Waymo LLC

Google Inc.

James Stout

Carl Nygaard

Jiajun Zhu

Alexander Ruben Stacey McCarthy

Aleksandar Gabrovski

Yang-Hua Chu

Yiwen Xu

Marcin M Nowak-Przygodzki

Gabriel Taubman

Ilya Firman

Adam Coimbra

Joseph Lange

Thomas Weedon Hume

Abhanshu Sharma

Gökhan Bakir

Jindong Chen

Jacek Szmigiel

Kyle Pedersen

Philip Hendrix

Reed Enger

Vishwath Mohan

Yunfan Jin

Gilles Baechler

The disclosure relate to determining a realism metric for testing software for operating a vehicle in an autonomous driving mode. For instance, a plurality of versions of a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The plurality of versions may be run using the software to control a simulated vehicle, and each of the plurality of versions may have a set of timing requirements different from the set of timing requirements of other of the plurality of versions. Results of the plurality of versions may be compared to the log data. A realism metric defining timing requirements for one or more future simulations may be generated based on the comparison.

Realism metric for testing software for controlling autonomous vehicles

The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.

Collision evaluation for log-based simulations

Methods, systems, and media for rewinding media content based on detected audio events are provided. In some embodiments, a method for providing media guidance is provided, the method comprising: causing media content to be presented; receiving, using an audio input device, audio data that includes ambient sounds in an environment in which the media content is being presented; receiving a user command to rewind the media content; detecting that a portion of the audio data corresponds to an audio event that occurred during the presentation of the media content in response to receiving the user command to rewind the media content; determining a playback position in the media content based on the audio event; and causing the media content to be presented from the determined playback position.

Methods, systems, and media for rewinding media content based on detected audio events

An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.

Simulating virtual objects

Implementations set forth herein relate to an automated assistant that can interact with applications that may not have been pre-configured for interfacing with the automated assistant. The automated assistant can identify content of an application interface of the application to determine synonymous terms that a user may speak when commanding the automated assistant to perform certain tasks. Speech processing operations employed by the automated assistant can be biased towards these synonymous terms when the user is accessing an application interface of the application. In some implementations, the synonymous terms can be identified in a responsive language of the automated assistant when the content of the application interface is being rendered in a different language. This can allow the automated assistant to operate as an interface between the user and certain applications that may not be rendering content in a native language of the user.

Automated assistant control of non-assistant applications via identification of synonymous term and/or speech processing biasing

The disclosure relates to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.

Using divergence to conduct log-based simulations

The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run. The simulation may be run using the software to control a simulated vehicle and at least one agent. During the running of the first simulation, whether a particular type of interaction between the simulated vehicle and the at least one agent has occurred may be determined. In response to this determination, a second simulation may be run using the log data by replacing the at least one agent with a model agent that simulates a road user capable of responding to actions performed by the simulated vehicle. The second simulation may be used to determine in order to determine whether the software is able to complete the second simulation without the particular type of interaction between a second simulated vehicle and the model agent occurring.

The disclosure relate to testing software for operating an autonomous vehicle. For instance, a first simulation may be run using log data and the software to control a first simulated vehicle. During this, one or more characteristics of the simulated vehicle may be compared with one or more characteristics of a vehicle from the log data. The comparison may be used to determine a divergence point for starting a timer. In addition, a second simulation may be run using the log data and the software to control a second simulated vehicle. The divergence point may be used to determine a handover time to allow the software to take control of the second simulated vehicle. Whether the software is able to continue through the first simulation before the timer expires without a particular type of event occurring and/or the second simulation without the particular type of event occurring is determined.

Methods, systems, and media for rewinding media content based on detected audio events are provided. In some embodiments, a method for providing media guidance is provided, the method comprising: causing media content to be presented; receiving, using an audio input device, audio data that includes ambient sounds in an environment in which the media content is being presented; receiving a user command to rewind the media content; detecting that a portion of the audio data corresponds to an audio event that occurred during the presentation of the media content in response to receiving the user command to rewind the media content; determining a playback position in the media content based on the audio event; and causing the media content to be presented from the determpined playback position.

Growing community of inventors

Mountain View, CA, United States of America

James Stout