a second status information that indicates a second status of the vehicle; determining that the vehicle is operating at the condition based on the second status information; and performing the simulation with the simulated object in response to determining that the vehicle is operating at the condition.

3 . The method of claim 2 , wherein the performing the simulation comprises:
obtaining simulated data that includes a configuration of the simulated object; receiving, from the vehicle, a third status information that indicates a response of the vehicle to the simulation with the simulated object; and determining that the vehicle passed the simulation by comparing the response of the vehicle to an expected response of the vehicle.

4 . The method of claim 3 , wherein the configuration of the simulated object includes information about movement of the simulated object.

5 . The method of claim 3 , wherein the third status information indicates that the vehicle has applied brakes to stop prior to reaching the simulated object in response to a parameter in the set of parameters indicating that the simulated object located in front of the vehicle has stopped.

6 . The method of claim 3 ,
wherein the vehicle is determined to pass the simulation in response to determining that a value indicated in the response of the vehicle is the same as that in the expected response of the vehicle, and wherein the expected response is included in the set of parameters.

7 . The method of claim 3 ,
wherein the vehicle is determined to pass the simulation in response to determining that a value indicated in the response of the vehicle is in between a range of values of the expected response of the vehicle, and wherein the expected response is included in the set of parameters.

8 . A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor of a computer on a vehicle, causing the computer to implement a method comprising:
receiving a set of parameters that indicates a presence of a simulated object in a simulation to be performed with the vehicle, wherein the set of parameters indicates a condition in which the vehicle is to be operated when the simulation is performed; receiving, prior to performing the simulation, a first status information that indicates a first status of the vehicle; determining, prior to performing the simulation, that the vehicle is not operating at the condition based on the first status information; and causing the vehicle to operate in the condition by: controlling at least one of an amount of steering of the vehicle, a speed or an acceleration of the vehicle, an amount of braking or deceleration engaged by the vehicle, a state of a clutch of the vehicle, or switching of engine gears of the vehicle by sending, prior to performing the simulation and in response to the determining, one or more control signals based on the set of parameters.

9 . The non-transitory computer readable program storage medium of claim 8 , wherein the one or more control signals include a throttle value that controls the speed or the acceleration of the vehicle.

10 . The non-transitory computer readable program storage medium of claim 8 , wherein the one or more control signals include a brake value that controls the amount of braking or deceleration engaged by the vehicle.

11 . The non-transitory computer readable program storage medium of claim 8 , wherein the set of parameters is received in response to receiving an indication via a graphical user interface (GUI) of a pre-configured scenario that is selected, wherein the pre-configured scenario includes the set of parameters.

12 . The non-transitory computer readable program storage medium of claim 8 , wherein a value corresponding to a control signal from the one or more control signals is determined by comparing a first value from the first status information related to a parameter with a second value from the set of parameters related to the parameter.

13 . An apparatus for testing vehicle operation, comprising:
a computer comprising at least one processor configured to: receive a set of parameters that indicates a presence of a simulated object in a simulation to be performed with a vehicle, wherein the set of parameters indicates a condition in which the vehicle is to be operated when the simulation is performed; receive, prior to performing the simulation, a first status information that indicates a first status of the vehicle; determine, prior to performing the simulation, that the vehicle is not operating at the condition based on the first status information; and cause the vehicle to operate in the condition by: controlling at least one of an amount of steering of the vehicle, a speed or an acceleration of the vehicle, an amount of braking or deceleration engaged by the vehicle, a state of a clutch of the vehicle, or switching of engine gears of the vehicle by sending, prior to performing the simulation and in response to the determine, one or more control signals based on the set of parameters.

14 . The apparatus of claim 13 , wherein the one or more control signals include a steering angle that controls the amount of steering of the vehicle.

15 . The apparatus of claim 13 , wherein the at least one processor is further configured to:
receive, by the computer, a second status information that indicates a second status of the vehicle; determine that the vehicle is operating at the condition based on the second status information; and perform the simulation with the simulated object in response to determining that the vehicle is operating at the condition.

16 . The apparatus of claim 15 , wherein the simulation is performed by the at least one processor configured to:
obtain simulated data that includes a configuration of the simulated object; receive, from the vehicle, a third status information that indicates a response of the vehicle to the simulation with the simulated object; and determine that the vehicle passed the simulation by comparing the response of the vehicle to an expected response of the vehicle.

17 . The apparatus of claim 16 , wherein the configuration of the simulated object includes information about movement of the simulated object.

18 . The apparatus of claim 17 , wherein the third status information indicates that the vehicle has applied bra

Assignees

• Tusimple Inc
• Createai Inc

Inventors

• Yang Yixin

Classifications

• B60W2300/147

  Road trains · CPC title

• B60W2710/20

  Steering systems · CPC title

• B60W2710/18

  Braking system · CPC title

• B60W2710/10

  Change speed gearings · CPC title

• B60W2710/0605

  Throttle position · CPC title