Autonomous vehicle simulation system for analyzing motion planners

Patent metadata

Field	Value
Publication number	US-2025053171-A1
Application number	US-202418932073-A
Country	US
Kind code	A1
Filing date	Oct 30, 2024
Priority date	Nov 30, 2017
Publication date	Feb 13, 2025
Grant date	—

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 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 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 vehicle simulation system, comprising:
a processor configured to:
obtain perception data that includes data related to a first vehicle detected by sensors located on a second vehicle;
generate, using the perception data, a simulated perception data comprising a simulated vehicle corresponding to the first vehicle;
generate, based on the perception data, a simulation of the simulated vehicle with a driving behavior;
generate a plurality of trajectories from a current position of the simulated vehicle to a target position of the simulated vehicle;
select, from the plurality of trajectories, a trajectory on which the simulated vehicle is to be transitioned from the current position to the target position; and
send the trajectory and the simulated perception data of the simulated vehicle to an autonomous vehicle system.

2 . The system of claim 1 , wherein the trajectory is selected from the plurality of trajectories based on a presence of obstacles.

3 . The system of claim 1 , wherein the processor is further configured to:
generate multiple acceleration profiles with which the simulated vehicle is transitioned from a current speed of the simulated vehicle to a target speed of the simulated vehicle; and select, from the multiple acceleration profiles, an acceleration profile with which the simulated vehicle is transitioned from the current speed to the target speed.

4 . The system of claim 3 , wherein the trajectory is selected from the plurality of trajectories based on fuel-efficiency.

5 . The system of claim 1 ,
wherein the plurality of trajectories for the simulated vehicle are represented as waypoints, and wherein each waypoint has a corresponding position, a corresponding speed, a corresponding acceleration, and a corresponding time.

6 . The system of claim 1 , wherein the processor is further configured to:
generate attributes for the simulated vehicle at specific points in time based on the perception data.

7 . The system of claim 6 , wherein the attributes include a position, a speed and a heading for the simulated vehicle at the specific points in time.

8 . The system of claim 1 , wherein the driving behavior of the simulated vehicle is aggressive corresponding to the simulated vehicle frequently changing lanes.

9 . The system of claim 1 , wherein the driving behavior of the simulated vehicle is conservative corresponding to the simulated vehicle maintaining a distance from neighboring vehicles.

10 . A method, comprising:
obtaining perception data that includes data related to a first vehicle detected by sensors located on a second vehicle; generating, using the perception data, a simulated perception data comprising a simulated vehicle corresponding to the first vehicle; generating, based on the perception data, a simulation of the simulated vehicle with a driving behavior; generating a plurality of trajectories from a current position of the simulated vehicle to a target position of the simulated vehicle; selecting, from the plurality of trajectories, a trajectory on which the simulated vehicle is to be transitioned from the current position to the target position; and sending the trajectory and the simulated perception data of the simulated vehicle to an autonomous vehicle system.

11 . The method of claim 10 , wherein the trajectory is selected from the plurality of trajectories based on a presence of obstacles.

12 . The method of claim 10 , further comprising:
generating multiple acceleration profiles with which the simulated vehicle is transitioned from a current speed of the simulated vehicle to a target speed of the simulated vehicle; and selecting, from the multiple acceleration profiles, an acceleration profile with which the simulated vehicle is transitioned from the current speed to the target speed.

13 . The method of claim 12 , wherein the trajectory is selected from the plurality of trajectories based on fuel-efficiency.

14 . The method of claim 10 ,
wherein the plurality of trajectories for the simulated vehicle are represented as waypoints, and wherein each waypoint has a corresponding position, a corresponding speed, a corresponding acceleration, and a corresponding time.

15 . The method of claim 10 , further comprising:
generating attributes for the simulated vehicle at specific points in time based on the perception data.

16 . The method of claim 15 , wherein the attributes include a position, a speed and a heading for the simulated vehicle at the specific points in time.

17 . The method of claim 10 , wherein the driving behavior of the simulated vehicle is aggressive corresponding to the simulated vehicle frequently changing lanes.

18 . A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by one or more processors, causing an apparatus to implement a method, comprising:
obtaining perception data that includes data related to a first vehicle detected by sensors located on a second vehicle; generating, using the perception data, a simulated perception data comprising a simulated vehicle corresponding to the first vehicle; generating, based on the perception data, a simulation of the simulated vehicle with a driving behavior; generating a plurality of trajectories from a current position of the simulated vehicle to a target position of the simulated vehicle; selecting, from the plurality of trajectories, a trajectory on which the simulated vehicle is to be transitioned from the current position to the target position; and sending the trajectory and the simulated perception data of the simulated vehicle to an autonomous vehicle system.

19 . The non-transitory computer readable program storage medium of claim 18 , wherein the trajectory is selected from the plurality of trajectories based on a presence of obstacles.

20 . The non-transitory computer readable program storage medium of claim 18 , wherein the method further comprises:
generating multiple acceleration profiles with which the simulated vehicle is transitioned from a current speed of the simulated vehicle to a target speed of the simulated vehicle; and selecting, from the multiple acceleration profiles, an acceleration profile with which the simulated vehicle is transitioned from the current speed to the target speed.

Assignees

• Tusimple Inc

Inventors

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

Classifications

• 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

• G06F2111/10

  Numerical modelling · CPC title

• G06F30/20

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