Zoox, Inc.

Amirhossein Tamjidi

Joseph Funke

Mark Jonathon McClelland

David Evan Zlotnik

Jacob Patrick Thalman

Olivier Toupet

Brian Michael Filarsky

Rasoul Kabirzadeh

Joshua Dean Egbert

Vincent Andreas Laurense

Techniques are described herein for determining simulated vehicle positional errors and correlating the positional errors with vehicle features. Such techniques may include receiving log data comprising trajectories and position data for a real vehicle, and executing a log-based simulated vehicle based on the log data. A simulated vehicle may be controlled to follow a simulation trajectory in a simulated environment based on the trajectory of the real vehicle. A simulation system may determine a difference between the positions of the simulated vehicle and corresponding positions of the real vehicle in the real environment. The techniques may further include determining a vehicle state features correlated to the lateral and/or longitudinal position errors of the simulated vehicle, and determining, based on the vehicle state features, position error distributions and/or models that can be used to control subsequent driving simulations.

Simulated vehicle position errors in driving simulations

Techniques are described for determining to modify a coordinate system in response to the occurrence of a condition. As non-limiting examples, such conditions comprise distance traveled, speed of the vehicle (or system), an amount of computational resources available, a time since the last change, a number of objects present, the presence (or absence) of a particular object proximate the vehicle, a distance to a proximate object, based on a particular frequency, or the like. Such modifications may improve the operation and safety of a computing system used for path planning and trajectory generation by allowing lower precision numerical representations to be used in safety-critical situations while avoiding potential computational errors that would otherwise result from using such a representation.

Adaptable origin for location offsets

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Foster City, CA, United States of America

Amirhossein Tamjidi