公开(公告)号：US20210390225A1

公开(公告)日：2021-12-16

申请号：US16897325

申请日：2020-06-10

Applicant: Waymo LLC

Inventor： Han Yu ,  Yang-hua Chu ,  Xiaoyi Liu

IPC: G06F30/20 ,  B60W60/00

Abstract: Aspects of the disclosure relate to improving realism in simulations for testing software for operating a vehicle in an autonomous driving mode. In one instance, an initial observation of a road user object may be identified in a log data segment captured by a perception system of a vehicle. The perception system having one or more sensors. The initial observation includes a point in time and an initial location of the road user object. A distance traveled by the road user object from a start of the log data segment to the point in time may be determined. A starting location for the road user object may be determined using the distance traveled. A trajectory for the road user object may be determined between the starting location and the initial location of the road user object. The trajectory may be appended to the log data segment.