The invention relates to testing software for operating an autonomous vehicle. In one example, a simulation may be run using log data collected by a vehicle (100, 100A, 100B) operating in an autonomous driving mode. The simulation may be run using software that controls the simulated vehicle and by modifying characteristics of factors identified in the log data, such as the vehicle (620). During operation of the simulation, a first type of interaction between the vehicle for which the first simulation will occur and the modified factor (620 ') may be determined. In response to determining that a particular type of interaction will occur, the modified factor may be replaced with an interactive factor (620 '') that simulates a road user corresponding to the modified factor, the interactive factor being responsive to an action performed by the simulated vehicle. A particular type of interaction between the vehicle and the interactive factor that the simulation has occurred in the simulation may be determined.
本公开涉及测试用于操作自主车辆的软件。在一个实例中,可以使用由以自主驾驶模式操作的车辆(100、100A、100B)收集的日志数据来运行模拟。可以使用控制模拟的车辆的软件并通过修改在日志数据中识别的因素(诸如车辆(620)的特性来运行模拟。在模拟的运行期间,可以确定将发生第一模拟的车辆和修改的因素(620’)之间的第一类型的交互。响应于确定将发生特定类型的交互,修改的因素可以用模拟与修改的因素对应的道路使用者的交互式因素(620”)替换,交互式因素能够对由模拟的车辆执行的动作进行响应。可以确定在模拟中已发生模拟的车辆和交互式因素之间的特定类型的交互。
Simulation of factors with modifications for testing autonomous vehicle software
用于测试自主车辆软件的具有修改的因素的模拟
2022-07-12
Patent
Electronic Resource
Chinese
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