公开(公告)号：US20230356733A1

公开(公告)日：2023-11-09

申请号：US17738660

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Matthew Lau ,  Jiabin Liu ,  Xiaoyi Liu

IPC: B60W50/06 ,  G06F8/65 ,  G06F30/20 ,  G07C5/04 ,  B60W60/00

CPC classification number: B60W50/06 ,  G06F8/65 ,  G06F30/20 ,  G07C5/04 ,  B60W60/001 ,  B60W2520/10 ,  B60W2554/4044 ,  B60W2554/4042 ,  B60W2554/402 ,  B60W2520/06

Abstract: A method includes receiving a set of real-world log data defining a real-world driving environment and generated by an autonomous vehicle (AV). The set of real-world log data includes at least one set of real-world parameters defining at least one real-world object observed by the AV operating within the real-world driving environment. The method further includes generating, based on the set of real-world log data, a set of simulated log data defining a simulated driving environment and causing a simulation to be performed using the set of simulated log data. The set of simulated log data comprises at least one set of simulated parameters defining at least one simulated object within the simulated driving environment, and generating the set of simulated log data includes perturbing at least one real-world parameter of the at least one set of real-world parameters to obtain the at least one set of simulated parameters.