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公开(公告)号：US20210347372A1
公开(公告)日：2021-11-11
申请号：US16866715
申请日：2020-05-05
Applicant: Zoox, Inc.
Inventor： Gerrit Bagschik , Andrew Scott Crego , Aditya Pramod Khadilkar , Muhammad Farooq Rama , Siavosh Rezvan Behbahani
Abstract: Techniques associated with generating simulation scenarios for simulating a vehicle controller are discussed herein. Log data may include sensor data captured by sensors of a vehicle. The log data may represent objects in an environment. Objects may be associated with a region of a discretized representation of the environment relative to the vehicle. Specific states of objects (relative position in a region type, velocity, classification, size, etc.) may represent an instance of an occupation. Log data can be aggregated based on similar region type and/or object state. A statistical model over object states can be determined for each region type and can later be sampled to determine simulation parameters. A simulation scenario can be generated based on the simulation parameters, and a vehicle controller can be evaluated based on the simulation scenario.
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公开(公告)号：US11741274B1
公开(公告)日：2023-08-29
申请号：US17100787
申请日：2020-11-20
Applicant: Zoox, Inc.
Inventor： Andrew Scott Crego , Sai Anurag Modalavalasa , Subhasis Das , Siavosh Rezvan Behbahani , Aditya Pramod Khadilkar
Abstract: Fast simulation of a scenario (e.g., simulating the scenario once as opposed to multiple times) to determine performance metric(s) of a configuration of one or more components of an autonomous vehicle may include training a perception error model based at least in part on a difference between a prediction output by a perception component associated with a future time and a perception output associated with that future time once that future time has arrived. A contour or heat map output by the perception error model may be used to determine one or more performance metric(s) associated with a component of the autonomous vehicle and identify which component may cause a degradation of a performance metric.
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公开(公告)号：US12055941B1
公开(公告)日：2024-08-06
申请号：US17100793
申请日：2020-11-20
Applicant: Zoox, Inc.
Inventor： Andrew Scott Crego , Sai Anurag Modalavalasa , Subhasis Das , Siavosh Rezvan Behbahani , Aditya Pramod Khadilkar
CPC classification number: G05D1/0214 , B60W60/00274 , B60W50/0205 , B60W2050/0215 , B60W2554/4041 , B60W2554/4044
Abstract: An error estimation component may generate contours or a heat map of a likelihood that an object detection or prediction generated by a perception component of an autonomous vehicle is inaccurate. The contours or heat map may be used to lock or unlock actions available to a planning component and the planning component may use the contours or heat for determining a trajectory for controlling the autonomous vehicle. The planning component may additionally or alternatively alter operation of a sensor or determine a trajectory to unlock a target action that is currently locked due to a size/extent of uncertainty indicated by a contour/heat map.
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公开(公告)号：US11628850B2
公开(公告)日：2023-04-18
申请号：US16866715
申请日：2020-05-05
Applicant: Zoox, Inc.
Inventor： Gerrit Bagschik , Andrew Scott Crego , Aditya Pramod Khadilkar , Muhammad Farooq Rama , Siavosh Rezvan Behbahani
Abstract: Techniques associated with generating simulation scenarios for simulating a vehicle controller are discussed herein. Log data may include sensor data captured by sensors of a vehicle. The log data may represent objects in an environment. Objects may be associated with a region of a discretized representation of the environment relative to the vehicle. Specific states of objects (relative position in a region type, velocity, classification, size, etc.) may represent an instance of an occupation. Log data can be aggregated based on similar region type and/or object state. A statistical model over object states can be determined for each region type and can later be sampled to determine simulation parameters. A simulation scenario can be generated based on the simulation parameters, and a vehicle controller can be evaluated based on the simulation scenario.
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