公开(公告)号：US20220204009A1

公开(公告)日：2022-06-30

申请号：US17136489

申请日：2020-12-29

Applicant: WAYMO LLC

Inventor： Brian Choi ,  Aleksandar Rumenov Gabrovski ,  Yang-Hua Chu ,  Harrison McKenzie Chapter ,  David Richardson

IPC: B60W50/06 ,  B60W60/00

Abstract: A simulation for sensor data may be evaluated and used for future simulations for an autonomous vehicle software. The method includes receiving log data collected for an environment along a given run for a given vehicle, using a software for autonomous driving to perform a simulated run of the given run using logged sensor data from the log data and environment data constructed using the log data, and determining first details regarding detection of objects during the given run using logged sensor data. The method also includes using the software to run a simulation of one or more detection devices on a simulated vehicle driving along the given run to obtain simulated sensor data, and determining second details regarding detection of objects using the simulated sensor data. Metrics may then be extracted from the first details and the second details, and the simulation may be evaluated based on the metrics.