公开(公告)号：US20240311269A1

公开(公告)日：2024-09-19

申请号：US18603102

申请日：2024-03-12

Applicant: Waymo LLC

Inventor： Nico Montali ,  Brandyn Allen White ,  Alex Richard Kuefler ,  Paul Marie Vincent Mougin

IPC: G06F11/34 ,  G06F8/60

CPC classification number: G06F11/3457 ,  G06F8/60

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selecting simulators for evaluating control software for autonomous vehicles. In one aspect, a system comprises: receiving data specifying a driving scenario in an environment; receiving an actual value of a low-level statistic measuring a corresponding property of the driving scenario; generating simulations of the driving scenario using a simulator; determining, for each simulation, a respective predicted value of the low-level statistic that measures the corresponding property of the simulation; determining, from the respective predicted values for the simulations, a likelihood assigned to the actual value of the low-level statistic by the simulations; and determining, from the likelihood, a low-level metric for the simulator and for the driving scenario that measures a realism of the simulator with respect to the corresponding property of the driving scenario.