Autonomous vehicle simulation system

Patent metadata

Field	Value
Publication number	US-2020384998-A1
Application number	US-201916435437-A
Country	US
Kind code	A1
Filing date	Jun 7, 2019
Priority date	Jun 7, 2019
Publication date	Dec 10, 2020
Grant date	—

Abstract

Techniques for analysis of autonomous vehicle operations are described. As an example, a method of autonomous vehicle operation includes storing sensor data from one or more sensors located on the autonomous vehicle into a storage medium, performing, based on at least some of the sensor data, a simulated execution of one or more programs associated with the operations of the autonomous vehicle, generating, based on the simulated execution of the one or more programs and as part of a simulation, one or more control signal values that control a simulated driving behavior of the autonomous vehicle, and providing a visual feedback of the simulated driving behavior of the autonomous vehicle on a simulated road.

First claim

What is claimed is:

1 . A method of autonomous vehicle operation, comprising:
storing sensor data from one or more sensors located on the autonomous vehicle into a storage medium; performing, based on at least some of the sensor data, a simulated execution of one or more programs associated with the operations of the autonomous vehicle; generating, based on the simulated execution of the one or more programs and as part of a simulation, one or more control signal values that control a simulated driving behavior of the autonomous vehicle; and providing a visual feedback of the simulated driving behavior of the autonomous vehicle on a simulated road.

2 . The method of claim 1 , further comprising:
determining, based on the one or more control signal values, location and speed of the autonomous vehicle, wherein the visual feedback of the simulated driving behavior of the autonomous vehicle is based on the determined location and speed of the autonomous vehicle.

3 . The method of claim 1 , further comprising:
receiving a user-configurable time period information that controls an amount of the sensor data used for the performing of the simulated execution, wherein the sensor data used for the performing of the simulated execution includes time stamp that falls within the user-configurable time period information.

4 . The method of claim 1 , wherein the providing the visual feedback of the simulated driving behavior of the autonomous vehicle includes displaying the one or more control signal values.

5 . The method of claim 4 , wherein the displaying the one or more control signal values includes displaying a difference between the one or more control signal values and a corresponding one or more previous control signal values.

6 . The method of claim 4 , wherein the one or more control signal values includes a steering angle value that steers the autonomous vehicle, a throttle value that adjusts a speed of the autonomous vehicle, or a braking value that adjusts an amount of brakes engaged by the autonomous vehicle.

7 . The method of claim 1 , wherein the visual feedback includes a movable slider that when moved enables the visual feedback to show the simulated driving behavior of the autonomous vehicle that correspond to a time value associated with the moveable slider.

8 . The method of claim 1 , wherein the at least some of the sensor data used for the simulated execution of the one or more programs excludes sensor data from a disabled sensor.

9 . The method of claim 1 , wherein the one or more sensors includes a camera, a radar, or a LiDAR.

10 . The method of claim 1 ,
wherein the one or more programs includes a revised program that fixed a software issue with a previous program, wherein the revised program replaced the previous program, and wherein the revised program and previous program have different version identifiers.

11 . A computer readable program stored on a non-transitory computer readable media, the computer readable program including code that when executed by a processor, causes the processor to:
store sensor data from one or more sensors located on the autonomous vehicle into a storage medium; perform, based on at least some of the sensor data, a simulated execution of one or more programs associated with the operations of the autonomous vehicle; generate, based on the simulated execution of the one or more programs and as part of a simulation, one or more control signal values that control a simulated driving behavior of the autonomous vehicle; and provide a visual feedback of the simulated driving behavior of the autonomous vehicle on a simulated road.

12 . The computer readable program of claim 11 , wherein the processor is further configured to:
determine, based on the one or more control signal values, location and speed of the autonomous vehicle, wherein the visual feedback of the simulated driving behavior of the autonomous vehicle is based on the determined location and speed of the autonomous vehicle.

13 . The computer readable program of claim 11 , wherein the processor is further configured to:
receive a user-configurable time period information that controls an amount of the sensor data to be used for the performed simulated execution, wherein the sensor data used for the performed simulated execution includes time stamp that falls within the user-configurable time period information.

14 . The computer readable program of claim 11 , wherein the processor configured to provide the visual feedback of the simulated driving behavior of the autonomous vehicle includes the processor configured to display the one or more control signal values.

15 . The computer readable program of claim 14 , wherein the processor configured to display of the one or more control signal values includes the processor configured to display a difference between the one or more control signal values and a corresponding one or more previous control signal values.

16 . The computer readable program of claim 14 , wherein the one or more control signal values includes a steering angle value that steers the autonomous vehicle, a throttle value that adjusts a speed of the autonomous vehicle, or a braking value that adjusts an amount of brakes engaged by the autonomous vehicle.

17 . The computer readable program of claim 11 , wherein the visual feedback includes a movable slider that when moved enables the visual feedback to show the simulated driving behavior of the autonomous vehicle that correspond to a time value associated with the moveable slider.

18 . The computer readable program of claim 11 , wherein the at least some of the sensor data used for the simulated execution of the one or more programs excludes sensor data from a disabled sensor.

19 . The computer readable program of claim 11 , wherein the one or more sensors includes a camera, a radar, or a LiDAR.

20 . The computer readable program of claim 11 ,
wherein the one or more programs includes a revised program that fixed a software issue with a previous program, wherein the revised program replaced the previous program, and wherein the revised program and previous program have different version identifiers.

Assignees

• Tusimple Inc

Inventors

• Yang Yixin
• Li Dinghua

Classifications

• G05D1/81

  Handing over between on-board automatic and on-board manual control · 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

• G01M17/007 Primary

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

• G06F30/20

  Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) · CPC title

• G06F30/15 Primary

  Vehicle, aircraft or watercraft design · CPC title